version: 66.08
glider: 166
mission: 3
dive: 29
start: 9 25 110 18 15 0
data:
$ID,166
$MISSION,3
$DIVE,29
$N_DIVES,40
$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,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,250
$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,-21518.537
$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,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,197
$ROLL_MAX,3786
$ROLL_DEG,40
$C_ROLL_DIVE,1800
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,40
$R_STBD_OVSHOOT,37
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,455
$VBD_MAX,3960
$C_VBD,2789
$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
$GPS1,250910,180858,2338.391,12618.113,13,2.6,32,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-71.0
$GPS2,250910,181436,2338.404,12618.128,16,1.1,27,-3.5
$SPEED_LIMITS,0.241,0.365
$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,33.5,44757,-18.5,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.14,-243.3,0.0,0.0,0,129,0.00,0.00,-110.57,0.000,2,0.000,0.000,143,1795,3322,0,0,0,0,0,0
$GC,132,-1.14,-243.3,6.1,-12.5,15,156,8.95,2.15,-8.38,0.000,4,0.238,0.052,2468,377,3783,0,0,0,0,0,0
$GC,217,-0.45,-243.3,53.2,-51.4,29,227,0.73,2.17,0.00,0.000,6,0.188,0.039,2685,1798,3785,0,0,0,0,0,0
$GC,543,-0.52,-243.3,115.1,-14.7,90,551,0.00,2.15,0.00,0.000,4,0.000,0.050,2681,3207,3787,0,0,0,0,0,0
$GC,693,-0.75,-243.3,132.9,-11.0,117,703,0.20,2.10,0.00,0.000,6,0.037,0.034,2570,1800,3788,0,0,0,0,0,0
$GC,1026,-0.54,-243.3,204.3,-20.4,178,1035,0.28,2.12,0.00,0.000,4,0.162,0.042,2658,391,3789,0,0,0,0,0,0
$GC,1137,-0.68,-243.3,219.1,-11.5,197,1145,0.10,2.10,0.00,0.000,6,0.106,0.038,2598,1806,3789,0,0,0,0,0,0
$GC,1474,-0.62,-243.3,277.0,-17.3,258,1482,0.15,0.00,0.00,0.000,6,0.164,0.000,2640,1806,3789,0,0,0,0,0,0
$GC,1812,-0.73,-243.3,316.5,-10.9,306,1817,0.12,2.10,0.00,0.000,4,0.094,0.046,2580,397,3789,0,0,0,0,0,0
$GC,1844,-0.67,-243.3,321.4,-15.2,308,1853,0.12,2.12,0.00,0.000,6,0.145,0.040,2616,1807,3789,0,0,0,0,0,0
$GC,2171,-0.72,-243.3,363.4,-13.6,339,2173,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,1808,3789,0,0,0,0,0,0
$GC,2491,-0.80,-243.3,406.0,-13.0,369,2495,0.00,2.12,0.00,0.000,4,0.000,0.046,2616,392,3789,0,0,0,0,0,0
$GC,2522,-0.87,-243.3,410.4,-14.3,371,2527,0.15,2.10,0.00,0.000,6,0.082,0.040,2538,1813,3789,0,0,0,0,0,0
$GC,2849,-0.71,-243.3,473.9,-19.6,401,2854,0.25,2.10,0.00,0.000,4,0.166,0.051,2612,3207,3788,0,0,0,0,0,0
$GC,2880,-0.71,-243.3,478.5,-14.5,403,2884,0.00,2.08,0.00,0.000,6,0.000,0.035,2612,1790,3787,0,0,0,0,0,0
$STATE,3072,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3072,begin apogee
$GC,3077,-0.23,0.0,500.6,10.8,421,3277,0.43,0.00,191.50,0.944,6,0.126,0.000,2759,1790,2788,0,0,0,0,0,0
