version: 66.08
glider: 166
mission: 3
dive: 330
start: 10 18 110 18 47 18
data:
$ID,166
$MISSION,3
$DIVE,330
$N_DIVES,330
$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,-21939.316
$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,33
$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
$GPS1,181010,184024,2356.798,12629.705,40,1.5,40,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-64.4
$GPS2,181010,184656,2356.865,12629.688,13,2.0,13,-3.6
$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,177.9,105316,-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,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,-96.10,0.000,2,0.000,0.000,133,1786,3396,0,0,0,0,0,0
$GC,117,-1.16,-214.1,6.1,-11.6,13,142,9.05,2.17,-9.75,0.000,4,0.223,0.051,2460,379,3947,0,0,0,0,0,0
$GC,265,-0.88,-214.1,72.7,-39.1,39,274,0.32,2.20,0.00,0.000,6,0.160,0.041,2549,1805,3949,0,0,0,0,0,0
$GC,592,-0.77,-214.1,155.1,-23.4,100,600,0.15,2.20,0.00,0.000,4,0.172,0.045,2594,397,3953,0,0,0,0,0,0
$GC,609,-0.67,-214.1,159.5,-23.8,102,618,0.10,2.15,0.00,0.000,6,0.141,0.037,2617,1809,3953,0,0,0,0,0,0
$GC,947,-0.70,-214.1,207.8,-13.2,163,955,0.00,2.10,0.00,0.000,4,0.000,0.050,2608,3206,3954,0,0,0,0,0,0
$GC,976,-0.74,-214.1,211.5,-12.1,167,984,0.00,2.10,0.00,0.000,6,0.000,0.037,2609,1798,3954,0,0,0,0,0,0
$GC,1308,-0.78,-214.1,255.0,-12.9,228,1318,0.00,2.15,0.00,0.000,4,0.000,0.047,2608,401,3954,0,0,0,0,0,0
$GC,1420,-0.82,-214.1,269.8,-12.8,247,1427,0.00,2.10,0.00,0.000,6,0.000,0.037,2603,1802,3954,0,0,0,0,0,0
$GC,1757,-0.86,-214.1,316.1,-14.0,298,1761,0.12,2.17,0.00,0.000,4,0.090,0.046,2540,398,3953,0,0,0,0,0,0
$GC,1780,-0.84,-214.1,320.1,-17.4,300,1785,0.12,2.10,0.00,0.000,6,0.172,0.039,2568,1798,3953,0,0,0,0,0,0
$GC,2111,-0.84,-214.1,372.9,-14.4,331,2115,0.00,2.12,0.00,0.000,4,0.000,0.051,2560,3203,3952,0,0,0,0,0,0
$GC,2133,-0.84,-214.1,376.2,-13.3,332,2141,0.00,2.12,0.00,0.000,6,0.000,0.035,2560,1800,3952,0,0,0,0,0,0
$GC,2460,-0.84,-214.1,424.7,-15.6,363,2463,0.00,2.17,0.00,0.000,4,0.000,0.048,2560,396,3951,0,0,0,0,0,0
$GC,2566,-0.84,-214.1,441.6,-15.5,372,2570,0.00,2.12,0.00,0.000,6,0.000,0.041,2560,1809,3950,0,0,0,0,0,0
$GC,2891,-0.84,-214.1,492.0,-15.0,402,2895,0.00,2.12,0.00,0.000,4,0.000,0.053,2555,3207,3948,0,0,0,0,0,0
$GC,2912,-0.86,-214.1,495.3,-14.3,403,2920,0.00,2.10,0.00,0.000,6,0.000,0.037,2555,1790,3948,0,0,0,0,0,0
$STATE,2950,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2950,begin apogee
$GC,2955,-0.23,0.0,500.6,14.3,407,3134,0.60,0.00,170.15,0.993,6,0.123,0.000,2757,1789,3071,0,0,0,0,0,0
$STATE,3135,end apogee,CONTROL_FINISHED_OK
$STATE,3135,begin climb
$GC,3137,1.16,214.1,510.5,0.0,422,3322,1.23,2.25,172.93,0.968,4,0.050,0.054,3217,3152,2198,0,0,0,0,0,0
