version: 66.08
glider: 166
mission: 3
dive: 101
start: 10 1 110 3 21 25
data:
$ID,166
$MISSION,3
$DIVE,101
$N_DIVES,105
$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,-21614.248
$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,43
$R_STBD_OVSHOOT,43
$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
$GPS1,011010,031550,2320.116,12629.000,11,1.1,11,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-66.2
$GPS2,011010,032102,2320.115,12628.951,13,1.5,13,-3.4
$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,175.9,15135,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.16,-214.1,0.0,0.0,0,128,0.00,0.00,-110.05,0.000,2,0.000,0.000,140,1750,3250,0,0,0,0,0,0
$GC,131,-1.16,-214.1,5.1,-9.4,15,163,8.77,2.03,-13.07,0.000,4,0.225,0.046,2460,380,3949,0,0,0,0,0,0
$GC,272,-0.88,-214.1,72.8,-44.6,39,280,0.32,2.15,0.00,0.000,6,0.175,0.037,2548,1789,3951,0,0,0,0,0,0
$GC,600,-0.75,-214.1,173.8,-29.2,100,609,0.17,2.10,0.00,0.000,4,0.176,0.037,2596,393,3954,0,0,0,0,0,0
$GC,656,-0.73,-214.1,187.6,-19.9,109,664,0.00,2.10,0.00,0.000,6,0.000,0.034,2589,1812,3955,0,0,0,0,0,0
$GC,992,-0.69,-214.1,255.0,-18.3,170,1000,0.00,2.10,0.00,0.000,4,0.000,0.047,2579,3201,3955,0,0,0,0,0,0
$GC,1050,-0.69,-214.1,265.2,-16.4,180,1058,0.10,2.08,0.00,0.000,6,0.134,0.032,2612,1796,3955,0,0,0,0,0,0
$GC,1385,-0.72,-214.1,319.0,-15.6,231,1388,0.00,2.08,0.00,0.000,4,0.000,0.041,2613,398,3955,0,0,0,0,0,0
$GC,1433,-0.76,-214.1,326.2,-14.7,235,1437,0.00,2.08,0.00,0.000,6,0.000,0.036,2613,1800,3955,0,0,0,0,0,0
$GC,1765,-0.80,-214.1,371.6,-12.8,266,1769,0.00,2.12,0.00,0.000,4,0.000,0.051,2614,3200,3953,0,0,0,0,0,0
$GC,1842,-0.91,-214.1,379.8,-8.7,272,1851,0.15,2.08,0.00,0.000,6,0.045,0.033,2529,1798,3953,0,0,0,0,0,0
$GC,2171,-0.83,-214.1,443.6,-20.4,303,2175,0.15,2.10,0.00,0.000,4,0.178,0.044,2568,395,3952,0,0,0,0,0,0
$GC,2245,-0.83,-214.1,457.5,-15.3,309,2253,0.00,2.12,0.00,0.000,6,0.000,0.039,2565,1801,3952,0,0,0,0,0,0
$STATE,2518,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2518,begin apogee
$GC,2525,-0.23,0.0,500.8,15.9,335,2700,0.57,0.00,167.88,0.965,6,0.135,0.000,2757,1801,3072,0,0,0,0,0,0
$STATE,2700,end apogee,CONTROL_FINISHED_OK
$STATE,2701,begin climb
$GC,2703,1.16,214.1,507.8,0.0,350,2884,1.27,2.45,173.02,0.937,4,0.071,0.050,3226,355,2199,0,0,0,0,0,0
$GC,3001,0.84,214.1,443.0,30.3,375,3008,0.40,2.17,0.00,0.000,6,0.189,0.038,3114,1747,2194,0,0,0,0,0,0
$GC,3327,0.66,214.1,369.4,21.3,406,3332,0.20,2.12,0.00,0.000,4,0.178,0.044,3065,356,2190,0,0,0,0,0,0
$GC,3379,0.56,214.1,360.4,16.3,410,3384,0.15,2.12,0.00,0.000,6,0.175,0.036,3024,1755,2190,0,0,0,0,0,0
$GC,3705,0.54,238.5,319.4,12.8,440,3731,0.00,2.22,20.20,0.834,4,0.000,0.047,3024,3171,2098,0,0,0,0,0,0
$GC,3814,0.51,238.5,305.2,14.2,449,3818,0.00,2.12,0.00,0.000,6,0.000,0.036,3028,1754,2096,0,0,0,0,0,0
$GC,4143,0.47,238.5,257.5,14.9,506,4151,0.12,2.17,0.00,0.000,4,0.174,0.046,3003,345,2093,0,0,0,0,0,0
$GC,4188,0.50,253.7,251.1,13.2,513,4210,0.00,2.10,13.57,0.769,6,0.000,0.034,3004,1761,2035,0,0,0,0,0,0
$GC,4535,0.56,283.5,207.8,12.6,576,4570,0.00,2.15,24.30,0.770,4,0.000,0.045,3004,3149,1915,0,0,0,0,0,0
$GC,4598,0.67,341.9,200.2,11.4,585,4653,0.12,2.12,49.12,0.765,6,0.082,0.036,3077,1739,1678,0,0,0,0,0,0
$GC,4979,0.60,341.9,127.1,20.5,653,4988,0.15,0.00,0.00,0.000,6,0.174,0.000,3037,1739,1672,0,0,0,0,0,0
$GC,5306,0.75,425.7,86.3,10.2,714,5381,0.12,2.17,66.78,0.683,4,0.088,0.042,3115,340,1337,0,0,0,0,0,0
$GC,5408,0.72,425.7,69.1,18.9,728,5417,0.12,2.17,0.00,0.000,6,0.132,0.031,3074,1757,1335,0,0,0,0,0,0
$GC,5736,0.78,443.6,26.2,13.1,789,5760,0.00,2.10,15.88,0.598,4,0.000,0.041,3073,3152,1262,0,0,0,0,0,0
$GC,5801,0.92,488.5,18.1,11.9,799,5846,0.12,2.12,36.53,0.607,6,0.038,0.035,3167,1751,1079,0,0,0,0,0,0
$STATE,5884,end climb,SURFACE_DEPTH_REACHED
$STATE,5884,begin surface coast
$FINISH,0.6,1.011397
$STATE,5898,end surface coast,CONTROL_FINISHED_OK
$STATE,5898,begin surface
$SM_CCo,5916,131.15,0.552,1,0,454,641.95
$SM_CCo,6055,-0.43,0.000,0,0,455,642.20
$SM_GC,1.26,0.00,0.00,-0.43,0.000,0.000,0.000,151,1750,455,-8.41,-1.39,642.20
$IRIDIUM_FIX,2312.13,12628.73,011010,010110
$TT8_MAMPS,0.026215
$HUMID,38.38
$INTERNAL_PRESSURE,8.74515
$TCM_TEMP,24.50
$XPDR_PINGS,88
$24V_AH,24.4,20.450
$10V_AH,10.5,12.787
$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,20.950,55.475,567.275,131.150,0.000,24.884,16.226,134.557,22.000,0.000,14.855,1889.769,1389.982,690.981,2145.389,252.709,0.000,1513.532,0.000,1976.332,0.000,0.848,0.000
$DEVICE_MAMPS,224.910,51.255,965.430,552.330,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,547.169,832.341,1374.716,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46979,814
$CAP_FILE_SIZE,88529,0
$CFSIZE,260165632,173961216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.137,266.3,1
$GPS,011010,050337,2319.104,12628.487,37,1.0,37,-3.4