version: 66.08
glider: 166
mission: 3
dive: 241
start: 10 11 110 19 46 6
data:
$ID,166
$MISSION,3
$DIVE,241
$N_DIVES,252
$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,-21824.045
$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,40
$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
$GPS1,111010,193534,2319.030,12631.802,13,2.6,32,-3.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-74.0
$GPS2,111010,194544,2319.030,12631.868,14,1.1,14,-3.4
$SPEED_LIMITS,0.241,0.344
$TGT_NAME,WAKE_S
$TGT_LATLONG,2300.000,12630.000
$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,201.6,35388,-19.7,-13.889
$D_GRID,1000
$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,-214.1,0.0,0.0,0,95,0.00,0.00,-77.97,0.000,2,0.000,0.000,146,1755,3208,0,0,0,0,0,0
$GC,99,-1.16,-214.1,5.1,-9.5,11,130,8.93,2.08,-13.88,0.000,4,0.225,0.050,2457,383,3947,0,0,0,0,0,0
$GC,333,-0.88,-214.1,109.6,-40.4,53,342,0.32,2.15,0.00,0.000,6,0.155,0.039,2549,1781,3950,0,0,0,0,0,0
$GC,666,-0.78,-214.1,194.4,-23.3,114,674,0.12,2.22,0.00,0.000,4,0.181,0.050,2575,3215,3954,0,0,0,0,0,0
$GC,683,-0.69,-214.1,198.4,-21.9,116,692,0.10,2.15,0.00,0.000,6,0.146,0.035,2608,1790,3954,0,0,0,0,0,0
$GC,1017,-0.71,-214.1,251.8,-15.0,177,1024,0.00,2.10,0.00,0.000,4,0.000,0.046,2608,390,3954,0,0,0,0,0,0
$GC,1066,-0.75,-214.1,259.6,-15.4,185,1074,0.00,2.12,0.00,0.000,6,0.000,0.039,2602,1805,3954,0,0,0,0,0,0
$GC,1399,-0.77,-214.1,308.2,-14.1,241,1403,0.00,2.12,0.00,0.000,4,0.000,0.044,2601,398,3953,0,0,0,0,0,0
$GC,1429,-0.79,-214.1,312.5,-14.8,243,1433,0.00,2.12,0.00,0.000,6,0.000,0.038,2600,1810,3953,0,0,0,0,0,0
$GC,1757,-0.81,-214.1,358.6,-13.8,273,1760,0.00,2.15,0.00,0.000,4,0.000,0.053,2599,3203,3952,0,0,0,0,0,0
$GC,1797,-0.89,-214.1,364.1,-12.5,276,1802,0.12,2.08,0.00,0.000,6,0.085,0.036,2531,1798,3951,0,0,0,0,0,0
$GC,2123,-0.83,-214.1,426.8,-20.4,306,2128,0.15,2.15,0.00,0.000,4,0.169,0.047,2572,388,3949,0,0,0,0,0,0
$GC,2167,-0.83,-214.1,435.0,-16.8,309,2175,0.00,2.15,0.00,0.000,6,0.000,0.041,2570,1809,3949,0,0,0,0,0,0
$GC,2492,-0.83,-214.1,487.5,-14.8,340,2496,0.00,2.12,0.00,0.000,4,0.000,0.052,2560,3204,3948,0,0,0,0,0,0
$GC,2525,-0.86,-214.1,492.7,-15.4,342,2533,0.00,2.12,0.00,0.000,6,0.000,0.037,2560,1797,3947,0,0,0,0,0,0
$STATE,2582,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2582,begin apogee
$GC,2589,-0.23,0.0,501.4,15.1,348,2762,0.60,0.00,167.98,0.990,6,0.126,0.000,2761,1796,3072,0,0,0,0,0,0
$STATE,2763,end apogee,CONTROL_FINISHED_OK
$STATE,2763,begin climb
$GC,2767,1.16,214.1,509.8,0.0,362,2948,1.20,2.25,172.70,0.963,4,0.048,0.049,3215,3163,2198,0,0,0,0,0,0
