version: 66.08
glider: 166
mission: 3
dive: 67
start: 9 28 110 13 56 55
data:
$ID,166
$MISSION,3
$DIVE,67
$N_DIVES,80
$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,-21569.293
$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,41
$R_STBD_OVSHOOT,36
$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
$GPS1,280910,135028,2345.454,12629.391,10,2.2,29,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-69.7
$GPS2,280910,135633,2345.440,12629.391,14,2.4,33,-3.5
$SPEED_LIMITS,0.241,0.344
$TGT_NAME,WAKE_S
$TGT_LATLONG,2312.000,12630.000
$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,177.3,61939,-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,15,-1.16,-214.1,0.0,0.0,0,127,0.00,0.00,-108.75,0.000,2,0.000,0.000,139,1792,3207,0,0,0,0,0,0
$GC,130,-1.16,-214.1,5.3,-10.3,15,161,8.90,2.12,-13.75,0.000,4,0.231,0.048,2459,383,3948,0,0,0,0,0,0
$GC,398,-0.94,-214.1,126.3,-34.5,64,407,0.28,2.15,0.00,0.000,6,0.176,0.036,2533,1804,3951,0,0,0,0,0,0
$GC,728,-0.81,-214.1,221.0,-27.7,125,737,0.15,2.10,0.00,0.000,4,0.184,0.037,2580,379,3954,0,0,0,0,0,0
$GC,747,-0.68,-214.1,225.8,-27.0,127,754,0.17,2.10,0.00,0.000,6,0.164,0.034,2621,1812,3953,0,0,0,0,0,0
$GC,1078,-0.71,-214.1,274.7,-15.0,188,1086,0.00,2.10,0.00,0.000,4,0.000,0.047,2616,3202,3954,0,0,0,0,0,0
$GC,1105,-0.75,-214.1,278.5,-14.3,192,1113,0.00,2.10,0.00,0.000,6,0.000,0.033,2616,1787,3954,0,0,0,0,0,0
$GC,1434,-0.78,-214.1,327.1,-14.5,236,1437,0.00,2.05,0.00,0.000,4,0.000,0.041,2615,399,3953,0,0,0,0,0,0
$GC,1470,-0.82,-214.1,332.4,-15.2,239,1474,0.12,2.08,0.00,0.000,6,0.090,0.037,2551,1812,3953,0,0,0,0,0,0
$GC,1801,-0.77,-214.1,395.8,-17.3,270,1803,0.15,0.00,0.00,0.000,6,0.171,0.000,2591,1813,3952,0,0,0,0,0,0
$GC,2119,-0.80,-214.1,438.2,-13.3,300,2120,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,1813,3951,0,0,0,0,0,0
$GC,2441,-0.84,-214.1,482.4,-13.7,330,2445,0.00,2.10,0.00,0.000,4,0.000,0.053,2590,3201,3949,0,0,0,0,0,0
$GC,2470,-0.90,-214.1,486.4,-13.0,332,2475,0.12,2.05,0.00,0.000,6,0.088,0.036,2522,1800,3948,0,0,0,0,0,0
$STATE,2550,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2550,begin apogee
$GC,2557,-0.23,0.0,500.8,18.9,339,2731,0.73,0.00,166.93,0.956,6,0.144,0.000,2758,1799,3072,0,0,0,0,0,0
$STATE,2732,end apogee,CONTROL_FINISHED_OK
$STATE,2732,begin climb
$GC,2734,1.16,214.1,510.0,0.0,354,2916,1.27,2.38,172.57,0.927,4,0.072,0.054,3214,3201,2198,0,0,0,0,0,0
$GC,3065,0.87,214.1,437.9,29.2,382,3075,0.35,2.17,0.00,0.000,6,0.190,0.040,3125,1805,2194,0,0,0,0,0,0
