version: 66.08
glider: 166
mission: 3
dive: 278
start: 10 14 110 16 13 31
data:
$ID,166
$MISSION,3
$DIVE,278
$N_DIVES,286
$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,-21872.488
$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,42
$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
$GPS1,141010,160738,2308.152,12629.604,9,1.9,9,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-74.1
$GPS2,141010,161308,2308.219,12629.594,12,1.9,12,-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,13.3,95902,-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,-214.1,0.0,0.0,0,104,0.00,0.00,-86.05,0.000,2,0.000,0.000,152,1746,3256,0,0,0,0,0,0
$GC,107,-1.16,-214.1,6.1,-12.4,12,138,8.85,2.28,-12.45,0.000,4,0.222,0.059,2448,3201,3949,0,0,0,0,0,0
$GC,268,-0.92,-214.1,76.9,-34.3,40,277,0.30,2.12,0.00,0.000,6,0.170,0.031,2537,1786,3952,0,0,0,0,0,0
$GC,596,-0.79,-214.1,169.2,-26.0,101,604,0.17,2.08,0.00,0.000,4,0.169,0.038,2587,389,3955,0,0,0,0,0,0
$GC,658,-0.77,-214.1,183.0,-19.7,111,667,0.00,2.08,0.00,0.000,6,0.000,0.034,2584,1801,3955,0,0,0,0,0,0
$GC,1001,-0.74,-214.1,244.8,-16.5,172,1008,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,1801,3956,0,0,0,0,0,0
$GC,1348,-0.74,-214.1,302.1,-16.5,233,1349,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,1802,3956,0,0,0,0,0,0
$GC,1670,-0.74,-214.1,351.2,-15.7,263,1674,0.00,2.12,0.00,0.000,4,0.000,0.043,2584,398,3956,0,0,0,0,0,0
$GC,1814,-0.78,-214.1,373.6,-15.5,275,1818,0.00,2.10,0.00,0.000,6,0.000,0.038,2575,1800,3956,0,0,0,0,0,0
$GC,2144,-0.78,-214.1,422.7,-14.2,306,2148,0.00,2.15,0.00,0.000,4,0.000,0.045,2575,395,3954,0,0,0,0,0,0
$GC,2172,-0.78,-214.1,426.9,-14.7,308,2176,0.00,2.10,0.00,0.000,6,0.000,0.040,2571,1800,3954,0,0,0,0,0,0
$GC,2497,-0.78,-214.1,472.7,-14.4,338,2501,0.00,2.15,0.00,0.000,4,0.000,0.054,2566,3201,3953,0,0,0,0,0,0
$GC,2531,-0.82,-214.1,477.3,-13.3,340,2539,0.00,2.10,0.00,0.000,6,0.000,0.036,2565,1807,3952,0,0,0,0,0,0
$STATE,2694,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2694,begin apogee
$GC,2700,-0.23,0.0,500.1,13.2,356,2880,0.57,0.00,169.43,0.992,6,0.129,0.000,2757,1748,3073,0,0,0,0,0,0
$STATE,2881,end apogee,CONTROL_FINISHED_OK
$STATE,2881,begin climb
$GC,2883,1.16,214.1,506.5,0.0,371,3065,1.23,2.38,172.93,0.963,4,0.052,0.051,3216,3159,2199,0,0,0,0,0,0
$GC,3211,0.86,214.1,441.0,29.4,399,3217,0.40,2.15,0.00,0.000,6,0.194,0.039,3119,1745,2194,0,0,0,0,0,0
$GC,3538,0.68,214.1,373.0,20.0,429,3543,0.20,2.12,0.00,0.000,4,0.175,0.045,3072,343,2191,0,0,0,0,0,0
$GC,3580,0.57,214.1,365.7,17.7,432,3585,0.17,2.12,0.00,0.000,6,0.164,0.037,3022,1758,2190,0,0,0,0,0,0
$GC,3906,0.55,229.8,323.1,13.2,462,3926,0.00,0.00,13.02,0.822,6,0.000,0.000,3022,1758,2134,0,0,0,0,0,0
$GC,4251,0.58,269.8,277.8,12.2,509,4291,0.00,2.20,34.03,0.851,4,0.000,0.044,3030,346,1972,0,0,0,0,0,0
$GC,4362,0.62,301.9,263.5,12.5,527,4397,0.00,2.15,27.73,0.823,6,0.000,0.034,3030,1754,1840,0,0,0,0,0,0
$GC,4724,0.60,301.9,212.1,14.7,592,4732,0.00,2.15,0.00,0.000,4,0.000,0.046,3030,3153,1835,0,0,0,0,0,0
$GC,4778,0.60,301.9,204.1,14.2,601,4784,0.00,2.12,0.00,0.000,6,0.000,0.035,3038,1735,1835,0,0,0,0,0,0
$GC,5107,0.65,339.0,159.2,12.3,662,5148,0.00,2.17,31.45,0.760,4,0.000,0.044,3049,347,1688,0,0,0,0,0,0
$GC,5172,0.67,359.6,150.7,13.0,672,5202,0.00,2.15,18.42,0.717,6,0.000,0.034,3049,1743,1606,0,0,0,0,0,0
$GC,5524,0.77,417.2,105.8,11.4,736,5585,0.12,2.22,48.22,0.714,4,0.082,0.043,3117,3155,1371,0,0,0,0,0,0
$GC,5612,0.72,417.2,89.9,22.0,748,5621,0.15,2.17,0.00,0.000,6,0.133,0.035,3076,1754,1370,0,0,0,0,0,0
$GC,5942,0.88,492.4,49.2,10.6,809,6010,0.15,2.28,61.85,0.664,4,0.073,0.043,3177,336,1064,0,0,0,0,0,0
$GC,6111,0.84,492.4,18.6,18.8,836,6119,0.17,2.17,0.00,0.000,6,0.130,0.031,3110,1762,1062,0,0,0,0,0,0
$STATE,6225,end climb,SURFACE_DEPTH_REACHED
$STATE,6225,begin surface coast
$FINISH,0.7,1.007646
$STATE,6254,end surface coast,CONTROL_FINISHED_OK
$STATE,6254,begin surface
$SM_CCo,6331,0.00,0.000,0,0,1058,494.03
$SM_GC,1.45,7.55,0.00,0.00,0.030,0.000,0.000,146,1768,1058,-8.34,-0.90,494.03
$IRIDIUM_FIX,2258.07,12627.83,141010,141412
$TT8_MAMPS,0.026215
$HUMID,42.32
$INTERNAL_PRESSURE,8.80375
$TCM_TEMP,25.00
$XPDR_PINGS,78
$24V_AH,24.2,48.282
$10V_AH,10.4,32.049
$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,20.050,51.900,577.075,0.000,0.000,29.084,14.807,145.851,19.500,0.000,13.180,1988.959,1611.561,545.612,2249.124,265.722,0.000,1388.534,0.000,2072.230,0.000,0.848,0.000
$DEVICE_MAMPS,221.850,156.825,992.205,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,579.999,881.036,1448.298,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50222,862
$CAP_FILE_SIZE,86441,0
$CFSIZE,260165632,164667392
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.187,  3.2,1
$GPS,141010,180006,2309.857,12629.788,10,1.1,26,-3.4