version: 66.08
glider: 166
mission: 3
dive: 295
start: 10 16 110 0 14 46
data:
$ID,166
$MISSION,3
$DIVE,295
$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,-21894.49
$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,48
$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
$GPS1,161010,000824,2330.466,12629.961,39,1.5,39,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-63.1
$GPS2,161010,001425,2330.492,12629.961,9,1.9,14,-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,338.4,54648,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.16,-214.1,0.0,0.0,0,107,0.00,0.00,-89.12,0.000,2,0.000,0.000,146,1810,3407,0,0,0,0,0,0
$GC,110,-1.16,-214.1,6.4,-12.5,12,135,9.02,2.17,-9.52,0.000,4,0.226,0.057,2449,3201,3948,0,0,0,0,0,0
$GC,265,-0.94,-214.1,78.6,-34.9,39,273,0.25,2.12,0.00,0.000,6,0.163,0.034,2528,1795,3951,0,0,0,0,0,0
$GC,596,-0.79,-214.1,172.8,-26.5,100,605,0.20,2.12,0.00,0.000,4,0.164,0.041,2590,402,3954,0,0,0,0,0,0
$GC,675,-0.78,-214.1,190.0,-18.5,113,682,0.00,2.08,0.00,0.000,6,0.000,0.037,2579,1799,3955,0,0,0,0,0,0
$GC,1015,-0.73,-214.1,255.5,-17.6,174,1023,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,1800,3956,0,0,0,0,0,0
$GC,1355,-0.71,-214.1,312.2,-15.8,228,1359,0.12,2.15,0.00,0.000,4,0.176,0.045,2611,402,3955,0,0,0,0,0,0
$GC,1420,-0.76,-214.1,320.3,-11.4,233,1424,0.00,2.10,0.00,0.000,6,0.000,0.036,2602,1809,3955,0,0,0,0,0,0
$GC,1747,-0.80,-214.1,362.1,-13.5,263,1751,0.00,2.10,0.00,0.000,4,0.000,0.052,2601,3201,3954,0,0,0,0,0,0
$GC,1802,-0.90,-214.1,368.7,-11.9,267,1806,0.15,2.05,0.00,0.000,6,0.074,0.035,2521,1802,3954,0,0,0,0,0,0
$GC,2128,-0.82,-214.1,434.4,-19.7,297,2133,0.17,2.15,0.00,0.000,4,0.165,0.047,2569,395,3953,0,0,0,0,0,0
$GC,2192,-0.84,-214.1,445.0,-15.2,302,2196,0.00,2.10,0.00,0.000,6,0.000,0.039,2561,1799,3953,0,0,0,0,0,0
$GC,2523,-0.84,-214.1,495.9,-15.4,333,2527,0.00,2.15,0.00,0.000,4,0.000,0.047,2560,390,3951,0,0,0,0,0,0
$STATE,2552,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2552,begin apogee
$GC,2561,-0.23,0.0,500.8,15.9,335,2737,0.60,0.00,169.65,0.988,6,0.122,0.000,2761,1753,3072,0,0,0,0,0,0
$STATE,2738,end apogee,CONTROL_FINISHED_OK
$STATE,2738,begin climb
$GC,2742,1.16,214.1,510.1,0.0,350,2927,1.20,0.00,172.48,0.963,6,0.046,0.000,3221,1754,2199,0,0,0,0,0,0
$GC,3244,0.86,214.1,396.9,27.5,397,3249,0.35,2.20,0.00,0.000,4,0.194,0.046,3132,340,2193,0,0,0,0,0,0
$GC,3328,0.67,214.1,376.9,21.9,404,3333,0.25,2.17,0.00,0.000,6,0.171,0.038,3061,1761,2192,0,0,0,0,0,0
$GC,3654,0.58,214.1,328.0,14.9,434,3658,0.12,2.12,0.00,0.000,4,0.181,0.047,3016,3162,2189,0,0,0,0,0,0
$GC,3756,0.59,234.5,314.9,13.0,443,3781,0.00,2.10,17.20,0.835,6,0.000,0.037,3024,1752,2114,0,0,0,0,0,0
$GC,4108,0.59,256.1,269.5,13.0,496,4136,0.00,2.20,18.92,0.818,4,0.000,0.046,3034,354,2027,0,0,0,0,0,0
$GC,4179,0.64,295.2,260.8,12.2,507,4220,0.00,2.12,33.22,0.825,6,0.000,0.034,3035,1752,1868,0,0,0,0,0,0
$GC,4555,0.64,311.2,212.2,13.2,573,4575,0.00,0.00,14.55,0.752,6,0.000,0.000,3035,1752,1803,0,0,0,0,0,0
$GC,4911,0.68,343.6,166.9,12.5,636,4946,0.00,2.17,28.10,0.758,4,0.000,0.044,3034,3158,1670,0,0,0,0,0,0
$GC,4994,0.73,359.5,156.0,13.2,649,5015,0.00,2.15,14.85,0.706,6,0.000,0.036,3044,1749,1606,0,0,0,0,0,0
$GC,5336,0.77,392.2,110.1,12.5,712,5370,0.12,2.22,27.92,0.709,4,0.083,0.044,3138,346,1472,0,0,0,0,0,0
$GC,5433,0.70,392.2,91.9,20.1,727,5442,0.20,2.15,0.00,0.000,6,0.133,0.034,3070,1745,1470,0,0,0,0,0,0
$GC,5765,1.02,562.4,51.7,6.5,788,5913,0.25,2.20,138.07,0.665,4,0.053,0.041,3192,3168,777,0,0,0,0,0,0
$GC,5954,0.98,562.4,15.3,22.8,815,5963,0.12,2.20,0.00,0.000,6,0.140,0.037,3161,1753,774,0,0,0,0,0,0
$STATE,6015,end climb,SURFACE_DEPTH_REACHED
$STATE,6015,begin surface coast
$FINISH,0.9,1.021657
$STATE,6028,end surface coast,CONTROL_FINISHED_OK
$STATE,6028,begin surface
$SM_CCo,6105,0.00,0.000,0,0,772,563.94
$SM_GC,1.42,7.72,0.00,0.00,0.029,0.000,0.000,149,1816,772,-8.33,0.45,563.94
$IRIDIUM_FIX,2321.52,12631.52,151010,222203
$TT8_MAMPS,0.026215
$HUMID,42.47
$INTERNAL_PRESSURE,8.77445
$TCM_TEMP,24.40
$XPDR_PINGS,56
$24V_AH,24.2,51.068
$10V_AH,10.4,33.925
$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,20.875,51.500,634.975,0.000,0.000,28.286,39.353,148.145,14.000,0.000,16.529,1901.475,1540.032,575.960,2189.921,253.619,0.000,1399.378,0.000,1980.204,0.000,0.847,0.000
$DEVICE_MAMPS,226.440,110.925,988.380,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,556.146,846.285,1377.191,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,47026,828
$CAP_FILE_SIZE,86178,0
$CFSIZE,260165632,163770368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.127, 92.2,1
$GPS,161010,015736,2331.362,12629.913,11,1.1,27,-3.5