version: 66.08
glider: 166
mission: 3
dive: 164
start: 10 5 110 22 26 39
data:
$ID,166
$MISSION,3
$DIVE,164
$N_DIVES,175
$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,400
$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,-21696.393
$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,34
$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
$GPS1,051010,222032,2327.426,12628.580,13,1.6,14,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-67.8
$GPS2,051010,222616,2327.475,12628.573,15,99.0,34,-3.4
$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,24.3,60284,-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,-214.1,0.0,0.0,0,100,0.00,0.00,-82.43,0.000,2,0.000,0.000,143,1804,3206,0,0,0,0,0,0
$GC,103,-1.16,-214.1,5.1,-9.8,11,134,8.75,0.00,-14.20,0.000,6,0.223,0.000,2461,1804,3947,0,0,0,0,0,0
$GC,452,-0.88,-214.1,160.3,-41.0,75,459,0.28,2.12,0.00,0.000,4,0.185,0.041,2544,390,3952,0,0,0,0,0,0
$GC,512,-0.79,-214.1,178.9,-25.1,85,520,0.15,2.12,0.00,0.000,6,0.173,0.041,2585,1812,3952,0,0,0,0,0,0
$GC,845,-0.73,-214.1,251.0,-20.4,146,853,0.00,2.12,0.00,0.000,4,0.000,0.050,2576,3202,3954,0,0,0,0,0,0
$GC,893,-0.73,-214.1,260.8,-19.8,154,901,0.00,2.10,0.00,0.000,6,0.000,0.036,2576,1804,3954,0,0,0,0,0,0
$GC,1228,-0.69,-214.1,328.4,-19.5,202,1233,0.15,2.12,0.00,0.000,4,0.164,0.046,2618,386,3954,0,0,0,0,0,0
$GC,1269,-0.72,-214.1,335.5,-15.3,205,1273,0.00,2.10,0.00,0.000,6,0.000,0.039,2615,1798,3954,0,0,0,0,0,0
$GC,1600,-0.75,-214.1,380.9,-13.1,236,1604,0.00,2.15,0.00,0.000,4,0.000,0.054,2614,3210,3953,0,0,0,0,0,0
$GC,1651,-0.85,-214.1,386.5,-10.1,240,1656,0.15,2.08,0.00,0.000,6,0.076,0.036,2533,1801,3953,0,0,0,0,0,0
$GC,1977,-0.79,-214.1,450.2,-18.6,270,1982,0.17,2.15,0.00,0.000,4,0.166,0.052,2573,3204,3952,0,0,0,0,0,0
$GC,2020,-0.82,-214.1,457.1,-13.8,273,2028,0.00,2.08,0.00,0.000,6,0.000,0.037,2573,1796,3952,0,0,0,0,0,0
$STATE,2325,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2326,begin apogee
$GC,2331,-0.23,0.0,501.1,14.3,302,2506,0.55,0.00,167.98,0.968,6,0.128,0.000,2759,1796,3072,0,0,0,0,0,0
$STATE,2506,end apogee,CONTROL_FINISHED_OK
$STATE,2506,begin climb
$GC,2510,1.16,214.1,507.9,0.0,317,2689,1.23,0.00,172.45,0.937,6,0.063,0.000,3211,1795,2199,0,0,0,0,0,0
$GC,3009,0.87,214.1,394.7,26.8,365,3014,0.30,2.12,0.00,0.000,4,0.196,0.050,3120,3156,2192,0,0,0,0,0,0
$GC,3105,0.70,214.1,371.6,20.9,373,3110,0.22,2.15,0.00,0.000,6,0.183,0.040,3069,1741,2190,0,0,0,0,0,0
$GC,3432,0.60,214.1,314.9,17.3,403,3436,0.12,2.12,0.00,0.000,4,0.184,0.047,3042,336,2188,0,0,0,0,0,0
$GC,3483,0.54,214.1,307.0,14.1,407,3487,0.00,2.12,0.00,0.000,6,0.000,0.037,3043,1758,2187,0,0,0,0,0,0
$GC,3815,0.49,220.5,261.4,13.6,463,3830,0.15,2.15,4.55,0.572,4,0.163,0.047,2991,3162,2172,0,0,0,0,0,0
$GC,3847,0.56,281.4,257.4,11.2,468,3909,0.00,2.12,51.62,0.820,6,0.000,0.037,2999,1750,1922,0,0,0,0,0,0
$GC,4237,0.69,354.2,212.8,10.7,537,4307,0.17,2.22,60.10,0.778,4,0.068,0.047,3104,355,1627,0,0,0,0,0,0
$GC,4322,0.59,354.2,197.2,22.0,549,4331,0.22,2.15,0.00,0.000,6,0.159,0.033,3033,1754,1626,0,0,0,0,0,0
$GC,4654,0.59,354.2,147.0,14.6,610,4661,0.00,2.12,0.00,0.000,4,0.000,0.045,3031,3150,1623,0,0,0,0,0,0
$GC,4713,0.67,379.7,139.3,12.8,620,4744,0.00,2.12,21.62,0.701,6,0.000,0.036,3037,1744,1523,0,0,0,0,0,0
$GC,5063,0.79,435.3,93.6,11.5,684,5117,0.15,2.15,45.65,0.678,4,0.073,0.043,3143,344,1297,0,0,0,0,0,0
$GC,5185,0.75,435.3,70.3,19.0,703,5193,0.17,2.15,0.00,0.000,6,0.135,0.032,3086,1753,1296,0,0,0,0,0,0
$GC,5512,0.79,435.3,22.1,14.3,764,5520,0.00,2.12,0.00,0.000,4,0.000,0.043,3081,3162,1294,0,0,0,0,0,0
$GC,5563,0.87,451.0,15.3,13.2,772,5587,0.00,2.12,14.38,0.581,6,0.000,0.035,3088,1749,1232,0,0,0,0,0,0
$STATE,5660,end climb,SURFACE_DEPTH_REACHED
$STATE,5660,begin surface coast
$FINISH,0.7,1.011668
$STATE,5678,end surface coast,CONTROL_FINISHED_OK
$STATE,5679,begin surface
$SM_CCo,5756,0.00,0.000,0,0,1227,452.33
$SM_GC,1.59,7.55,0.00,0.00,0.037,0.000,0.000,147,1822,1227,-8.34,0.59,452.33
$IRIDIUM_FIX,2319.18,12628.24,051010,202012
$TT8_MAMPS,0.026215
$HUMID,40.78
$INTERNAL_PRESSURE,8.80375
$TCM_TEMP,24.70
$XPDR_PINGS,80
$24V_AH,24.4,30.754
$10V_AH,10.5,19.631
$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,20.500,51.200,538.350,0.000,0.000,27.860,21.925,135.638,20.000,0.000,36.051,1827.822,1421.139,534.438,2074.250,241.213,0.000,1291.685,0.000,1876.314,0.000,0.847,0.000
$DEVICE_MAMPS,223.380,112.455,967.725,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,532.420,809.633,1331.341,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46865,792
$CAP_FILE_SIZE,81834,0
$CFSIZE,260165632,170676224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.241,360.0,1
$GPS,061010,000354,2329.191,12628.953,26,0.9,43,-3.5