version: 66.08
glider: 166
mission: 3
dive: 276
start: 10 14 110 12 35 54
data:
$ID,166
$MISSION,3
$DIVE,276
$N_DIVES,286
$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,-21869.793
$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,41
$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
$GPS1,141010,123002,2304.880,12629.592,15,2.0,15,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-74.3
$GPS2,141010,123531,2304.939,12629.540,11,2.0,16,-3.3
$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,19.0,101976,-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,13,begin dive
$GC,15,-1.16,-214.1,0.0,0.0,0,112,0.00,0.00,-93.85,0.000,2,0.000,0.000,146,1763,3285,0,0,0,0,0,0
$GC,115,-1.16,-214.1,6.2,-12.2,13,146,8.98,2.22,-11.73,0.000,4,0.226,0.057,2447,3204,3949,0,0,0,0,0,0
$GC,255,-0.93,-214.1,72.1,-37.3,37,263,0.28,2.12,0.00,0.000,6,0.162,0.034,2531,1797,3952,0,0,0,0,0,0
$GC,581,-0.78,-214.1,165.6,-26.7,98,590,0.20,2.12,0.00,0.000,4,0.168,0.037,2588,398,3955,0,0,0,0,0,0
$GC,665,-0.78,-214.1,183.4,-17.0,112,673,0.00,2.12,0.00,0.000,6,0.000,0.034,2584,1805,3955,0,0,0,0,0,0
$GC,1004,-0.75,-214.1,246.4,-17.8,173,1010,0.00,2.08,0.00,0.000,4,0.000,0.045,2573,3203,3956,0,0,0,0,0,0
$GC,1033,-0.74,-214.1,251.7,-16.6,178,1041,0.00,2.10,0.00,0.000,6,0.000,0.031,2573,1794,3956,0,0,0,0,0,0
$GC,1373,-0.71,-214.1,307.3,-15.8,236,1377,0.12,2.08,0.00,0.000,4,0.170,0.040,2607,397,3956,0,0,0,0,0,0
$GC,1438,-0.79,-214.1,316.1,-11.9,241,1442,0.00,2.08,0.00,0.000,6,0.000,0.035,2602,1801,3957,0,0,0,0,0,0
$GC,1770,-0.83,-214.1,358.7,-13.6,272,1774,0.00,2.12,0.00,0.000,4,0.000,0.050,2601,3200,3956,0,0,0,0,0,0
$GC,1850,-0.94,-214.1,368.3,-11.2,278,1858,0.15,2.10,0.00,0.000,6,0.041,0.032,2509,1798,3955,0,0,0,0,0,0
$GC,2178,-0.85,-214.1,435.4,-20.0,309,2182,0.20,2.12,0.00,0.000,4,0.162,0.041,2566,392,3954,0,0,0,0,0,0
$GC,2239,-0.87,-214.1,446.2,-15.1,314,2243,0.00,2.12,0.00,0.000,6,0.000,0.038,2561,1805,3954,0,0,0,0,0,0
$GC,2571,-0.87,-214.1,496.6,-15.9,345,2572,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,1805,3952,0,0,0,0,0,0
$STATE,2590,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2590,begin apogee
$GC,2596,-0.23,0.0,500.0,16.1,347,2773,0.60,0.00,169.50,0.998,6,0.128,0.000,2761,1752,3072,0,0,0,0,0,0
$STATE,2774,end apogee,CONTROL_FINISHED_OK
$STATE,2774,begin climb
$GC,2778,1.16,214.1,512.2,0.0,362,2960,1.20,0.00,173.52,0.973,6,0.047,0.000,3217,1752,2198,0,0,0,0,0,0
$GC,3277,0.86,214.1,401.1,28.6,410,3279,0.38,0.00,0.00,0.000,6,0.193,0.000,3118,1751,2193,0,0,0,0,0,0
$GC,3596,0.68,214.1,331.6,21.6,440,3604,0.20,0.00,0.00,0.000,6,0.181,0.000,3062,1752,2190,0,0,0,0,0,0
$GC,3922,0.59,219.3,281.6,13.7,482,3930,0.00,0.00,3.95,0.532,6,0.000,0.000,3062,1752,2176,0,0,0,0,0,0
$GC,4261,0.58,271.8,239.6,11.6,543,4316,0.12,2.28,44.28,0.839,4,0.178,0.047,3026,3158,1964,0,0,0,0,0,0
$GC,4365,0.63,308.9,228.1,12.3,559,4407,0.00,2.17,31.95,0.806,6,0.000,0.036,3034,1744,1811,0,0,0,0,0,0
$GC,4733,0.63,316.3,180.9,13.6,625,4747,0.00,2.15,6.93,0.639,4,0.000,0.044,3045,334,1782,0,0,0,0,0,0
$GC,4787,0.67,330.5,173.4,13.3,634,4809,0.00,2.17,13.88,0.728,6,0.000,0.034,3045,1754,1723,0,0,0,0,0,0
$GC,5131,0.71,364.4,126.5,12.4,697,5162,0.00,0.00,28.92,0.727,6,0.000,0.000,3045,1754,1586,0,0,0,0,0,0
$GC,5483,0.91,466.2,85.9,9.5,761,5575,0.22,2.30,84.05,0.696,4,0.056,0.044,3167,349,1170,0,0,0,0,0,0
$GC,5603,0.82,466.2,61.3,23.1,777,5612,0.20,2.17,0.00,0.000,6,0.135,0.032,3103,1743,1168,0,0,0,0,0,0
$GC,5933,0.99,551.2,18.4,10.2,838,6009,0.15,0.00,68.40,0.630,6,0.073,0.000,3184,1747,824,0,0,0,0,0,0
$STATE,6020,end climb,SURFACE_DEPTH_REACHED
$STATE,6020,begin surface coast
$FINISH,0.7,1.009982
$STATE,6035,end surface coast,CONTROL_FINISHED_OK
$STATE,6035,begin surface
$SM_CCo,6114,0.00,0.000,0,0,821,552.17
$SM_GC,1.56,7.88,0.00,0.00,0.031,0.000,0.000,146,1835,821,-8.34,0.99,552.17
$IRIDIUM_FIX,2253.38,12631.59,141010,101040
$TT8_MAMPS,0.026215
$HUMID,42.12
$INTERNAL_PRESSURE,8.77445
$TCM_TEMP,24.90
$XPDR_PINGS,72
$24V_AH,24.1,47.972
$10V_AH,10.4,31.828
$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,20.875,38.750,625.375,0.000,0.000,28.067,14.602,143.634,18.000,0.000,17.046,1937.213,1485.875,583.241,2177.479,257.322,0.000,1396.754,0.000,2000.846,0.000,0.848,0.000
$DEVICE_MAMPS,226.440,215.730,998.325,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,572.425,870.872,1433.098,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50219,852
$CAP_FILE_SIZE,82697,0
$CFSIZE,260165632,164773888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.200,329.5,1
$GPS,141010,141906,2306.600,12629.453,38,0.9,43,-3.4