version: 66.08
glider: 166
mission: 3
dive: 180
start: 10 7 110 3 46 12
data:
$ID,166
$MISSION,3
$DIVE,180
$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,-21717.338
$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,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
$GPS1,071010,034002,2347.701,12629.771,14,1.5,14,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-68.0
$GPS2,071010,034551,2347.719,12629.782,12,1.8,13,-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,343.5,22747,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.16,-214.1,0.0,0.0,0,105,0.00,0.00,-87.68,0.000,2,0.000,0.000,144,1764,3442,0,0,0,0,0,0
$GC,108,-1.16,-214.1,6.7,-13.9,12,133,8.80,2.25,-8.93,0.000,4,0.225,0.059,2449,3199,3948,0,0,0,0,0,0
$GC,221,-0.89,-214.1,63.7,-46.6,31,230,0.32,2.10,0.00,0.000,6,0.186,0.032,2543,1798,3951,0,0,0,0,0,0
$GC,549,-0.74,-214.1,169.8,-26.9,92,558,0.20,2.15,0.00,0.000,4,0.174,0.043,2600,398,3954,0,0,0,0,0,0
$GC,628,-0.72,-214.1,188.0,-19.6,105,635,0.00,2.10,0.00,0.000,6,0.000,0.038,2600,1793,3955,0,0,0,0,0,0
$GC,970,-0.68,-214.1,254.6,-18.5,166,980,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,1793,3956,0,0,0,0,0,0
$GC,1313,-0.66,-214.1,318.1,-16.7,218,1317,0.00,2.15,0.00,0.000,4,0.000,0.051,2589,3216,3956,0,0,0,0,0,0
$GC,1396,-0.70,-214.1,330.5,-14.1,225,1400,0.00,2.10,0.00,0.000,6,0.000,0.036,2589,1805,3956,0,0,0,0,0,0
$GC,1723,-0.70,-214.1,390.3,-17.5,255,1727,0.00,2.10,0.00,0.000,4,0.000,0.045,2589,396,3955,0,0,0,0,0,0
$GC,1786,-0.70,-214.1,401.6,-16.1,260,1790,0.00,2.10,0.00,0.000,6,0.000,0.039,2587,1810,3955,0,0,0,0,0,0
$GC,2111,-0.70,-214.1,450.2,-12.9,290,2112,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1811,3953,0,0,0,0,0,0
$GC,2431,-0.70,-214.1,491.3,-13.3,320,2432,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1810,3952,0,0,0,0,0,0
$STATE,2503,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2503,begin apogee
$GC,2510,-0.23,0.0,501.3,13.9,327,2686,0.52,0.00,168.07,0.968,6,0.128,0.000,2764,1749,3071,0,0,0,0,0,0
$STATE,2687,end apogee,CONTROL_FINISHED_OK
$STATE,2687,begin climb
$GC,2691,1.16,214.1,511.0,0.0,342,2870,1.20,2.33,171.10,0.944,4,0.048,0.052,3235,357,2199,0,0,0,0,0,0
$GC,2901,0.83,214.1,479.6,29.9,360,2907,0.45,2.17,0.00,0.000,6,0.191,0.037,3111,1748,2197,0,0,0,0,0,0
$GC,3227,0.67,214.1,406.9,20.5,390,3229,0.17,0.00,0.00,0.000,6,0.175,0.000,3061,1752,2193,0,0,0,0,0,0
$GC,3545,0.58,214.1,356.8,15.1,420,3547,0.12,0.00,0.00,0.000,6,0.184,0.000,3028,1752,2191,0,0,0,0,0,0
$GC,3864,0.56,225.4,313.9,13.4,450,3879,0.00,2.20,9.18,0.758,4,0.000,0.045,3018,3162,2152,0,0,0,0,0,0
$GC,3960,0.57,238.6,301.5,13.3,458,3980,0.00,2.12,12.77,0.790,6,0.000,0.034,3026,1742,2098,0,0,0,0,0,0
$GC,4315,0.61,281.7,257.7,12.0,520,4356,0.00,2.22,36.17,0.815,4,0.000,0.044,3032,352,1921,0,0,0,0,0,0
$GC,4398,0.62,292.2,246.9,13.4,533,4414,0.00,2.15,9.90,0.710,6,0.000,0.033,3033,1758,1879,0,0,0,0,0,0
$GC,4753,0.63,294.5,198.2,13.8,595,4760,0.00,2.10,0.00,0.000,4,0.000,0.044,3030,3169,1876,0,0,0,0,0,0
$GC,4781,0.64,306.1,194.1,13.4,599,4801,0.00,2.10,12.70,0.717,6,0.000,0.034,3037,1751,1824,0,0,0,0,0,0
$GC,5136,0.65,310.5,146.0,13.7,662,5146,0.00,2.20,4.85,0.524,4,0.000,0.044,3046,341,1806,0,0,0,0,0,0
$GC,5186,0.68,340.0,139.2,12.6,670,5217,0.00,2.12,25.77,0.712,6,0.000,0.032,3043,1749,1686,0,0,0,0,0,0
$GC,5538,0.74,358.1,94.3,13.1,734,5563,0.10,2.15,16.60,0.660,4,0.096,0.041,3106,3165,1611,0,0,0,0,0,0
$GC,5637,0.70,358.1,77.6,18.2,750,5646,0.12,2.15,0.00,0.000,6,0.136,0.034,3073,1749,1610,0,0,0,0,0,0
$GC,5968,0.80,410.0,38.4,11.6,811,6018,0.00,0.00,42.47,0.638,6,0.000,0.000,3073,1749,1399,0,0,0,0,0,0
$STATE,6265,end climb,SURFACE_DEPTH_REACHED
$STATE,6265,begin surface coast
$FINISH,0.7,1.010868
$STATE,6295,end surface coast,CONTROL_FINISHED_OK
$STATE,6295,begin surface
$SM_CCo,6372,0.00,0.000,0,0,1391,412.10
$SM_GC,1.64,7.45,0.00,0.00,0.034,0.000,0.000,154,1820,1391,-8.33,0.57,412.10
$IRIDIUM_FIX,2335.63,12630.54,071010,010124
$TT8_MAMPS,0.026215
$HUMID,40.19
$INTERNAL_PRESSURE,8.82328
$TCM_TEMP,25.30
$XPDR_PINGS,58
$24V_AH,24.3,33.068
$10V_AH,10.5,21.392
$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,19.475,43.225,509.600,0.000,0.000,29.964,37.667,141.682,14.500,0.000,15.242,2039.757,1663.320,481.213,2269.326,262.329,0.000,1285.648,0.000,2073.601,0.000,0.848,0.000
$DEVICE_MAMPS,224.910,117.810,967.725,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,586.737,889.964,1478.938,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333944
$DATA_FILE_SIZE,50270,870
$CAP_FILE_SIZE,84700,0
$CFSIZE,260165632,169832448
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.030,126.6,1
$GPS,071010,053401,2348.719,12629.407,60,0.9,61,-3.5