$STATE,3278,end apogee,CONTROL_FINISHED_OK
$STATE,3278,begin climb
$GC,3280,1.14,243.3,507.3,0.0,438,3493,1.27,2.35,200.65,0.909,4,0.084,0.054,3198,3202,1795,0,0,0,0,0,0
$GC,3532,0.55,243.3,445.6,37.3,459,3537,0.68,2.17,0.00,0.000,6,0.189,0.038,3024,1796,1794,0,0,0,0,0,0
$GC,3858,0.42,243.3,379.5,18.6,489,3863,0.15,2.15,0.00,0.000,4,0.161,0.048,2970,3217,1788,0,0,0,0,0,0
$GC,3887,0.42,243.3,374.5,16.7,491,3891,0.00,2.12,0.00,0.000,6,0.000,0.037,2978,1789,1787,0,0,0,0,0,0
$GC,4214,0.42,245.7,329.8,13.8,521,4218,0.00,2.10,0.00,0.000,4,0.000,0.047,2989,391,1785,0,0,0,0,0,0
$GC,4268,0.49,249.0,322.1,13.8,525,4277,0.00,2.10,4.40,0.567,6,0.000,0.037,2989,1802,1773,0,0,0,0,0,0
$GC,4598,0.50,256.4,273.9,13.6,572,4614,0.00,2.12,8.15,0.704,4,0.000,0.047,2989,3216,1742,0,0,0,0,0,0
$GC,4654,0.56,258.4,266.2,13.8,581,4662,0.00,2.12,0.00,0.000,6,0.000,0.037,2998,1799,1742,0,0,0,0,0,0
$GC,4988,0.57,266.8,220.8,13.6,642,5010,0.00,2.20,10.55,0.711,4,0.000,0.047,3009,384,1700,0,0,0,0,0,0
$GC,5035,0.58,274.7,214.6,13.6,649,5051,0.00,2.12,7.97,0.662,6,0.000,0.037,3009,1809,1668,0,0,0,0,0,0
$GC,5374,0.58,274.7,163.7,14.6,711,5381,0.00,2.15,0.00,0.000,4,0.000,0.044,3020,390,1665,0,0,0,0,0,0
$GC,5393,0.58,274.7,160.7,14.6,714,5401,0.00,2.12,0.00,0.000,6,0.000,0.035,3019,1795,1665,0,0,0,0,0,0
$GC,5722,0.65,331.8,115.7,11.7,775,5775,0.00,2.25,47.12,0.695,4,0.000,0.047,3020,3218,1435,0,0,0,0,0,0
$GC,5800,0.77,357.0,105.7,12.9,786,5831,0.12,2.17,22.12,0.653,6,0.045,0.037,3108,1803,1332,0,0,0,0,0,0
$GC,6151,0.70,357.0,39.0,15.0,850,6160,0.15,2.17,0.00,0.000,4,0.158,0.044,3055,3213,1327,0,0,0,0,0,0
$GC,6202,0.98,451.7,32.6,10.3,858,6290,0.20,2.12,75.80,0.615,6,0.037,0.036,3176,1803,945,0,0,0,0,0,0
$STATE,6334,end climb,SURFACE_DEPTH_REACHED
$STATE,6334,begin surface coast
$FINISH,0.8,1.015964
$STATE,6346,end surface coast,CONTROL_FINISHED_OK
$STATE,6346,begin surface
$SM_CCo,6424,0.00,0.000,0,0,940,453.56
$SM_GC,1.45,7.97,0.00,0.00,0.041,0.000,0.000,153,1802,940,-8.35,0.06,453.56
$IRIDIUM_FIX,2328.57,12721.35,250910,161619
$TT8_MAMPS,0.026215
$HUMID,39.48
$INTERNAL_PRESSURE,8.75492
$TCM_TEMP,24.00
$XPDR_PINGS,100
$24V_AH,24.3,8.337
$10V_AH,10.5,5.147
$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,22.025,60.000,568.275,0.000,0.000,22.077,35.670,132.001,25.000,0.000,27.961,2037.508,1620.695,559.136,2296.213,250.550,0.000,1418.059,0.000,2093.495,0.000,0.845,0.000
$DEVICE_MAMPS,237.915,53.550,944.010,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,592.175,899.629,1478.870,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330504
$DATA_FILE_SIZE,50293,880
$CAP_FILE_SIZE,90939,0
$CFSIZE,260165632,177639424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.078,246.0,1
$GPS,250910,200255,2339.357,12618.497,9,1.8,15,-3.5