$GC,3391,0.88,214.1,468.2,25.2,444,3397,0.38,2.15,0.00,0.000,6,0.191,0.040,3128,1753,2195,0,0,0,0,0,0
$GC,3717,0.69,214.1,403.8,19.1,474,3722,0.22,2.15,0.00,0.000,4,0.171,0.047,3053,3158,2193,0,0,0,0,0,0
$GC,3738,0.55,214.1,399.8,17.2,475,3746,0.15,2.12,0.00,0.000,6,0.174,0.037,3021,1745,2192,0,0,0,0,0,0
$GC,4064,0.56,237.7,358.6,12.9,506,4088,0.00,0.00,20.17,0.874,6,0.000,0.000,3021,1744,2102,0,0,0,0,0,0
$GC,4406,0.62,287.5,316.4,11.7,538,4454,0.00,2.30,41.78,0.877,4,0.000,0.047,3018,3162,1899,0,0,0,0,0,0
$GC,4482,0.63,300.0,306.7,13.3,544,4502,0.00,2.17,11.93,0.780,6,0.000,0.037,3025,1759,1849,0,0,0,0,0,0
$GC,4824,0.64,309.3,259.6,13.5,602,4839,0.00,2.25,9.10,0.729,4,0.000,0.046,3036,334,1810,0,0,0,0,0,0
$GC,4872,0.66,323.8,253.7,13.3,609,4893,0.00,2.12,14.07,0.776,6,0.000,0.034,3037,1752,1751,0,0,0,0,0,0
$GC,5221,0.66,323.8,207.5,14.2,672,5229,0.00,2.15,0.00,0.000,4,0.000,0.046,3037,3158,1747,0,0,0,0,0,0
$GC,5275,0.72,348.4,199.9,12.8,681,5304,0.00,2.12,21.90,0.774,6,0.000,0.036,3045,1737,1650,0,0,0,0,0,0
$GC,5632,0.79,393.5,154.6,11.9,745,5681,0.15,2.25,38.70,0.750,4,0.075,0.045,3133,3156,1467,0,0,0,0,0,0
$GC,5697,0.69,393.5,142.9,21.3,754,5705,0.22,2.17,0.00,0.000,6,0.146,0.035,3071,1745,1467,0,0,0,0,0,0
$GC,6025,0.72,412.3,92.2,13.1,815,6049,0.00,2.15,17.05,0.672,4,0.000,0.044,3080,340,1391,0,0,0,0,0,0
$GC,6098,0.83,457.1,83.5,11.9,826,6144,0.00,2.15,38.28,0.689,6,0.000,0.032,3080,1755,1207,0,0,0,0,0,0
$GC,6467,1.05,556.4,42.8,9.6,892,6557,0.25,2.17,81.15,0.651,4,0.052,0.039,3204,3162,801,0,0,0,0,0,0
$GC,6631,1.00,556.4,7.5,23.2,917,6639,0.15,2.17,0.00,0.000,6,0.135,0.036,3164,1756,799,0,0,0,0,0,0
$STATE,6651,end climb,SURFACE_DEPTH_REACHED
$STATE,6651,begin surface coast
$FINISH,0.7,1.021899
$STATE,6663,end surface coast,CONTROL_FINISHED_OK
$STATE,6663,begin surface
$SM_CCo,6740,0.00,0.000,0,0,797,558.06
$SM_GC,1.34,7.80,0.00,0.00,0.031,0.000,0.000,142,1756,797,-8.35,-1.24,558.06
$IRIDIUM_FIX,2342.70,12122.87,181010,161634
$TT8_MAMPS,0.026215
$HUMID,42.67
$INTERNAL_PRESSURE,8.76469
$TCM_TEMP,24.50
$XPDR_PINGS,89
$24V_AH,24.1,56.687
$10V_AH,10.4,37.859
$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,21.025,69.100,637.200,0.000,0.000,31.334,57.180,149.956,22.250,0.000,14.521,2136.365,1670.388,612.636,2414.169,293.075,0.000,1522.920,0.000,2185.158,0.000,0.847,0.000
$DEVICE_MAMPS,222.615,53.550,992.970,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,620.225,942.384,1511.817,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333892
$DATA_FILE_SIZE,53590,922
$CAP_FILE_SIZE,98110,0
$CFSIZE,260165632,161886208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.096, 13.6,1
$GPS,181010,204025,2356.277,12630.017,11,1.6,11,-3.6