version: 66.08
glider: 166
mission: 3
dive: 128
start: 10 3 110 4 39 18
data:
$ID,166
$MISSION,3
$DIVE,128
$N_DIVES,135
$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,-21649.574
$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,40
$R_STBD_OVSHOOT,35
$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
$GPS1,031010,042344,2308.658,12630.300,12,1.4,12,-3.4
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-70.5
$GPS2,031010,043856,2308.832,12630.231,15,1.9,33,-3.4
$SPEED_LIMITS,0.241,0.344
$TGT_NAME,WAKE_S
$TGT_LATLONG,2300.000,12630.000
$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,195.3,16362,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.16,-214.1,0.0,0.0,0,132,0.00,0.00,-114.47,0.000,2,0.000,0.000,145,1811,3465,0,0,0,0,0,0
$GC,135,-1.16,-214.1,6.8,-14.4,16,159,8.80,2.20,-8.10,0.000,4,0.228,0.050,2457,373,3948,0,0,0,0,0,0
$GC,397,-0.89,-214.1,126.4,-35.6,64,405,0.30,2.17,0.00,0.000,6,0.161,0.040,2543,1794,3952,0,0,0,0,0,0
$GC,737,-0.76,-214.1,219.5,-26.3,125,745,0.17,2.17,0.00,0.000,4,0.176,0.051,2584,3220,3954,0,0,0,0,0,0
$GC,782,-0.74,-214.1,229.8,-20.0,132,790,0.00,2.15,0.00,0.000,6,0.000,0.036,2583,1790,3954,0,0,0,0,0,0
$GC,1125,-0.71,-214.1,299.3,-20.1,193,1131,0.00,2.08,0.00,0.000,4,0.000,0.046,2583,392,3953,0,0,0,0,0,0
$GC,1172,-0.68,-214.1,309.9,-21.3,198,1177,0.12,2.10,0.00,0.000,6,0.171,0.041,2618,1806,3953,0,0,0,0,0,0
$GC,1499,-0.73,-214.1,355.3,-11.7,228,1503,0.00,2.12,0.00,0.000,4,0.000,0.051,2614,3217,3951,0,0,0,0,0,0
$GC,1520,-0.78,-214.1,358.2,-11.6,229,1527,0.00,2.08,0.00,0.000,6,0.000,0.035,2614,1798,3951,0,0,0,0,0,0
$GC,1849,-0.83,-214.1,397.0,-12.7,260,1853,0.12,2.12,0.00,0.000,4,0.090,0.046,2552,391,3949,0,0,0,0,0,0
$GC,1881,-0.80,-214.1,403.0,-18.4,262,1890,0.08,2.12,0.00,0.000,6,0.152,0.041,2574,1791,3949,0,0,0,0,0,0
$GC,2208,-0.80,-214.1,456.7,-17.5,293,2212,0.00,2.15,0.00,0.000,4,0.000,0.052,2567,3217,3947,0,0,0,0,0,0
$GC,2274,-0.85,-214.1,467.5,-14.5,298,2283,0.00,2.12,0.00,0.000,6,0.000,0.037,2567,1801,3946,0,0,0,0,0,0
$STATE,2480,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2481,begin apogee
$GC,2488,-0.23,0.0,501.3,16.1,318,2665,0.57,0.00,165.98,0.965,6,0.134,0.000,2758,1754,3071,0,0,0,0,0,0
$STATE,2665,end apogee,CONTROL_FINISHED_OK
$STATE,2666,begin climb
$GC,2668,1.16,214.1,508.5,0.0,333,2848,1.25,0.00,171.75,0.935,6,0.071,0.000,3207,1754,2199,0,0,0,0,0,0
$GC,3167,0.87,214.1,386.6,27.4,380,3172,0.30,2.17,0.00,0.000,4,0.200,0.048,3117,3160,2191,0,0,0,0,0,0
$GC,3197,0.66,214.1,378.2,24.8,382,3201,0.25,2.12,0.00,0.000,6,0.183,0.039,3056,1748,2190,0,0,0,0,0,0
$GC,3523,0.56,214.1,324.5,16.2,412,3527,0.12,2.12,0.00,0.000,4,0.181,0.048,3031,344,2188,0,0,0,0,0,0
$GC,3575,0.52,220.1,317.1,13.6,416,3589,0.00,2.12,4.55,0.575,6,0.000,0.037,3033,1754,2174,0,0,0,0,0,0
$GC,3909,0.51,250.3,272.7,12.6,466,3943,0.00,2.17,26.05,0.812,4,0.000,0.048,3031,3151,2051,0,0,0,0,0,0
$GC,4000,0.49,250.3,260.0,14.0,481,4008,0.15,2.12,0.00,0.000,6,0.168,0.036,2998,1742,2049,0,0,0,0,0,0
$GC,4334,0.62,341.6,222.2,9.9,542,4416,0.12,2.25,74.38,0.785,4,0.089,0.045,3079,353,1678,0,0,0,0,0,0
$GC,4432,0.55,341.6,206.3,19.7,556,4440,0.17,2.17,0.00,0.000,6,0.141,0.034,3023,1745,1676,0,0,0,0,0,0
$GC,4768,0.61,380.5,157.2,12.2,617,4808,0.00,2.20,31.67,0.720,4,0.000,0.044,3016,3156,1519,0,0,0,0,0,0
$GC,4904,0.82,479.3,141.8,9.6,640,4995,0.17,2.15,80.20,0.707,6,0.035,0.036,3135,1745,1117,0,0,0,0,0,0
$GC,5317,0.79,479.3,40.7,20.7,712,5325,0.15,2.15,0.00,0.000,4,0.159,0.044,3100,349,1112,0,0,0,0,0,0
$GC,5381,0.85,479.3,30.2,14.6,723,5390,0.00,2.12,0.00,0.000,6,0.000,0.033,3100,1756,1111,0,0,0,0,0,0
$STATE,5569,end climb,SURFACE_DEPTH_REACHED
$STATE,5569,begin surface coast
$FINISH,0.6,1.021461
$STATE,5586,end surface coast,CONTROL_FINISHED_OK
$STATE,5587,begin surface
$SM_CCo,5603,140.32,0.558,1,0,454,641.95
$SM_CCo,5751,-0.45,0.000,0,0,454,642.20
$SM_GC,1.31,0.00,0.00,-0.45,0.000,0.000,0.000,152,1761,454,-8.40,-1.10,642.20
$IRIDIUM_FIX,2258.07,12627.83,031010,040452
$TT8_MAMPS,0.026215
$HUMID,39.44
$INTERNAL_PRESSURE,8.74515
$TCM_TEMP,24.10
$XPDR_PINGS,61
$24V_AH,24.4,25.039
$10V_AH,10.5,15.709
$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,20.350,51.525,554.575,140.325,0.000,142.316,111.242,213.979,15.250,0.000,34.500,1749.111,1661.117,704.809,2295.582,255.073,0.000,1455.117,0.000,1786.252,0.000,1.154,0.000
$DEVICE_MAMPS,227.970,224.910,965.430,558.450,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,510.689,777.845,1235.205,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43756,761
$CAP_FILE_SIZE,86342,0
$CFSIZE,260165632,172548096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.091,264.3,1
$GPS,031010,061630,2307.919,12629.786,40,1.2,40,-3.4