version: 66.08
glider: 166
mission: 3
dive: 71
start: 9 28 110 21 8 48
data:
$ID,166
$MISSION,3
$DIVE,71
$N_DIVES,80
$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,-21574.602
$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,42
$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
$GPS1,280910,210237,2342.219,12629.951,32,1.7,33,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-69.4
$GPS2,280910,210825,2342.240,12629.916,10,2.0,15,-3.5
$SPEED_LIMITS,0.241,0.344
$TGT_NAME,WAKE_S
$TGT_LATLONG,2312.000,12630.000
$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,194.4,56004,-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,-214.1,0.0,0.0,0,129,0.00,0.00,-110.88,0.000,2,0.000,0.000,125,1819,3272,0,0,0,0,0,0
$GC,132,-1.16,-214.1,5.4,-10.6,15,164,8.90,2.17,-12.38,0.000,4,0.229,0.050,2458,388,3950,0,0,0,0,0,0
$GC,402,-0.89,-214.1,126.5,-37.5,64,411,0.32,2.12,0.00,0.000,6,0.178,0.036,2546,1793,3953,0,0,0,0,0,0
$GC,734,-0.76,-214.1,225.3,-27.2,125,742,0.17,2.12,0.00,0.000,4,0.177,0.045,2586,3202,3955,0,0,0,0,0,0
$GC,757,-0.65,-214.1,231.2,-25.7,128,765,0.12,2.08,0.00,0.000,6,0.145,0.031,2627,1792,3955,0,0,0,0,0,0
$GC,1091,-0.68,-214.1,281.3,-14.2,189,1099,0.00,2.15,0.00,0.000,4,0.000,0.048,2627,3208,3956,0,0,0,0,0,0
$GC,1129,-0.75,-214.1,286.5,-13.1,195,1136,0.00,2.05,0.00,0.000,6,0.000,0.032,2627,1804,3956,0,0,0,0,0,0
$GC,1462,-0.80,-214.1,329.5,-12.7,236,1464,0.12,0.00,0.00,0.000,6,0.092,0.000,2564,1804,3955,0,0,0,0,0,0
$GC,1780,-0.75,-214.1,387.6,-17.6,266,1784,0.12,2.15,0.00,0.000,4,0.180,0.049,2590,3204,3954,0,0,0,0,0,0
$GC,1809,-0.75,-214.1,392.2,-15.8,268,1812,0.00,2.05,0.00,0.000,6,0.000,0.033,2590,1799,3953,0,0,0,0,0,0
$GC,2142,-0.77,-214.1,439.4,-14.7,299,2145,0.00,2.12,0.00,0.000,4,0.000,0.052,2590,3199,3952,0,0,0,0,0,0
$GC,2163,-0.80,-214.1,443.2,-15.0,300,2171,0.00,2.08,0.00,0.000,6,0.000,0.034,2590,1800,3952,0,0,0,0,0,0
$GC,2490,-0.82,-214.1,491.3,-14.3,331,2494,0.00,2.17,0.00,0.000,4,0.000,0.054,2590,3200,3950,0,0,0,0,0,0
$GC,2545,-0.91,-214.1,498.0,-10.5,335,2553,0.12,2.05,0.00,0.000,6,0.087,0.035,2522,1802,3950,0,0,0,0,0,0
$STATE,2571,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2571,begin apogee
$GC,2578,-0.23,0.0,501.4,12.5,338,2754,0.73,0.00,167.27,0.959,6,0.148,0.000,2756,1802,3072,0,0,0,0,0,0
$STATE,2754,end apogee,CONTROL_FINISHED_OK
$STATE,2754,begin climb
$GC,2758,1.16,214.1,508.6,0.0,353,2940,1.27,2.30,172.62,0.926,4,0.073,0.048,3229,411,2198,0,0,0,0,0,0
$GC,2985,0.85,214.1,468.4,31.0,372,2994,0.38,2.20,0.00,0.000,6,0.185,0.041,3122,1789,2196,0,0,0,0,0,0
$GC,3312,0.67,214.1,390.2,23.1,403,3317,0.22,2.15,0.00,0.000,4,0.175,0.047,3049,3211,2191,0,0,0,0,0,0
$GC,3425,0.59,214.1,370.2,16.2,412,3433,0.00,2.15,0.00,0.000,6,0.000,0.038,3057,1799,2189,0,0,0,0,0,0
$GC,3752,0.50,214.1,317.1,16.3,443,3757,0.20,2.12,0.00,0.000,4,0.165,0.044,3010,396,2188,0,0,0,0,0,0
$GC,3796,0.52,225.0,310.3,13.4,446,3816,0.00,2.15,8.68,0.740,6,0.000,0.036,3010,1812,2154,0,0,0,0,0,0
$GC,4138,0.57,266.1,266.7,12.1,502,4179,0.00,0.00,34.67,0.815,6,0.000,0.000,3010,1812,1986,0,0,0,0,0,0
$GC,4512,0.66,329.7,223.8,11.1,568,4567,0.12,0.00,52.22,0.782,6,0.084,0.000,3074,1814,1726,0,0,0,0,0,0
$GC,4892,0.61,329.7,154.5,17.8,636,4901,0.15,2.20,0.00,0.000,4,0.171,0.044,3042,400,1720,0,0,0,0,0,0
$GC,4938,0.63,336.6,147.9,13.6,643,4955,0.00,2.12,6.30,0.586,6,0.000,0.034,3036,1796,1698,0,0,0,0,0,0
$GC,5274,0.70,363.7,105.4,12.7,705,5304,0.00,2.15,23.25,0.682,4,0.000,0.045,3036,3217,1588,0,0,0,0,0,0
$GC,5341,0.77,364.5,96.3,13.9,715,5351,0.10,2.17,0.00,0.000,6,0.044,0.037,3113,1790,1587,0,0,0,0,0,0
$GC,5669,0.82,403.7,43.9,12.2,776,5707,0.00,2.22,32.55,0.635,4,0.000,0.044,3121,382,1425,0,0,0,0,0,0
$GC,5816,0.83,418.5,23.7,13.2,801,5840,0.00,2.17,13.35,0.577,6,0.000,0.033,3120,1810,1364,0,0,0,0,0,0
$STATE,5957,end climb,SURFACE_DEPTH_REACHED
$STATE,5957,begin surface coast
$FINISH,0.6,1.021740
$STATE,5975,end surface coast,CONTROL_FINISHED_OK
$STATE,5976,begin surface
$SM_CCo,5992,185.57,0.560,1,0,454,641.95
$SM_CCo,6186,-0.40,0.000,0,0,454,642.20
$SM_GC,1.30,0.00,0.00,-0.40,0.000,0.000,0.000,134,1815,454,-8.46,0.45,642.20
$IRIDIUM_FIX,2335.63,12630.54,280910,212128
$TT8_MAMPS,0.026215
$HUMID,36.84
$INTERNAL_PRESSURE,8.73539
$TCM_TEMP,24.80
$XPDR_PINGS,79
$24V_AH,24.4,15.368
$10V_AH,10.5,9.575
$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,20.775,51.450,510.925,185.575,0.000,31.770,37.514,137.857,19.750,0.000,16.774,1936.270,1445.718,713.539,2187.224,255.885,0.000,1516.781,0.000,1983.275,0.000,0.848,0.000
$DEVICE_MAMPS,228.735,53.550,958.545,559.980,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,557.747,848.354,1389.912,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50227,829
$CAP_FILE_SIZE,87744,0
$CFSIZE,260165632,175509504
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.089, 54.0,1
$GPS,280910,225306,2341.502,12629.974,14,1.5,31,-3.5