version: 66.08
glider: 166
mission: 3
dive: 317
start: 10 17 110 17 52 52
data:
$ID,166
$MISSION,3
$DIVE,317
$N_DIVES,330
$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,-21922.785
$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,41
$R_STBD_OVSHOOT,46
$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
$GPS1,171010,174634,2352.065,12628.624,13,2.2,32,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-65.5
$GPS2,171010,175231,2352.142,12628.640,11,1.5,16,-3.6
$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,25.2,14735,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.16,-214.1,0.0,0.0,0,108,0.00,0.00,-90.30,0.000,2,0.000,0.000,152,1776,3382,0,0,0,0,0,0
$GC,111,-1.16,-214.1,6.2,-12.3,12,136,9.07,2.25,-10.10,0.000,4,0.229,0.058,2448,3201,3948,0,0,0,0,0,0
$GC,270,-0.94,-214.1,81.4,-33.3,40,279,0.25,2.15,0.00,0.000,6,0.164,0.038,2527,1804,3952,0,0,0,0,0,0
$GC,599,-0.81,-214.1,168.4,-26.1,101,607,0.15,2.17,0.00,0.000,4,0.175,0.047,2575,392,3955,0,0,0,0,0,0
$GC,743,-0.78,-214.1,199.7,-19.0,126,752,0.00,2.15,0.00,0.000,6,0.000,0.040,2566,1793,3956,0,0,0,0,0,0
$GC,1085,-0.73,-214.1,262.8,-17.9,187,1092,0.12,2.17,0.00,0.000,4,0.177,0.050,2591,3218,3956,0,0,0,0,0,0
$GC,1113,-0.73,-214.1,267.5,-17.0,191,1120,0.00,2.12,0.00,0.000,6,0.000,0.037,2590,1792,3956,0,0,0,0,0,0
$GC,1459,-0.73,-214.1,314.9,-13.3,243,1463,0.00,2.12,0.00,0.000,4,0.000,0.046,2590,391,3956,0,0,0,0,0,0
$GC,1544,-0.77,-214.1,326.4,-12.5,250,1548,0.00,2.12,0.00,0.000,6,0.000,0.040,2586,1812,3956,0,0,0,0,0,0
$GC,1871,-0.79,-214.1,373.0,-14.4,280,1875,0.00,2.17,0.00,0.000,4,0.000,0.045,2586,392,3955,0,0,0,0,0,0
$GC,1912,-0.82,-214.1,379.0,-14.4,283,1916,0.00,2.12,0.00,0.000,6,0.000,0.040,2585,1811,3955,0,0,0,0,0,0
$GC,2245,-0.86,-214.1,428.8,-15.6,314,2249,0.00,2.17,0.00,0.000,4,0.000,0.046,2585,393,3954,0,0,0,0,0,0
$GC,2286,-0.91,-214.1,435.2,-15.4,317,2290,0.00,2.12,0.00,0.000,6,0.000,0.039,2576,1808,3954,0,0,0,0,0,0
$GC,2617,-0.94,-214.1,486.6,-15.0,348,2619,0.12,0.00,0.00,0.000,6,0.090,0.000,2513,1808,3952,0,0,0,0,0,0
$STATE,2691,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2691,begin apogee
$GC,2699,-0.23,0.0,500.6,19.7,355,2877,0.77,0.00,170.80,0.998,6,0.138,0.000,2761,1732,3071,0,0,0,0,0,0
$STATE,2878,end apogee,CONTROL_FINISHED_OK
$STATE,2878,begin climb
$GC,2881,1.16,214.1,511.2,0.0,370,3065,1.23,2.40,173.38,0.971,4,0.051,0.051,3216,3158,2198,0,0,0,0,0,0