$GC,2961,0.86,214.1,483.3,26.4,380,2967,0.40,2.25,0.00,0.000,6,0.197,0.040,3122,1754,2197,0,0,0,0,0,0
$GC,3287,0.68,214.1,409.2,22.0,410,3289,0.22,0.00,0.00,0.000,6,0.174,0.000,3058,1754,2194,0,0,0,0,0,0
$GC,3605,0.58,214.1,355.3,14.9,440,3610,0.10,2.17,0.00,0.000,4,0.186,0.046,3027,3170,2190,0,0,0,0,0,0
$GC,3692,0.55,230.7,343.2,13.2,447,3712,0.00,2.15,13.88,0.832,6,0.000,0.037,3035,1744,2131,0,0,0,0,0,0
$GC,4031,0.50,230.7,292.7,15.1,483,4039,0.12,2.17,0.00,0.000,4,0.174,0.046,3010,340,2127,0,0,0,0,0,0
$GC,4089,0.50,230.7,284.0,14.1,493,4097,0.00,2.15,0.00,0.000,6,0.000,0.034,3010,1763,2127,0,0,0,0,0,0
$GC,4425,0.56,284.8,242.4,11.5,554,4479,0.00,2.20,44.85,0.832,4,0.000,0.046,3011,3154,1909,0,0,0,0,0,0
$GC,4516,0.64,331.7,232.1,11.9,568,4565,0.00,2.17,40.72,0.803,6,0.000,0.035,3020,1750,1718,0,0,0,0,0,0
$GC,4895,0.69,350.4,180.5,13.1,635,4917,0.12,2.22,16.52,0.740,4,0.085,0.045,3107,340,1643,0,0,0,0,0,0
$GC,4970,0.61,350.4,166.5,21.6,647,4977,0.22,2.12,0.00,0.000,6,0.150,0.033,3042,1755,1641,0,0,0,0,0,0
$GC,5301,0.64,372.4,120.5,12.9,708,5326,0.00,2.12,19.23,0.706,4,0.000,0.044,3041,3162,1552,0,0,0,0,0,0
$GC,5389,0.73,401.0,108.9,12.6,722,5420,0.00,2.15,24.70,0.698,6,0.000,0.035,3048,1749,1436,0,0,0,0,0,0
$GC,5742,0.84,449.5,63.9,11.8,786,5789,0.17,2.22,40.67,0.673,4,0.064,0.043,3165,344,1238,0,0,0,0,0,0
$GC,5847,0.76,449.5,42.6,23.4,802,5856,0.20,2.15,0.00,0.000,6,0.129,0.031,3093,1757,1237,0,0,0,0,0,0
$GC,6176,0.90,505.6,4.0,11.5,863,6186,0.10,0.00,7.07,0.514,2,0.096,0.000,3158,1761,1210,0,0,0,0,0,0
$STATE,6187,end climb,SURFACE_DEPTH_REACHED
$STATE,6187,begin surface coast
$FINISH,0.6,1.008601
$STATE,6215,end surface coast,CONTROL_FINISHED_OK
$STATE,6215,begin surface
$SM_CCo,6291,0.00,0.000,0,0,1207,457.48
$SM_GC,1.49,7.70,0.00,0.00,0.033,0.000,0.000,148,1762,1207,-8.33,-1.07,457.48
$IRIDIUM_FIX,2314.48,12626.84,111010,191940
$TT8_MAMPS,0.026215
$HUMID,41.88
$INTERNAL_PRESSURE,8.81352
$TCM_TEMP,24.70
$XPDR_PINGS,68
$24V_AH,24.2,42.385
$10V_AH,10.4,28.020
$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,20.925,60.375,548.325,0.000,0.000,54.011,55.489,257.588,17.000,0.000,15.610,2035.567,1605.810,536.510,2433.343,286.128,0.000,1347.881,0.000,2058.413,0.000,1.153,0.000
$DEVICE_MAMPS,224.910,52.785,989.910,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,585.477,888.378,1463.526,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333940
$DATA_FILE_SIZE,50191,869
$CAP_FILE_SIZE,93193,0
$CFSIZE,260165632,166625280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.137, 69.2,1
$GPS,111010,213144,2318.217,12632.062,11,1.3,11,-3.4