$GC,3392,0.69,214.1,361.5,22.3,413,3397,0.22,2.15,0.00,0.000,4,0.176,0.044,3071,390,2189,0,0,0,0,0,0
$GC,3477,0.59,214.1,345.8,17.8,420,3481,0.12,2.10,0.00,0.000,6,0.179,0.037,3029,1794,2188,0,0,0,0,0,0
$GC,3803,0.55,214.1,298.8,14.2,451,3810,0.00,2.12,0.00,0.000,4,0.000,0.047,3023,3211,2185,0,0,0,0,0,0
$GC,3831,0.51,214.1,295.0,14.7,455,3837,0.00,2.12,0.00,0.000,6,0.000,0.037,3032,1781,2185,0,0,0,0,0,0
$GC,4163,0.50,238.0,250.8,12.9,516,4191,0.12,2.15,19.08,0.789,4,0.174,0.047,3007,397,2100,0,0,0,0,0,0
$GC,4248,0.62,319.2,241.2,10.4,530,4322,0.00,2.15,66.65,0.793,6,0.000,0.036,3007,1806,1770,0,0,0,0,0,0
$GC,4649,0.70,359.3,196.7,12.2,601,4691,0.15,2.15,33.28,0.750,4,0.075,0.044,3078,3208,1606,0,0,0,0,0,0
$GC,4754,0.66,359.3,176.7,19.3,618,4763,0.10,2.17,0.00,0.000,6,0.158,0.036,3056,1795,1605,0,0,0,0,0,0
$GC,5083,0.66,359.3,120.5,16.1,679,5090,0.00,2.15,0.00,0.000,4,0.000,0.044,3063,384,1603,0,0,0,0,0,0
$GC,5136,0.67,364.5,112.3,13.7,688,5152,0.00,2.15,5.18,0.524,6,0.000,0.034,3056,1801,1585,0,0,0,0,0,0
$GC,5473,0.80,433.7,69.7,10.9,750,5540,0.12,2.25,55.97,0.660,4,0.086,0.044,3132,396,1304,0,0,0,0,0,0
$GC,5550,0.77,433.7,58.2,14.8,760,5558,0.12,2.17,0.00,0.000,6,0.132,0.033,3088,1812,1303,0,0,0,0,0,0
$GC,5879,0.83,442.8,18.5,13.5,821,5895,0.00,2.08,8.62,0.537,4,0.000,0.042,3085,3195,1267,0,0,0,0,0,0
$GC,5917,0.89,451.2,13.5,13.5,826,5933,0.08,2.12,8.80,0.531,6,0.049,0.034,3155,1795,1231,0,0,0,0,0,0
$STATE,5976,end climb,SURFACE_DEPTH_REACHED
$STATE,5976,begin surface coast
$FINISH,0.5,1.009020
$STATE,5994,end surface coast,CONTROL_FINISHED_OK
$STATE,5994,begin surface
$SM_CCo,6010,159.68,0.554,1,0,454,641.95
$SM_CCo,6178,-0.38,0.000,0,0,454,642.20
$SM_GC,1.40,0.00,0.00,-0.38,0.000,0.000,0.000,147,1794,454,-8.42,-0.17,642.20
$IRIDIUM_FIX,2337.99,12628.65,280910,121210
$TT8_MAMPS,0.026215
$HUMID,37.79
$INTERNAL_PRESSURE,8.74515
$TCM_TEMP,24.80
$XPDR_PINGS,107
$24V_AH,24.4,14.695
$10V_AH,10.5,9.153
$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,21.075,55.550,537.075,159.675,0.000,29.404,36.126,139.680,26.750,0.000,35.947,1945.125,1420.337,703.422,2219.472,255.631,0.000,1522.266,0.000,1999.700,0.000,0.847,0.000
$DEVICE_MAMPS,231.030,53.550,956.250,553.860,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,563.510,856.830,1407.733,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333908
$DATA_FILE_SIZE,50189,838
$CAP_FILE_SIZE,89815,0
$CFSIZE,260165632,175714304
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.065,279.9,1
$GPS,280910,154101,2344.563,12629.439,11,1.3,28,-3.5