$GC,3089,0.86,214.1,480.0,28.3,390,3094,0.40,2.22,0.00,0.000,6,0.190,0.040,3123,1750,2197,0,0,0,0,0,0
$GC,3415,0.68,214.1,409.1,20.5,420,3420,0.22,2.15,0.00,0.000,4,0.171,0.046,3065,342,2193,0,0,0,0,0,0
$GC,3436,0.54,214.1,404.5,20.6,421,3443,0.17,2.12,0.00,0.000,6,0.164,0.037,3018,1748,2192,0,0,0,0,0,0
$GC,3762,0.57,260.8,361.0,11.9,452,3810,0.00,2.20,39.15,0.898,4,0.000,0.048,3016,3166,2008,0,0,0,0,0,0
$GC,3880,0.65,327.9,348.0,11.0,462,3944,0.00,2.17,57.55,0.887,6,0.000,0.038,3024,1742,1733,0,0,0,0,0,0
$GC,4272,0.72,385.5,302.6,11.4,498,4324,0.12,0.00,48.67,0.859,6,0.086,0.000,3095,1742,1500,0,0,0,0,0,0
$GC,4647,0.65,385.5,227.1,20.7,564,4655,0.17,2.25,0.00,0.000,4,0.161,0.047,3037,3160,1496,0,0,0,0,0,0
$GC,4716,0.70,385.5,215.6,14.0,576,4724,0.00,2.17,0.00,0.000,6,0.000,0.037,3044,1750,1495,0,0,0,0,0,0
$GC,5050,0.77,421.2,170.2,12.3,637,5092,0.12,2.25,30.48,0.768,4,0.086,0.047,3139,342,1353,0,0,0,0,0,0
$GC,5119,0.67,421.2,156.9,22.9,647,5128,0.28,2.15,0.00,0.000,6,0.151,0.034,3056,1762,1352,0,0,0,0,0,0
$GC,5447,0.75,449.9,107.1,12.6,708,5479,0.00,2.15,24.85,0.707,4,0.000,0.043,3055,3162,1236,0,0,0,0,0,0
$GC,5514,0.88,475.4,98.1,12.8,718,5545,0.12,2.17,22.17,0.688,6,0.037,0.037,3153,1757,1133,0,0,0,0,0,0
$GC,5866,0.86,475.4,32.2,16.0,782,5875,0.12,2.22,0.00,0.000,4,0.162,0.045,3128,337,1131,0,0,0,0,0,0
$GC,5921,0.91,475.4,24.2,14.0,791,5930,0.00,2.15,0.00,0.000,6,0.000,0.031,3127,1762,1130,0,0,0,0,0,0
$STATE,6079,end climb,SURFACE_DEPTH_REACHED
$STATE,6079,begin surface coast
$FINISH,0.7,1.021951
$STATE,6096,end surface coast,CONTROL_FINISHED_OK
$STATE,6096,begin surface
$SM_CCo,6173,0.00,0.000,0,0,1126,476.86
$SM_GC,1.58,7.60,0.00,0.00,0.034,0.000,0.000,148,1767,1126,-8.33,-0.93,476.86
$IRIDIUM_FIX,2340.34,12626.75,171010,161636
$TT8_MAMPS,0.026215
$HUMID,43.62
$INTERNAL_PRESSURE,8.78422
$TCM_TEMP,24.30
$XPDR_PINGS,83
$24V_AH,24.1,54.569
$10V_AH,10.4,36.379
$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,21.075,56.775,567.050,0.000,0.000,30.832,39.804,141.827,20.750,0.000,18.529,1914.739,1629.500,558.668,2161.065,263.033,0.000,1348.128,0.000,1959.731,0.000,0.846,0.000
$DEVICE_MAMPS,228.735,94.860,998.325,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,554.517,841.461,1374.549,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333912
$DATA_FILE_SIZE,46939,823
$CAP_FILE_SIZE,85958,0
$CFSIZE,260165632,162603008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.071,  1.1,1
$GPS,171010,193652,2353.433,12629.018,11,99.0,30,-3.6