version: 66.08
glider: 166
mission: 3
dive: 41
start: 9 26 110 15 43 31
data:
$ID,166
$MISSION,3
$DIVE,41
$N_DIVES,45
$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,642
$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,-21534.742
$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,37
$R_STBD_OVSHOOT,45
$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
$GPS1,260910,153749,2350.230,12624.086,12,1.8,17,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-71.3
$GPS2,260910,154309,2350.199,12624.019,16,1.8,17,-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,28.8,20782,-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,-214.1,0.0,0.0,0,134,0.00,0.00,-116.28,0.000,2,0.000,0.000,145,1781,3400,0,0,0,0,0,0
$GC,138,-1.16,-214.1,6.6,-13.5,16,162,9.12,2.22,-9.48,0.000,4,0.244,0.057,2451,3213,3948,0,0,0,0,0,0
$GC,181,-0.20,-214.1,31.9,-56.4,22,191,1.05,2.15,0.00,0.000,6,0.187,0.034,2772,1791,3951,0,0,0,0,0,0
$GC,508,-0.65,-214.1,68.1,-5.4,83,517,0.35,2.17,0.00,0.000,4,0.044,0.049,2587,3193,3953,0,0,0,0,0,0
$GC,595,-0.56,-214.1,84.5,-23.2,98,604,0.20,2.08,0.00,0.000,6,0.140,0.035,2652,1805,3953,0,0,0,0,0,0
$GC,922,-0.62,-214.1,137.2,-15.0,159,930,0.00,2.10,0.00,0.000,4,0.000,0.043,2651,401,3955,0,0,0,0,0,0
$GC,951,-0.71,-214.1,141.4,-15.4,163,959,0.10,2.10,0.00,0.000,6,0.054,0.041,2589,1785,3955,0,0,0,0,0,0
$GC,1289,-0.65,-214.1,208.9,-18.8,224,1298,0.15,2.20,0.00,0.000,4,0.174,0.054,2626,3213,3956,0,0,0,0,0,0
$GC,1360,-0.85,-214.1,218.2,-11.1,236,1369,0.12,2.10,0.00,0.000,6,0.046,0.034,2550,1799,3956,0,0,0,0,0,0
$GC,1700,-0.71,-214.1,291.9,-22.6,297,1707,0.20,2.10,0.00,0.000,4,0.174,0.043,2605,388,3956,0,0,0,0,0,0
$GC,1796,-0.78,-214.1,308.8,-14.6,309,1803,0.00,2.12,0.00,0.000,6,0.000,0.041,2601,1809,3956,0,0,0,0,0,0
$GC,2121,-0.83,-214.1,360.4,-16.3,340,2123,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,1809,3956,0,0,0,0,0,0
$GC,2442,-0.90,-214.1,408.1,-13.8,370,2447,0.15,2.12,0.00,0.000,4,0.087,0.046,2531,397,3955,0,0,0,0,0,0
$GC,2507,-0.76,-214.1,419.9,-19.7,375,2512,0.20,2.12,0.00,0.000,6,0.162,0.043,2588,1808,3954,0,0,0,0,0,0
$GC,2839,-0.83,-214.1,465.8,-12.8,406,2841,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1809,3953,0,0,0,0,0,0
$STATE,3089,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3090,begin apogee
$GC,3095,-0.23,0.0,501.3,14.5,430,3267,0.50,0.00,168.07,0.945,6,0.129,0.000,2761,1809,3072,0,0,0,0,0,0
$STATE,3268,end apogee,CONTROL_FINISHED_OK
$STATE,3268,begin climb
$GC,3271,1.16,214.1,511.1,0.0,444,3449,1.25,0.00,172.55,0.920,6,0.053,0.000,3220,1809,2199,0,0,0,0,0,0
$GC,3765,0.53,214.1,388.8,32.6,490,3768,0.73,0.00,0.00,0.000,6,0.193,0.000,3017,1810,2192,0,0,0,0,0,0
$GC,4084,0.48,250.9,344.6,12.3,520,4120,0.00,2.30,30.45,0.830,4,0.000,0.049,3026,393,2049,0,0,0,0,0,0
$GC,4137,0.41,260.9,337.5,13.5,524,4156,0.15,2.22,9.75,0.729,6,0.134,0.042,2976,1799,2007,0,0,0,0,0,0
$GC,4477,0.57,338.6,300.3,10.5,556,4544,0.15,0.00,64.10,0.812,6,0.079,0.000,3051,1801,1691,0,0,0,0,0,0
$GC,4874,0.43,338.6,225.4,21.5,626,4882,0.25,0.00,0.00,0.000,6,0.161,0.000,2974,1801,1684,0,0,0,0,0,0
$GC,5215,0.67,394.6,187.9,11.5,687,5270,0.22,2.20,45.15,0.737,4,0.061,0.048,3077,3215,1463,0,0,0,0,0,0
$GC,5298,0.54,394.6,172.4,21.8,699,5306,0.25,2.17,0.00,0.000,6,0.161,0.037,3014,1802,1462,0,0,0,0,0,0
$GC,5631,0.64,394.6,122.7,15.0,760,5639,0.00,2.17,0.00,0.000,4,0.000,0.047,3022,400,1458,0,0,0,0,0,0
$GC,5689,0.80,420.4,114.6,12.8,770,5720,0.17,2.15,21.77,0.669,6,0.041,0.037,3124,1812,1356,0,0,0,0,0,0
$GC,6041,0.67,420.4,36.5,22.1,834,6051,0.22,2.15,0.00,0.000,4,0.153,0.045,3049,3217,1352,0,0,0,0,0,0
$GC,6156,1.06,526.7,24.0,9.3,854,6251,0.28,2.15,84.57,0.607,6,0.030,0.037,3209,1797,922,0,0,0,0,0,0
$STATE,6259,end climb,SURFACE_DEPTH_REACHED
$STATE,6259,begin surface coast
$FINISH,0.6,1.018354
$STATE,6271,end surface coast,CONTROL_FINISHED_OK
$STATE,6271,begin surface
$SM_CCo,6288,100.93,0.528,1,0,454,641.95
$SM_CCo,6397,-0.45,0.000,0,0,454,642.20
$SM_GC,1.49,0.00,0.00,-0.45,0.000,0.000,0.000,146,1795,454,-8.42,-0.11,642.20
$IRIDIUM_FIX,2340.34,12626.75,260910,131339
$TT8_MAMPS,0.026215
$HUMID,38.85
$INTERNAL_PRESSURE,8.70609
$TCM_TEMP,24.00
$XPDR_PINGS,83
$24V_AH,24.3,10.365
$10V_AH,10.5,6.419
$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,23.875,43.125,596.425,100.925,0.000,31.640,17.041,131.296,20.750,0.000,18.837,1989.404,1554.327,685.018,2247.169,245.806,0.000,1515.772,0.000,2069.647,0.000,0.846,0.000
$DEVICE_MAMPS,244.035,57.375,944.775,527.850,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,584.543,889.448,1509.256,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333944
$DATA_FILE_SIZE,50264,870
$CAP_FILE_SIZE,87359,0
$CFSIZE,260165632,177033216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.088,201.6,1
$GPS,260910,173131,2351.041,12624.356,42,1.3,42,-3.6