version: 66.08
glider: 166
mission: 3
dive: 45
start: 9 26 110 22 54 55
data:
$ID,166
$MISSION,3
$DIVE,45
$N_DIVES,60
$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,-21540.143
$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,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,42
$R_STBD_OVSHOOT,29
$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
$GPS1,260910,224902,2353.757,12625.625,14,1.4,14,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-71.8
$GPS2,260910,225432,2353.810,12625.599,13,1.8,13,-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,45.6,13670,-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,-214.1,0.0,0.0,0,135,0.00,0.00,-117.70,0.000,2,0.000,0.000,151,1788,3452,0,0,0,0,0,0
$GC,138,-1.16,-214.1,6.7,-14.3,16,163,8.93,2.15,-8.57,0.000,4,0.236,0.052,2458,372,3949,0,0,0,0,0,0
$GC,212,-0.85,-214.1,48.8,-49.3,28,221,0.38,2.20,0.00,0.000,6,0.175,0.041,2561,1803,3950,0,0,0,0,0,0
$GC,541,-0.72,-214.1,155.9,-27.5,89,549,0.15,2.12,0.00,0.000,4,0.181,0.051,2599,3207,3954,0,0,0,0,0,0
$GC,625,-0.74,-214.1,173.8,-17.7,103,632,0.00,2.08,0.00,0.000,6,0.000,0.034,2599,1791,3954,0,0,0,0,0,0
$GC,965,-0.72,-214.1,237.9,-17.8,164,973,0.00,2.20,0.00,0.000,4,0.000,0.054,2599,3211,3955,0,0,0,0,0,0
$GC,1009,-0.76,-214.1,245.2,-16.3,171,1016,0.00,2.08,0.00,0.000,6,0.000,0.034,2599,1788,3955,0,0,0,0,0,0
$GC,1354,-0.76,-214.1,302.3,-15.3,232,1357,0.00,2.03,0.00,0.000,4,0.000,0.044,2599,396,3954,0,0,0,0,0,0
$GC,1413,-0.78,-214.1,311.4,-15.6,237,1417,0.00,2.10,0.00,0.000,6,0.000,0.041,2599,1801,3955,0,0,0,0,0,0
$GC,1740,-0.81,-214.1,361.7,-14.0,267,1742,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,1802,3953,0,0,0,0,0,0
$GC,2061,-0.85,-214.1,407.1,-13.3,297,2065,0.00,2.12,0.00,0.000,4,0.000,0.055,2594,3211,3952,0,0,0,0,0,0
$GC,2110,-0.93,-214.1,414.2,-12.1,301,2117,0.15,2.05,0.00,0.000,6,0.079,0.035,2519,1801,3952,0,0,0,0,0,0
$GC,2436,-0.86,-214.1,480.2,-20.2,332,2440,0.15,2.10,0.00,0.000,4,0.174,0.047,2559,396,3950,0,0,0,0,0,0
$GC,2464,-0.83,-214.1,485.7,-18.9,334,2468,0.00,2.10,0.00,0.000,6,0.000,0.041,2557,1813,3951,0,0,0,0,0,0
$STATE,2566,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2566,begin apogee
$GC,2572,-0.23,0.0,501.1,15.0,343,2748,0.60,0.00,168.25,0.942,6,0.132,0.000,2760,1814,3071,0,0,0,0,0,0
$STATE,2749,end apogee,CONTROL_FINISHED_OK
$STATE,2749,begin climb
$GC,2751,1.16,214.1,508.7,0.0,358,2936,1.20,2.33,173.73,0.917,4,0.045,0.052,3212,3214,2199,0,0,0,0,0,0
$GC,2950,0.84,214.1,477.1,30.0,377,2955,0.43,2.20,0.00,0.000,6,0.199,0.038,3112,1799,2196,0,0,0,0,0,0
$GC,3277,0.64,214.1,399.1,23.2,407,3282,0.22,2.15,0.00,0.000,4,0.184,0.046,3040,3212,2192,0,0,0,0,0,0
$GC,3352,0.56,214.1,384.7,16.8,413,3356,0.00,2.10,0.00,0.000,6,0.000,0.037,3048,1795,2190,0,0,0,0,0,0
$GC,3679,0.46,214.1,328.3,16.1,443,3681,0.20,0.00,0.00,0.000,6,0.171,0.000,2992,1795,2187,0,0,0,0,0,0
$GC,4000,0.55,286.3,289.7,10.8,481,4070,0.00,2.22,57.90,0.822,4,0.000,0.046,3000,399,1903,0,0,0,0,0,0
$GC,4101,0.61,318.4,278.1,12.5,496,4136,0.08,2.17,27.70,0.783,6,0.057,0.035,3047,1796,1774,0,0,0,0,0,0
$GC,4470,0.55,318.4,205.9,20.0,561,4477,0.12,2.17,0.00,0.000,4,0.176,0.047,3004,3221,1767,0,0,0,0,0,0
$GC,4522,0.57,318.4,198.0,14.3,569,4528,0.00,2.12,0.00,0.000,6,0.000,0.036,3013,1797,1766,0,0,0,0,0,0
$GC,4861,0.63,348.8,152.8,12.6,630,4896,0.00,2.17,25.08,0.710,4,0.000,0.046,3024,400,1649,0,0,0,0,0,0
$GC,4935,0.68,359.6,143.0,13.4,642,4953,0.08,2.15,10.48,0.640,6,0.056,0.035,3080,1807,1605,0,0,0,0,0,0
$GC,5273,0.66,359.6,81.3,17.0,704,5280,0.00,2.15,0.00,0.000,4,0.000,0.045,3077,3206,1602,0,0,0,0,0,0
$GC,5311,0.66,359.6,74.8,15.3,710,5320,0.10,2.12,0.00,0.000,6,0.143,0.035,3052,1793,1601,0,0,0,0,0,0
$GC,5640,0.86,470.9,37.6,9.1,771,5737,0.17,0.00,88.57,0.620,6,0.069,0.000,3145,1793,1150,0,0,0,0,0,0
$STATE,5817,end climb,SURFACE_DEPTH_REACHED
$STATE,5818,begin surface coast
$FINISH,0.6,1.010071
$STATE,5829,end surface coast,CONTROL_FINISHED_OK
$STATE,5829,begin surface
$SM_CCo,5846,144.65,0.543,1,0,455,641.95
$SM_CCo,5999,-0.38,0.000,0,0,454,642.20
$SM_GC,1.35,0.00,0.00,-0.38,0.000,0.000,0.000,157,1791,454,-8.39,-0.25,642.20
$IRIDIUM_FIX,2345.05,12626.26,260910,202034
$TT8_MAMPS,0.026215
$HUMID,37.55
$INTERNAL_PRESSURE,8.71586
$TCM_TEMP,24.50
$XPDR_PINGS,88
$24V_AH,24.3,11.040
$10V_AH,10.6,6.836
$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,20.750,51.400,551.700,144.650,0.000,22.684,35.576,134.435,22.000,0.000,14.629,1837.027,1473.712,708.662,2072.035,240.825,0.000,1474.998,0.000,1885.055,0.000,0.847,0.000
$DEVICE_MAMPS,235.620,55.080,942.480,543.150,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,538.021,818.697,1339.020,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333928
$DATA_FILE_SIZE,46907,801
$CAP_FILE_SIZE,83352,0
$CFSIZE,260165632,176832512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.063,328.9,1
$GPS,270910,003607,2354.760,12626.311,31,0.9,32,-3.6