version: 66.08
glider: 166
mission: 3
dive: 178
start: 10 7 110 0 10 7
data:
$ID,166
$MISSION,3
$DIVE,178
$N_DIVES,195
$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,-21714.824
$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,38
$R_STBD_OVSHOOT,41
$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
$GPS1,071010,000338,2345.118,12629.149,13,2.0,13,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-71.4
$GPS2,071010,000946,2345.201,12629.104,11,99.0,30,-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,11.6,27450,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.16,-214.1,0.0,0.0,0,102,0.00,0.00,-84.68,0.000,2,0.000,0.000,145,1755,3331,0,0,0,0,0,0
$GC,105,-1.16,-214.1,5.9,-12.4,12,136,8.80,2.28,-11.32,0.000,4,0.225,0.056,2448,3208,3948,0,0,0,0,0,0
$GC,186,-0.85,-214.1,47.1,-46.9,25,195,0.38,2.15,0.00,0.000,6,0.184,0.034,2557,1789,3950,0,0,0,0,0,0
$GC,509,-0.70,-214.1,152.7,-29.7,86,518,0.17,0.00,0.00,0.000,6,0.172,0.000,2606,1786,3953,0,0,0,0,0,0
$GC,851,-0.68,-214.1,221.9,-18.9,147,858,0.00,2.08,0.00,0.000,4,0.000,0.045,2606,399,3955,0,0,0,0,0,0
$GC,903,-0.68,-214.1,232.6,-18.0,156,911,0.00,2.12,0.00,0.000,6,0.000,0.038,2601,1800,3955,0,0,0,0,0,0
$GC,1243,-0.66,-214.1,293.1,-17.7,217,1249,0.00,2.15,0.00,0.000,4,0.000,0.054,2599,3213,3955,0,0,0,0,0,0
$GC,1280,-0.69,-214.1,299.1,-14.6,223,1287,0.00,2.08,0.00,0.000,6,0.000,0.036,2600,1801,3955,0,0,0,0,0,0
$GC,1605,-0.69,-214.1,349.4,-16.0,254,1609,0.00,2.15,0.00,0.000,4,0.000,0.053,2600,3207,3954,0,0,0,0,0,0
$GC,1647,-0.73,-214.1,355.8,-14.9,257,1651,0.00,2.08,0.00,0.000,6,0.000,0.036,2600,1798,3954,0,0,0,0,0,0
$GC,1978,-0.75,-214.1,408.1,-14.9,288,1982,0.00,2.12,0.00,0.000,4,0.000,0.053,2600,3202,3953,0,0,0,0,0,0
$GC,2021,-0.82,-214.1,413.6,-13.1,291,2025,0.00,2.08,0.00,0.000,6,0.000,0.036,2600,1790,3953,0,0,0,0,0,0
$GC,2352,-0.85,-214.1,456.4,-12.0,322,2357,0.10,2.10,0.00,0.000,4,0.105,0.047,2548,392,3952,0,0,0,0,0,0
$GC,2407,-0.82,-214.1,465.4,-16.7,326,2416,0.00,2.15,0.00,0.000,6,0.000,0.041,2546,1806,3951,0,0,0,0,0,0
$STATE,2613,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2613,begin apogee
$GC,2620,-0.23,0.0,501.6,17.3,346,2797,0.65,0.00,167.45,0.973,6,0.137,0.000,2759,1743,3073,0,0,0,0,0,0
$STATE,2798,end apogee,CONTROL_FINISHED_OK
$STATE,2798,begin climb
$GC,2801,1.16,214.1,510.8,0.0,361,2981,1.25,2.25,171.65,0.946,4,0.068,0.050,3224,355,2199,0,0,0,0,0,0
$GC,3045,0.85,214.1,469.7,30.2,381,3053,0.38,2.17,0.00,0.000,6,0.189,0.037,3117,1749,2197,0,0,0,0,0,0
$GC,3371,0.67,214.1,397.6,21.6,412,3373,0.22,0.00,0.00,0.000,6,0.173,0.000,3054,1754,2193,0,0,0,0,0,0
$GC,3689,0.58,214.1,343.8,17.3,442,3693,0.00,2.10,0.00,0.000,4,0.000,0.044,3044,3161,2190,0,0,0,0,0,0
$GC,3740,0.51,214.1,335.5,16.2,446,3744,0.17,2.08,0.00,0.000,6,0.170,0.034,3003,1753,2188,0,0,0,0,0,0
$GC,4066,0.56,254.2,296.4,12.2,478,4105,0.00,0.00,32.47,0.843,6,0.000,0.000,3003,1753,2035,0,0,0,0,0,0
$GC,4438,0.63,295.4,251.9,12.1,544,4476,0.12,0.00,34.30,0.805,6,0.087,0.000,3070,1753,1867,0,0,0,0,0,0
$GC,4812,0.57,295.4,187.8,16.1,609,4819,0.15,2.15,0.00,0.000,4,0.166,0.044,3036,346,1862,0,0,0,0,0,0
$GC,4884,0.62,310.1,176.8,13.3,621,4904,0.00,2.12,13.32,0.709,6,0.000,0.032,3028,1764,1806,0,0,0,0,0,0
$GC,5237,0.71,363.8,135.4,11.6,684,5291,0.12,2.12,45.50,0.718,4,0.083,0.041,3093,3156,1586,0,0,0,0,0,0
$GC,5310,0.65,363.8,122.0,19.9,694,5318,0.15,2.17,0.00,0.000,6,0.142,0.034,3053,1748,1586,0,0,0,0,0,0
$GC,5639,0.74,396.8,77.9,12.5,755,5676,0.00,2.22,27.15,0.661,4,0.000,0.045,3062,343,1453,0,0,0,0,0,0
$GC,5686,0.84,437.2,72.1,12.1,761,5731,0.10,2.15,34.17,0.649,6,0.044,0.031,3139,1752,1289,0,0,0,0,0,0
$STATE,6042,end climb,SURFACE_DEPTH_REACHED
$STATE,6042,begin surface coast
$FINISH,1.2,1.022068
$STATE,6055,end surface coast,CONTROL_FINISHED_OK
$STATE,6055,begin surface
$SM_CCo,6132,0.00,0.000,0,0,1283,438.84
$SM_GC,1.62,7.62,0.00,0.00,0.032,0.000,0.000,151,1756,1283,-8.34,-1.24,438.84
$IRIDIUM_FIX,2335.63,12630.54,061010,222255
$TT8_MAMPS,0.026215
$HUMID,41.02
$INTERNAL_PRESSURE,8.80375
$TCM_TEMP,24.60
$XPDR_PINGS,78
$24V_AH,24.3,32.784
$10V_AH,10.4,21.173
$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,20.400,47.150,526.025,0.000,0.000,30.731,40.820,139.220,19.500,0.000,33.886,1917.646,1641.340,501.827,2184.222,251.016,0.000,1297.795,0.000,1965.428,0.000,0.847,0.000
$DEVICE_MAMPS,224.910,110.160,973.080,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,557.499,846.339,1372.101,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50243,828
$CAP_FILE_SIZE,83593,0
$CFSIZE,260165632,169930752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.131, 46.9,1
$GPS,071010,015328,2346.653,12629.678,13,99.0,32,-3.5