version: 66.08
glider: 166
mission: 3
dive: 123
start: 10 2 110 19 26 18
data:
$ID,166
$MISSION,3
$DIVE,123
$N_DIVES,135
$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,-21643.102
$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,45
$R_STBD_OVSHOOT,42
$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
$GPS1,021010,192019,2310.669,12629.203,9,1.3,9,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-71.6
$GPS2,021010,192556,2310.759,12629.215,15,1.6,15,-3.4
$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,170.2,19971,-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,13,begin dive
$GC,15,-1.16,-214.1,0.0,0.0,0,129,0.00,0.00,-110.75,0.000,2,0.000,0.000,143,1751,3290,0,0,0,0,0,0
$GC,132,-1.16,-214.1,5.8,-12.5,15,163,8.85,2.08,-11.88,0.000,4,0.230,0.051,2457,382,3949,0,0,0,0,0,0
$GC,401,-0.87,-214.1,132.6,-38.8,64,410,0.32,2.15,0.00,0.000,6,0.168,0.037,2549,1795,3952,0,0,0,0,0,0
$GC,734,-0.75,-214.1,222.5,-27.2,125,742,0.17,2.10,0.00,0.000,4,0.171,0.040,2598,396,3956,0,0,0,0,0,0
$GC,827,-0.75,-214.1,242.0,-18.8,141,835,0.00,2.10,0.00,0.000,6,0.000,0.037,2599,1807,3956,0,0,0,0,0,0
$GC,1159,-0.75,-214.1,298.8,-15.8,202,1166,0.00,2.12,0.00,0.000,4,0.000,0.050,2599,3203,3956,0,0,0,0,0,0
$GC,1208,-0.79,-214.1,306.2,-14.0,207,1212,0.00,2.05,0.00,0.000,6,0.000,0.033,2599,1792,3956,0,0,0,0,0,0
$GC,1534,-0.79,-214.1,359.4,-15.9,237,1535,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,1792,3954,0,0,0,0,0,0
$GC,1856,-0.81,-214.1,408.5,-14.7,267,1860,0.00,2.08,0.00,0.000,4,0.000,0.045,2599,399,3953,0,0,0,0,0,0
$GC,1883,-0.83,-214.1,413.4,-14.2,269,1891,0.00,2.08,0.00,0.000,6,0.000,0.040,2600,1797,3952,0,0,0,0,0,0
$GC,2209,-0.86,-214.1,454.1,-12.6,300,2214,0.12,2.15,0.00,0.000,4,0.092,0.054,2536,3204,3952,0,0,0,0,0,0
$GC,2252,-0.86,-214.1,461.0,-15.4,303,2259,0.00,2.08,0.00,0.000,6,0.000,0.036,2535,1798,3951,0,0,0,0,0,0
$STATE,2459,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2459,begin apogee
$GC,2466,-0.23,0.0,500.8,20.0,323,2641,0.70,0.00,166.77,0.968,6,0.142,0.000,2763,1797,3071,0,0,0,0,0,0
$STATE,2642,end apogee,CONTROL_FINISHED_OK
$STATE,2642,begin climb
$GC,2645,1.16,214.1,511.7,0.0,338,2827,1.25,2.38,172.15,0.939,4,0.066,0.050,3227,359,2198,0,0,0,0,0,0
$GC,2862,0.84,214.1,476.9,32.2,356,2871,0.40,2.22,0.00,0.000,6,0.188,0.041,3118,1749,2196,0,0,0,0,0,0
$GC,3190,0.66,214.1,400.8,22.1,387,3194,0.22,2.17,0.00,0.000,4,0.177,0.044,3047,3174,2191,0,0,0,0,0,0
$GC,3267,0.59,214.1,387.0,15.8,393,3274,0.00,2.15,0.00,0.000,6,0.000,0.037,3052,1751,2189,0,0,0,0,0,0
$GC,3594,0.50,214.1,334.3,16.3,424,3599,0.17,2.15,0.00,0.000,4,0.171,0.047,3012,345,2187,0,0,0,0,0,0
$GC,3672,0.53,237.6,323.2,12.9,430,3696,0.00,2.15,19.15,0.834,6,0.000,0.036,3012,1759,2103,0,0,0,0,0,0
$GC,4022,0.55,254.9,279.3,13.1,476,4045,0.00,2.12,15.00,0.789,4,0.000,0.045,3013,3162,2032,0,0,0,0,0,0
$GC,4136,0.55,254.9,263.1,14.4,495,4143,0.00,2.12,0.00,0.000,6,0.000,0.035,3016,1744,2030,0,0,0,0,0,0
$GC,4478,0.57,272.4,216.7,13.1,556,4499,0.00,0.00,15.45,0.750,6,0.000,0.000,3018,1744,1960,0,0,0,0,0,0
$GC,4833,0.61,303.7,169.4,12.5,619,4867,0.00,2.20,25.75,0.739,4,0.000,0.045,3025,333,1833,0,0,0,0,0,0
$GC,4911,0.64,303.7,159.3,14.2,631,4917,0.00,2.12,0.00,0.000,6,0.000,0.032,3025,1752,1830,0,0,0,0,0,0
$GC,5240,0.75,368.7,116.2,11.1,692,5300,0.15,2.28,53.22,0.705,4,0.073,0.044,3119,343,1567,0,0,0,0,0,0
$GC,5331,0.67,368.7,101.2,19.7,705,5339,0.17,2.17,0.00,0.000,6,0.136,0.033,3062,1750,1564,0,0,0,0,0,0
$GC,5662,0.75,398.8,56.9,12.6,766,5693,0.00,2.15,24.48,0.638,4,0.000,0.043,3060,3156,1445,0,0,0,0,0,0
$GC,5719,0.89,447.8,49.6,11.8,774,5765,0.12,2.15,40.30,0.633,6,0.038,0.034,3157,1753,1245,0,0,0,0,0,0
$STATE,5961,end climb,SURFACE_DEPTH_REACHED
$STATE,5961,begin surface coast
$FINISH,0.6,1.002123
$STATE,5973,end surface coast,CONTROL_FINISHED_OK
$STATE,5973,begin surface
$SM_CCo,5991,162.62,0.562,1,0,454,641.95
$SM_CCo,6162,-0.40,0.000,0,0,454,642.20
$SM_GC,1.37,0.00,0.00,-0.40,0.000,0.000,0.000,150,1750,454,-8.41,-1.41,642.20
$IRIDIUM_FIX,2302.75,12627.83,021010,171752
$TT8_MAMPS,0.026215
$HUMID,38.58
$INTERNAL_PRESSURE,8.74515
$TCM_TEMP,24.60
$XPDR_PINGS,84
$24V_AH,24.4,24.182
$10V_AH,10.4,15.177
$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,20.400,51.525,532.275,162.625,0.000,23.714,39.092,136.645,21.000,0.000,17.311,1900.308,1517.055,696.319,2145.393,241.138,0.000,1493.580,0.000,1950.426,0.000,0.847,0.000
$DEVICE_MAMPS,229.500,53.550,967.725,562.275,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,551.112,837.116,1359.379,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46878,819
$CAP_FILE_SIZE,85111,0
$CFSIZE,260165632,172814336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.227,349.2,1
$GPS,021010,211007,2310.603,12629.444,26,1.3,27,-3.4