version: 66.08
glider: 166
mission: 3
dive: 315
start: 10 17 110 14 17 16
data:
$ID,166
$MISSION,3
$DIVE,315
$N_DIVES,323
$D_SURF,3
$D_FLARE,5
$D_TGT,500
$D_ABORT,600
$D_NO_BLEED,50
$D_BOOST,3
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,120
$T_MISSION,150
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-5
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,220
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51913
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-21920.182
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,160
$PITCH_MAX,3938
$C_PITCH,2840
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,1
$ROLL_MIN,197
$ROLL_MAX,3786
$ROLL_DEG,40
$C_ROLL_DIVE,1800
$C_ROLL_CLIMB,1750
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,43
$R_STBD_OVSHOOT,47
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,455
$VBD_MAX,3960
$C_VBD,3072
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,9
$FG_AHR_24V,22
$PHONE_SUPPLY,2
$PRESSURE_YINT,-27.567585
$PRESSURE_SLOPE,0.0001160501
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.7
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,53
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043148831
$SEABIRD_T_H,0.00063078973
$SEABIRD_T_I,2.2916694e-05
$SEABIRD_T_J,2.2962076e-06
$SEABIRD_C_G,-9.9893045
$SEABIRD_C_H,1.1222894
$SEABIRD_C_I,-0.0015891744
$SEABIRD_C_J,0.00020161238
$GPS1,171010,141044,2349.875,12628.883,11,1.8,11,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-68.7
$GPS2,171010,141655,2349.949,12628.869,14,1.2,31,-3.5
$SPEED_LIMITS,0.241,0.344
$TGT_NAME,WAKE_N
$TGT_LATLONG,2400.000,12630.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,10.2,18712,-19.7,-13.889
$D_GRID,5000
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.16,-214.1,0.0,0.0,0,98,0.00,0.00,-79.22,0.000,2,0.000,0.000,154,1761,3464,0,0,0,0,0,0
$GC,101,-1.16,-214.1,6.8,-12.5,11,125,9.15,2.28,-8.40,0.000,4,0.232,0.058,2445,3205,3948,0,0,0,0,0,0
$GC,244,-0.96,-214.1,74.4,-32.6,36,252,0.22,2.15,0.00,0.000,6,0.161,0.037,2521,1803,3952,0,0,0,0,0,0
$GC,573,-0.83,-214.1,163.0,-24.3,97,581,0.15,2.17,0.00,0.000,4,0.174,0.046,2569,390,3955,0,0,0,0,0,0
$GC,720,-0.77,-214.1,193.7,-19.1,123,728,0.12,2.10,0.00,0.000,6,0.170,0.037,2588,1799,3955,0,0,0,0,0,0
$GC,1055,-0.76,-214.1,248.2,-14.2,184,1063,0.00,2.17,0.00,0.000,4,0.000,0.050,2578,3197,3956,0,0,0,0,0,0
$GC,1111,-0.79,-214.1,256.0,-14.4,193,1119,0.00,2.08,0.00,0.000,6,0.000,0.036,2578,1797,3956,0,0,0,0,0,0
$GC,1447,-0.79,-214.1,311.2,-16.8,249,1451,0.00,2.12,0.00,0.000,4,0.000,0.046,2577,389,3955,0,0,0,0,0,0
$GC,1500,-0.79,-214.1,320.9,-16.2,253,1508,0.00,2.10,0.00,0.000,6,0.000,0.037,2567,1808,3955,0,0,0,0,0,0
$GC,1828,-0.79,-214.1,374.2,-15.7,284,1829,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,1809,3954,0,0,0,0,0,0
$GC,2147,-0.79,-214.1,420.0,-13.5,314,2151,0.00,2.17,0.00,0.000,4,0.000,0.046,2566,396,3954,0,0,0,0,0,0
$GC,2212,-0.79,-214.1,429.6,-13.9,319,2219,0.00,2.10,0.00,0.000,6,0.000,0.039,2560,1797,3953,0,0,0,0,0,0
