version: 66.08
glider: 166
mission: 3
dive: 287
start: 10 15 110 9 4 31
data:
$ID,166
$MISSION,3
$DIVE,287
$N_DIVES,298
$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,-21884.17
$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,39
$R_STBD_OVSHOOT,45
$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
$GPS1,151010,085836,2319.281,12629.631,15,1.3,25,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-70.9
$GPS2,151010,090408,2319.263,12629.654,17,1.6,17,-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,17.2,75447,-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,-214.1,0.0,0.0,0,114,0.00,0.00,-96.68,0.000,2,0.000,0.000,149,1759,3292,0,0,0,0,0,0
$GC,117,-1.16,-214.1,6.2,-12.3,13,142,8.93,0.00,-11.68,0.000,6,0.225,0.000,2455,1758,3949,0,0,0,0,0,0
$GC,460,-0.91,-214.1,146.2,-33.5,76,469,0.28,2.10,0.00,0.000,4,0.183,0.035,2545,378,3954,0,0,0,0,0,0
$GC,580,-0.81,-214.1,178.4,-23.4,97,588,0.15,2.10,0.00,0.000,6,0.174,0.034,2575,1797,3955,0,0,0,0,0,0
$GC,915,-0.76,-214.1,244.9,-18.1,158,922,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,1797,3957,0,0,0,0,0,0
$GC,1253,-0.74,-214.1,304.7,-17.7,218,1257,0.00,2.12,0.00,0.000,4,0.000,0.042,2574,386,3957,0,0,0,0,0,0
$GC,1282,-0.71,-214.1,310.4,-19.3,220,1287,0.12,2.12,0.00,0.000,6,0.163,0.038,2606,1797,3957,0,0,0,0,0,0
$GC,1610,-0.76,-214.1,353.5,-11.8,250,1614,0.00,2.15,0.00,0.000,4,0.000,0.052,2601,3213,3957,0,0,0,0,0,0
$GC,1658,-0.87,-214.1,358.8,-9.7,254,1667,0.08,2.15,0.00,0.000,6,0.053,0.035,2542,1792,3956,0,0,0,0,0,0
$GC,1985,-0.81,-214.1,417.8,-18.9,285,1990,0.12,2.12,0.00,0.000,4,0.177,0.047,2574,393,3955,0,0,0,0,0,0
$GC,2070,-0.85,-214.1,430.9,-13.3,292,2075,0.00,2.10,0.00,0.000,6,0.000,0.040,2571,1798,3954,0,0,0,0,0,0
$GC,2396,-0.87,-214.1,473.0,-12.1,322,2400,0.00,2.17,0.00,0.000,4,0.000,0.054,2569,3216,3953,0,0,0,0,0,0
$GC,2426,-0.91,-214.1,476.5,-12.2,324,2430,0.00,2.10,0.00,0.000,6,0.000,0.036,2569,1794,3953,0,0,0,0,0,0
$STATE,2612,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2612,begin apogee
$GC,2619,-0.23,0.0,500.6,13.7,341,2795,0.57,0.00,169.12,0.998,6,0.125,0.000,2761,1794,3072,0,0,0,0,0,0
$STATE,2796,end apogee,CONTROL_FINISHED_OK
$STATE,2796,begin climb
$GC,2800,1.16,214.1,509.8,0.0,356,2982,1.20,0.00,172.32,0.971,6,0.049,0.000,3216,1793,2199,0,0,0,0,0,0
$GC,3301,0.86,214.1,394.4,26.4,402,3306,0.32,2.12,0.00,0.000,4,0.194,0.049,3115,3163,2192,0,0,0,0,0,0
$GC,3342,0.69,214.1,385.5,19.9,405,3347,0.22,2.15,0.00,0.000,6,0.177,0.040,3062,1749,2192,0,0,0,0,0,0
$GC,3671,0.59,214.1,333.4,16.0,435,3677,0.12,0.00,0.00,0.000,6,0.181,0.000,3028,1748,2189,0,0,0,0,0,0
$GC,4002,0.59,241.2,289.2,12.7,473,4029,0.00,0.00,22.27,0.846,6,0.000,0.000,3027,1749,2088,0,0,0,0,0,0
$GC,4368,0.61,280.9,243.6,12.2,537,4409,0.00,2.20,33.58,0.826,4,0.000,0.044,3017,3159,1925,0,0,0,0,0,0
$GC,4427,0.65,313.6,235.5,12.5,546,4462,0.00,2.20,28.12,0.798,6,0.000,0.036,3025,1741,1793,0,0,0,0,0,0
$GC,4796,0.69,330.2,185.7,13.2,611,4817,0.10,2.22,15.15,0.745,4,0.101,0.045,3095,341,1724,0,0,0,0,0,0
$GC,4838,0.63,330.2,178.9,16.9,617,4845,0.17,2.12,0.00,0.000,6,0.158,0.032,3042,1757,1723,0,0,0,0,0,0
$GC,5169,0.68,377.7,132.0,11.8,678,5214,0.00,2.22,39.78,0.737,4,0.000,0.045,3040,3159,1532,0,0,0,0,0,0
$GC,5245,0.82,443.3,123.4,11.0,689,5307,0.12,2.17,55.65,0.721,6,0.039,0.036,3137,1751,1263,0,0,0,0,0,0
$GC,5629,0.79,443.3,42.2,17.5,757,5637,0.15,2.17,0.00,0.000,4,0.156,0.045,3104,349,1259,0,0,0,0,0,0
$GC,5716,0.99,524.9,31.1,10.3,772,5792,0.10,2.12,65.93,0.653,6,0.044,0.032,3181,1756,931,0,0,0,0,0,0
$STATE,5862,end climb,SURFACE_DEPTH_REACHED
$STATE,5862,begin surface coast
$FINISH,0.9,1.021401
$STATE,5874,end surface coast,CONTROL_FINISHED_OK
$STATE,5874,begin surface
$SM_CCo,5951,0.00,0.000,0,0,925,526.66
$SM_GC,1.55,7.88,0.00,0.00,0.035,0.000,0.000,157,1761,925,-8.33,-1.10,526.66
$IRIDIUM_FIX,2309.79,12640.46,151010,070715
$TT8_MAMPS,0.026215
$HUMID,43.73
$INTERNAL_PRESSURE,8.77445
$TCM_TEMP,24.00
$XPDR_PINGS,77
$24V_AH,24.2,49.765
$10V_AH,10.4,33.024
$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,20.650,42.975,601.925,0.000,0.000,23.049,22.807,137.663,19.250,0.000,18.467,1824.906,1596.856,549.537,2060.793,251.353,0.000,1336.132,0.000,1876.766,0.000,0.847,0.000
$DEVICE_MAMPS,224.910,54.315,997.560,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,535.675,815.418,1298.451,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333908
$DATA_FILE_SIZE,46960,797
$CAP_FILE_SIZE,82070,0
$CFSIZE,260165632,164204544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.077,337.5,1
$GPS,151010,104500,2320.497,12629.766,41,1.1,42,-3.4