version: 66.08
glider: 166
mission: 3
dive: 48
start: 9 27 110 4 19 53
data:
$ID,166
$MISSION,3
$DIVE,48
$N_DIVES,60
$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,642
$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,-21544.1
$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,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,40
$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
$GPS1,270910,041325,2356.531,12627.381,39,1.3,40,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-71.4
$GPS2,270910,041931,2356.563,12627.339,16,1.3,33,-3.6
$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,45.4,7797,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.16,-214.1,0.0,0.0,0,134,0.00,0.00,-116.05,0.000,2,0.000,0.000,144,1789,3403,0,0,0,0,0,0
$GC,137,-1.16,-214.1,5.9,-11.3,16,162,8.93,2.20,-9.70,0.000,4,0.235,0.056,2449,3214,3948,0,0,0,0,0,0
$GC,180,-0.64,-214.1,31.4,-58.6,22,190,0.62,2.12,0.00,0.000,6,0.197,0.031,2625,1787,3950,0,0,0,0,0,0
$GC,507,-0.59,-214.1,127.7,-22.3,83,515,0.00,2.20,0.00,0.000,4,0.000,0.044,2617,3210,3953,0,0,0,0,0,0
$GC,525,-0.54,-214.1,131.9,-21.1,85,533,0.12,2.08,0.00,0.000,6,0.136,0.031,2659,1811,3953,0,0,0,0,0,0
$GC,860,-0.60,-214.1,183.2,-14.1,146,868,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,1811,3954,0,0,0,0,0,0
$GC,1205,-0.67,-214.1,225.9,-12.0,207,1212,0.10,0.00,0.00,0.000,6,0.106,0.000,2608,1811,3954,0,0,0,0,0,0
$GC,1543,-0.67,-214.1,286.0,-16.8,268,1550,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,1811,3954,0,0,0,0,0,0
$GC,1873,-0.68,-214.1,338.2,-15.1,306,1874,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,1811,3953,0,0,0,0,0,0
$GC,2195,-0.72,-214.1,382.5,-13.9,336,2202,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,1811,3952,0,0,0,0,0,0
$GC,2525,-0.77,-214.1,426.4,-12.4,367,2529,0.00,2.10,0.00,0.000,4,0.000,0.051,2601,3207,3950,0,0,0,0,0,0
$GC,2556,-0.84,-214.1,430.8,-12.6,369,2560,0.00,2.05,0.00,0.000,6,0.000,0.034,2601,1802,3950,0,0,0,0,0,0
$GC,2885,-0.89,-214.1,472.5,-12.6,399,2892,0.15,0.00,0.00,0.000,6,0.084,0.000,2531,1801,3948,0,0,0,0,0,0
$STATE,3038,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3038,begin apogee
$GC,3043,-0.23,0.0,501.8,19.3,414,3221,0.70,0.00,167.18,0.944,6,0.147,0.000,2758,1801,3071,0,0,0,0,0,0
$STATE,3222,end apogee,CONTROL_FINISHED_OK
$STATE,3222,begin climb
$GC,3224,1.16,214.1,509.9,0.0,429,3410,1.25,2.28,172.60,0.917,4,0.068,0.049,3201,3202,2197,0,0,0,0,0,0
$GC,3459,0.88,214.1,469.9,29.9,450,3464,0.32,2.17,0.00,0.000,6,0.200,0.037,3127,1805,2194,0,0,0,0,0,0
$GC,3784,0.67,214.1,390.5,23.4,480,3789,0.25,2.12,0.00,0.000,4,0.183,0.044,3042,3203,2190,0,0,0,0,0,0
$GC,3818,0.55,214.1,383.4,19.3,482,3826,0.08,2.12,0.00,0.000,6,0.171,0.035,3026,1802,2189,0,0,0,0,0,0
$GC,4145,0.50,214.1,332.7,15.0,513,4149,0.00,2.10,0.00,0.000,4,0.000,0.044,3016,3207,2188,0,0,0,0,0,0
$GC,4199,0.45,214.1,324.9,14.7,517,4203,0.12,2.10,0.00,0.000,6,0.176,0.035,2991,1790,2186,0,0,0,0,0,0
$GC,4528,0.52,269.3,285.6,11.5,558,4577,0.00,2.20,44.03,0.816,4,0.000,0.045,3000,398,1974,0,0,0,0,0,0
$GC,4680,0.58,292.4,267.4,12.9,583,4708,0.00,2.10,19.95,0.769,6,0.000,0.034,2997,1793,1878,0,0,0,0,0,0
$GC,5040,0.66,335.0,224.5,12.0,647,5083,0.15,2.25,35.60,0.763,4,0.078,0.045,3064,3217,1706,0,0,0,0,0,0
$GC,5160,0.62,335.0,202.3,18.5,666,5169,0.10,2.17,0.00,0.000,6,0.163,0.036,3042,1796,1704,0,0,0,0,0,0
$GC,5505,0.60,335.0,144.8,17.1,727,5512,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,1796,1701,0,0,0,0,0,0
$GC,5830,0.64,365.7,97.3,12.6,788,5860,0.00,2.20,25.12,0.668,4,0.000,0.044,3050,387,1580,0,0,0,0,0,0
$GC,5906,0.70,380.3,87.6,13.3,800,5929,0.00,2.15,12.82,0.617,6,0.000,0.033,3047,1802,1522,0,0,0,0,0,0
$GC,6249,0.90,485.4,52.0,9.3,863,6344,0.22,2.22,84.03,0.626,4,0.058,0.044,3146,3210,1093,0,0,0,0,0,0
$GC,6366,0.84,485.4,29.1,22.8,879,6375,0.12,2.17,0.00,0.000,6,0.148,0.034,3114,1803,1093,0,0,0,0,0,0
$STATE,6503,end climb,SURFACE_DEPTH_REACHED
$STATE,6504,begin surface coast
$FINISH,0.7,1.004967
$STATE,6521,end surface coast,CONTROL_FINISHED_OK
$STATE,6521,begin surface
$SM_CCo,6539,132.95,0.535,1,0,454,641.95
$SM_CCo,6680,-0.40,0.000,0,0,454,642.20
$SM_GC,1.37,0.00,0.00,-0.40,0.000,0.000,0.000,156,1798,454,-8.39,-0.03,642.20
$IRIDIUM_FIX,2345.05,12628.15,270910,020242
$TT8_MAMPS,0.026964
$HUMID,37.51
$INTERNAL_PRESSURE,8.73539
$TCM_TEMP,24.60
$XPDR_PINGS,89
$24V_AH,24.4,11.537
$10V_AH,10.5,7.169
$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,20.900,43.125,561.325,132.950,0.000,31.268,35.492,139.198,22.250,0.000,35.579,2080.611,1662.724,698.266,2350.101,254.981,0.000,1556.893,0.000,2131.858,0.000,0.848,0.000
$DEVICE_MAMPS,234.855,55.845,944.010,535.500,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,610.082,927.565,1522.123,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,53597,907
$CAP_FILE_SIZE,89022,0
$CFSIZE,260165632,176668672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.069,251.1,1
$GPS,270910,061228,2357.396,12627.965,14,2.4,34,-3.6