version: 66.08
glider: 166
mission: 3
dive: 225
start: 10 10 110 14 21 8
data:
$ID,166
$MISSION,3
$DIVE,225
$N_DIVES,238
$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,-21803.277
$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,42
$R_STBD_OVSHOOT,49
$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
$GPS1,101010,141444,2330.575,12630.599,12,1.6,12,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-73.9
$GPS2,101010,142044,2330.631,12630.562,13,1.6,13,-3.5
$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,173.7,56736,-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,-214.1,0.0,0.0,0,105,0.00,0.00,-87.75,0.000,2,0.000,0.000,145,1757,3283,0,0,0,0,0,0
$GC,108,-1.16,-214.1,5.9,-11.7,12,140,8.75,2.10,-12.02,0.000,4,0.220,0.051,2456,385,3949,0,0,0,0,0,0
$GC,217,-0.93,-214.1,59.4,-37.5,30,227,0.28,2.15,0.00,0.000,6,0.173,0.035,2531,1795,3951,0,0,0,0,0,0
$GC,547,-0.77,-214.1,165.4,-25.7,91,553,0.20,0.00,0.00,0.000,6,0.172,0.000,2587,1797,3955,0,0,0,0,0,0
$GC,885,-0.73,-214.1,231.0,-17.3,152,893,0.00,2.17,0.00,0.000,4,0.000,0.046,2587,392,3957,0,0,0,0,0,0
$GC,929,-0.73,-214.1,238.5,-16.7,159,936,0.00,2.10,0.00,0.000,6,0.000,0.038,2586,1802,3957,0,0,0,0,0,0
$GC,1268,-0.70,-214.1,298.8,-17.8,220,1276,0.00,2.17,0.00,0.000,4,0.000,0.052,2577,3212,3957,0,0,0,0,0,0
$GC,1309,-0.70,-214.1,306.0,-16.3,224,1320,0.10,2.12,0.00,0.000,6,0.130,0.036,2611,1802,3957,0,0,0,0,0,0
$GC,1637,-0.74,-214.1,351.8,-13.9,255,1641,0.00,2.15,0.00,0.000,4,0.000,0.047,2611,388,3956,0,0,0,0,0,0
$GC,1691,-0.80,-214.1,359.5,-13.7,259,1695,0.00,2.15,0.00,0.000,6,0.000,0.040,2611,1810,3956,0,0,0,0,0,0
$GC,2022,-0.86,-214.1,401.5,-12.8,290,2027,0.15,2.12,0.00,0.000,4,0.082,0.052,2535,3207,3955,0,0,0,0,0,0
$GC,2107,-0.86,-214.1,415.5,-16.9,297,2111,0.00,2.10,0.00,0.000,6,0.000,0.036,2535,1799,3954,0,0,0,0,0,0
$GC,2435,-0.80,-214.1,480.4,-19.5,327,2439,0.17,2.12,0.00,0.000,4,0.162,0.048,2584,396,3953,0,0,0,0,0,0
$GC,2474,-0.83,-214.1,487.2,-15.1,330,2478,0.00,2.12,0.00,0.000,6,0.000,0.041,2584,1800,3953,0,0,0,0,0,0
$STATE,2576,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2576,begin apogee
$GC,2584,-0.23,0.0,501.2,13.6,339,2762,0.52,0.00,169.75,0.996,6,0.122,0.000,2761,1737,3071,0,0,0,0,0,0
$STATE,2762,end apogee,CONTROL_FINISHED_OK
$STATE,2762,begin climb
$GC,2766,1.16,214.1,511.2,0.0,354,2944,1.20,0.00,172.48,0.968,6,0.047,0.000,3220,1737,2199,0,0,0,0,0,0
$GC,3260,0.86,214.1,386.0,29.6,400,3262,0.38,0.00,0.00,0.000,6,0.191,0.000,3120,1737,2193,0,0,0,0,0,0
$GC,3578,0.68,214.1,318.5,19.6,430,3583,0.20,2.17,0.00,0.000,4,0.181,0.045,3054,3162,2189,0,0,0,0,0,0
$GC,3612,0.58,214.1,312.5,16.2,432,3621,0.10,2.12,0.00,0.000,6,0.155,0.036,3030,1762,2189,0,0,0,0,0,0
$GC,3947,0.57,245.2,269.1,12.5,484,3975,0.00,0.00,25.25,0.839,6,0.000,0.000,3030,1762,2072,0,0,0,0,0,0
$GC,4314,0.56,260.4,221.1,13.2,548,4337,0.00,2.20,13.93,0.769,4,0.000,0.044,3039,343,2009,0,0,0,0,0,0
$GC,4409,0.56,260.4,207.3,14.1,564,4417,0.00,2.15,0.00,0.000,6,0.000,0.033,3039,1746,2007,0,0,0,0,0,0
$GC,4752,0.54,262.7,159.5,13.8,625,4758,0.00,2.12,0.00,0.000,4,0.000,0.044,3039,3158,2005,0,0,0,0,0,0
$GC,4783,0.53,271.0,155.2,13.5,630,4800,0.12,2.12,9.55,0.687,6,0.137,0.035,3006,1753,1967,0,0,0,0,0,0
$GC,5122,0.73,394.0,123.6,8.6,692,5234,0.20,0.00,101.22,0.732,6,0.063,0.000,3117,1753,1466,0,0,0,0,0,0
$GC,5555,0.70,394.0,46.0,17.0,767,5564,0.17,2.20,0.00,0.000,4,0.151,0.042,3076,340,1461,0,0,0,0,0,0
$GC,5628,0.91,491.0,36.9,9.7,779,5716,0.12,2.15,78.62,0.657,6,0.039,0.031,3161,1759,1070,0,0,0,0,0,0
$STATE,5813,end climb,SURFACE_DEPTH_REACHED
$STATE,5814,begin surface coast
$FINISH,0.6,1.022121
$STATE,5826,end surface coast,CONTROL_FINISHED_OK
$STATE,5826,begin surface
$SM_CCo,5903,0.00,0.000,0,0,1063,492.81
$SM_GC,1.44,7.82,0.00,0.00,0.034,0.000,0.000,146,1763,1063,-8.35,-1.05,492.81
$IRIDIUM_FIX,2321.52,12629.63,101010,121246
$TT8_MAMPS,0.026215
$HUMID,41.84
$INTERNAL_PRESSURE,8.78422
$TCM_TEMP,24.20
$XPDR_PINGS,73
$24V_AH,24.2,39.906
$10V_AH,10.4,26.278
$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,20.500,42.925,570.800,0.000,0.000,30.253,15.715,173.891,18.250,0.000,14.527,1871.579,1477.731,534.765,2133.569,244.363,0.000,1324.206,0.000,1921.606,0.000,0.846,0.000
$DEVICE_MAMPS,220.320,111.690,996.030,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,545.535,828.836,1354.244,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333912
$DATA_FILE_SIZE,47038,811
$CAP_FILE_SIZE,81834,0
$CFSIZE,260165632,167481344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.099,347.2,1
$GPS,101010,160037,2330.011,12630.693,31,1.3,31,-3.5