version: 66.08
glider: 166
mission: 3
dive: 166
start: 10 6 110 2 7 16
data:
$ID,166
$MISSION,3
$DIVE,166
$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,-21698.998
$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,45
$R_STBD_OVSHOOT,46
$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
$GPS1,061010,020038,2331.103,12629.392,10,1.9,11,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-69.2
$GPS2,061010,020655,2331.174,12629.404,11,2.0,16,-3.5
$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,345.9,53396,-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,-214.1,0.0,0.0,0,105,0.00,0.00,-87.18,0.000,2,0.000,0.000,142,1812,3401,0,0,0,0,0,0
$GC,108,-1.16,-214.1,5.8,-11.1,12,133,8.82,2.17,-9.77,0.000,4,0.226,0.060,2449,3200,3947,0,0,0,0,0,0
$GC,194,-0.84,-214.1,53.1,-48.1,26,203,0.38,2.12,0.00,0.000,6,0.169,0.035,2562,1798,3950,0,0,0,0,0,0
$GC,522,-0.72,-214.1,151.4,-26.9,87,529,0.15,2.12,0.00,0.000,4,0.179,0.044,2603,399,3953,0,0,0,0,0,0
$GC,595,-0.70,-214.1,168.7,-21.0,99,601,0.00,2.08,0.00,0.000,6,0.000,0.038,2600,1791,3953,0,0,0,0,0,0
$GC,934,-0.66,-214.1,239.6,-19.6,160,942,0.00,2.17,0.00,0.000,4,0.000,0.052,2600,3204,3954,0,0,0,0,0,0
$GC,956,-0.64,-214.1,243.5,-18.6,163,964,0.12,2.10,0.00,0.000,6,0.154,0.035,2636,1793,3955,0,0,0,0,0,0
$GC,1295,-0.69,-214.1,293.3,-14.4,224,1303,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,1793,3955,0,0,0,0,0,0
$GC,1634,-0.75,-214.1,333.2,-10.9,259,1640,0.12,0.00,0.00,0.000,6,0.089,0.000,2572,1792,3954,0,0,0,0,0,0
$GC,1959,-0.71,-214.1,391.8,-17.1,290,1961,0.12,0.00,0.00,0.000,6,0.172,0.000,2605,1792,3952,0,0,0,0,0,0
$GC,2278,-0.74,-214.1,435.7,-13.3,320,2280,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1792,3952,0,0,0,0,0,0
$GC,2600,-0.78,-214.1,475.1,-12.2,350,2604,0.00,2.12,0.00,0.000,4,0.000,0.047,2605,393,3949,0,0,0,0,0,0
$GC,2675,-0.86,-214.1,484.1,-10.9,356,2679,0.12,2.10,0.00,0.000,6,0.087,0.039,2532,1806,3949,0,0,0,0,0,0
$STATE,2776,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2776,begin apogee
$GC,2783,-0.23,0.0,501.3,19.1,365,2958,0.70,0.00,167.15,0.972,6,0.143,0.000,2757,1741,3071,0,0,0,0,0,0
$STATE,2959,end apogee,CONTROL_FINISHED_OK
$STATE,2959,begin climb
$GC,2963,1.16,214.1,508.6,0.0,380,3144,1.27,2.35,171.40,0.943,4,0.070,0.050,3224,3160,2198,0,0,0,0,0,0
$GC,3191,0.87,214.1,468.6,31.7,400,3196,0.43,2.17,0.00,0.000,6,0.197,0.039,3124,1756,2195,0,0,0,0,0,0
$GC,3517,0.69,214.1,397.7,20.1,430,3521,0.20,2.15,0.00,0.000,4,0.179,0.044,3074,341,2193,0,0,0,0,0,0
$GC,3561,0.57,214.1,389.1,18.2,433,3569,0.17,2.15,0.00,0.000,6,0.173,0.036,3027,1756,2191,0,0,0,0,0,0
$GC,3887,0.54,221.4,343.1,13.6,464,3901,0.00,2.10,6.18,0.687,4,0.000,0.046,3019,3158,2169,0,0,0,0,0,0
$GC,3986,0.53,237.3,329.4,13.2,472,4005,0.00,2.12,14.90,0.819,6,0.000,0.036,3026,1748,2104,0,0,0,0,0,0
$GC,4329,0.50,237.3,279.3,14.8,516,4338,0.00,2.15,0.00,0.000,4,0.000,0.046,3036,342,2100,0,0,0,0,0,0
$GC,4366,0.46,237.3,273.8,14.4,522,4376,0.12,2.15,0.00,0.000,6,0.139,0.034,2995,1764,2100,0,0,0,0,0,0
$GC,4715,0.65,362.6,241.6,8.4,583,4822,0.15,0.00,103.18,0.805,6,0.074,0.000,3074,1764,1593,0,0,0,0,0,0
$GC,5158,0.60,362.6,158.9,19.3,659,5165,0.15,2.20,0.00,0.000,4,0.168,0.044,3040,337,1588,0,0,0,0,0,0
$GC,5190,0.60,362.6,153.0,17.9,664,5198,0.00,2.15,0.00,0.000,6,0.000,0.033,3040,1750,1586,0,0,0,0,0,0
$GC,5520,0.65,388.5,108.7,12.8,725,5551,0.00,2.20,21.30,0.679,4,0.000,0.044,3039,3158,1487,0,0,0,0,0,0
$GC,5580,0.72,398.7,100.6,13.4,734,5597,0.00,2.15,10.10,0.613,6,0.000,0.035,3045,1754,1446,0,0,0,0,0,0
$GC,5918,0.95,514.1,61.4,8.9,796,6020,0.25,2.22,93.05,0.647,4,0.051,0.042,3190,335,974,0,0,0,0,0,0
$GC,6112,0.85,514.1,13.7,27.9,826,6122,0.20,2.17,0.00,0.000,6,0.140,0.030,3117,1753,973,0,0,0,0,0,0
$STATE,6158,end climb,SURFACE_DEPTH_REACHED
$STATE,6159,begin surface coast
$FINISH,0.7,1.021954
$STATE,6171,end surface coast,CONTROL_FINISHED_OK
$STATE,6171,begin surface
$SM_CCo,6248,0.00,0.000,0,0,968,515.87
$SM_GC,1.51,7.60,0.00,0.00,0.030,0.000,0.000,151,1758,968,-8.33,-1.19,515.87
$IRIDIUM_FIX,2319.18,12616.49,061010,000057
$TT8_MAMPS,0.026215
$HUMID,41.33
$INTERNAL_PRESSURE,8.76469
$TCM_TEMP,24.30
$XPDR_PINGS,86
$24V_AH,24.3,31.056
$10V_AH,10.5,19.859
$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,21.100,47.525,587.250,0.000,0.000,30.450,37.583,155.912,21.500,0.000,17.667,1925.310,1687.075,553.965,2194.935,259.061,0.000,1364.961,0.000,1979.405,0.000,0.846,0.000
$DEVICE_MAMPS,225.675,107.865,972.315,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,562.257,854.484,1387.341,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333904
$DATA_FILE_SIZE,50206,836
$CAP_FILE_SIZE,86457,0
$CFSIZE,260165632,170553344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.120, 96.6,1
$GPS,061010,035236,2332.192,12629.508,35,1.2,35,-3.5