$GC,2537,-0.79,-214.1,474.6,-14.3,350,2541,0.00,2.15,0.00,0.000,4,0.000,0.052,2550,3216,3952,0,0,0,0,0,0
$GC,2571,-0.82,-214.1,479.3,-12.7,352,2578,0.00,2.15,0.00,0.000,6,0.000,0.037,2550,1803,3951,0,0,0,0,0,0
$STATE,2713,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2713,begin apogee
$GC,2721,-0.23,0.0,500.5,15.3,366,2899,0.62,0.00,170.23,1.001,6,0.130,0.000,2757,1750,3071,0,0,0,0,0,0
$STATE,2900,end apogee,CONTROL_FINISHED_OK
$STATE,2900,begin climb
$GC,2903,1.16,214.1,509.5,0.0,381,3085,1.25,2.35,172.57,0.972,4,0.065,0.052,3203,3155,2198,0,0,0,0,0,0
$GC,3103,0.87,214.1,483.8,25.8,397,3111,0.32,2.20,0.00,0.000,6,0.190,0.040,3129,1753,2197,0,0,0,0,0,0
$GC,3428,0.69,214.1,412.9,20.9,428,3430,0.22,0.00,0.00,0.000,6,0.171,0.000,3065,1751,2193,0,0,0,0,0,0
$GC,3747,0.61,214.1,361.8,14.2,458,3751,0.00,2.15,0.00,0.000,4,0.000,0.047,3073,334,2190,0,0,0,0,0,0
$GC,3768,0.51,214.1,359.0,14.7,459,3773,0.22,2.12,0.00,0.000,6,0.156,0.035,3005,1760,2189,0,0,0,0,0,0
$GC,4095,0.60,285.6,322.6,10.8,489,4159,0.00,2.17,58.88,0.892,4,0.000,0.047,2999,3154,1907,0,0,0,0,0,0
$GC,4205,0.71,335.1,309.3,11.7,498,4261,0.12,2.20,43.62,0.857,6,0.042,0.037,3085,1741,1704,0,0,0,0,0,0
$GC,4581,0.62,335.1,236.8,19.7,562,4590,0.15,2.22,0.00,0.000,4,0.171,0.047,3039,3153,1699,0,0,0,0,0,0
$GC,4614,0.59,335.1,230.4,18.2,567,4621,0.00,2.12,0.00,0.000,6,0.000,0.036,3046,1747,1699,0,0,0,0,0,0
$GC,4945,0.61,348.4,181.9,13.3,628,4967,0.00,2.22,11.50,0.718,4,0.000,0.047,3046,3156,1650,0,0,0,0,0,0
$GC,4981,0.63,363.0,176.9,13.3,633,5002,0.00,2.12,14.12,0.727,6,0.000,0.035,3056,1741,1590,0,0,0,0,0,0
$GC,5324,0.63,363.0,123.7,14.9,696,5332,0.00,2.12,0.00,0.000,4,0.000,0.044,3066,355,1589,0,0,0,0,0,0
$GC,5372,0.63,363.0,116.3,14.9,704,5380,0.00,2.12,0.00,0.000,6,0.000,0.033,3066,1757,1588,0,0,0,0,0,0
$GC,5698,0.67,395.2,69.0,12.5,765,5732,0.00,2.20,27.15,0.687,4,0.000,0.045,3066,3165,1460,0,0,0,0,0,0
$GC,5815,0.90,506.0,58.6,9.1,784,5913,0.10,2.15,91.15,0.676,6,0.041,0.036,3154,1757,1008,0,0,0,0,0,0
$STATE,6137,end climb,SURFACE_DEPTH_REACHED
$STATE,6137,begin surface coast
$FINISH,1.2,1.021838
$STATE,6154,end surface coast,CONTROL_FINISHED_OK
$STATE,6154,begin surface
$SM_CCo,6231,0.00,0.000,0,0,1000,508.26
$SM_GC,1.41,7.78,0.00,0.00,0.035,0.000,0.000,146,1754,1000,-8.35,-1.30,508.26
$IRIDIUM_FIX,2342.70,12630.05,171010,121242
$TT8_MAMPS,0.026215
$HUMID,43.77
$INTERNAL_PRESSURE,8.78422
$TCM_TEMP,24.30
$XPDR_PINGS,76
$24V_AH,24.1,54.248
$10V_AH,10.4,36.174
$FG_AHR_24Vo,22.000
$FG_AHR_10Vo,9.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,20.450,56.300,589.225,0.000,0.000,25.141,46.372,138.049,19.000,0.000,34.229,1951.614,1598.998,549.726,2225.417,271.340,0.000,1373.715,0.000,2013.662,0.000,0.846,0.000
$DEVICE_MAMPS,231.795,156.060,1001.385,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,567.426,861.466,1405.114,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333924
$DATA_FILE_SIZE,50358,842
$CAP_FILE_SIZE,85854,0
$CFSIZE,260165632,162701312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.051,237.7,1
$GPS,171010,160224,2350.931,12628.723,41,1.4,41,-3.6