version: 66.08
glider: 166
mission: 3
dive: 333
start: 10 19 110 0 48 38
data:
$ID,166
$MISSION,3
$DIVE,333
$N_DIVES,345
$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,-21974.184
$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,44
$R_STBD_OVSHOOT,38
$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
$GPS1,191010,003952,2354.830,12631.076,11,99.0,30,-3.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-64.0
$GPS2,191010,004816,2354.859,12631.188,16,99.0,35,-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,223.9,101619,-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,14,begin dive
$GC,16,-1.16,-214.1,0.0,0.0,0,113,0.00,0.00,-94.00,0.000,2,0.000,0.000,153,1856,3427,0,0,0,0,0,0
$GC,116,-1.16,-214.1,6.5,-13.8,13,141,8.90,2.28,-9.10,0.000,4,0.221,0.051,2457,393,3948,0,0,0,0,0,0
$GC,265,-0.97,-214.1,74.0,-34.5,39,274,0.22,2.17,0.00,0.000,6,0.157,0.044,2523,1792,3950,0,0,0,0,0,0
$GC,592,-0.83,-214.1,163.5,-27.0,100,600,0.17,2.17,0.00,0.000,4,0.174,0.045,2580,402,3954,0,0,0,0,0,0
$GC,703,-0.80,-214.1,188.2,-19.5,119,711,0.00,2.10,0.00,0.000,6,0.000,0.038,2565,1808,3954,0,0,0,0,0,0
$GC,1036,-0.75,-214.1,255.4,-16.0,180,1045,0.12,2.20,0.00,0.000,4,0.174,0.046,2599,402,3955,0,0,0,0,0,0
$GC,1071,-0.75,-214.1,260.4,-15.2,185,1077,0.00,2.10,0.00,0.000,6,0.000,0.037,2592,1800,3955,0,0,0,0,0,0
$GC,1402,-0.75,-214.1,312.3,-16.6,240,1406,0.00,2.17,0.00,0.000,4,0.000,0.052,2587,3209,3954,0,0,0,0,0,0
$GC,1420,-0.75,-214.1,315.4,-16.4,241,1424,0.00,2.10,0.00,0.000,6,0.000,0.036,2587,1803,3954,0,0,0,0,0,0
$GC,1749,-0.76,-214.1,363.8,-14.5,271,1753,0.00,2.15,0.00,0.000,4,0.000,0.047,2587,397,3954,0,0,0,0,0,0
$GC,1808,-0.80,-214.1,373.0,-13.8,276,1816,0.00,2.12,0.00,0.000,6,0.000,0.037,2577,1790,3953,0,0,0,0,0,0
$GC,2136,-0.80,-214.1,420.8,-14.2,307,2140,0.00,2.15,0.00,0.000,4,0.000,0.051,2572,3208,3952,0,0,0,0,0,0
$GC,2183,-0.87,-214.1,426.9,-12.2,311,2187,0.00,2.12,0.00,0.000,6,0.000,0.036,2572,1790,3951,0,0,0,0,0,0
$GC,2512,-0.88,-214.1,469.0,-13.3,341,2516,0.00,2.12,0.00,0.000,4,0.000,0.047,2572,390,3950,0,0,0,0,0,0
$GC,2611,-0.91,-214.1,483.3,-14.4,350,2615,0.00,2.15,0.00,0.000,6,0.000,0.040,2572,1812,3949,0,0,0,0,0,0
$STATE,2733,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2733,begin apogee
$GC,2741,-0.23,0.0,500.0,13.1,361,2918,0.55,0.00,169.95,0.994,6,0.122,0.000,2757,1727,3072,0,0,0,0,0,0
$STATE,2918,end apogee,CONTROL_FINISHED_OK
$STATE,2918,begin climb
$GC,2921,1.16,214.1,508.4,0.0,376,3104,1.23,2.22,172.45,0.965,4,0.053,0.048,3226,358,2199,0,0,0,0,0,0
$GC,3175,0.85,214.1,466.5,27.9,397,3180,0.38,2.15,0.00,0.000,6,0.189,0.036,3118,1750,2197,0,0,0,0,0,0
$GC,3502,0.67,214.1,401.4,20.1,427,3507,0.20,2.12,0.00,0.000,4,0.172,0.044,3051,3167,2192,0,0,0,0,0,0
$GC,3557,0.59,214.1,391.7,15.5,431,3564,0.00,2.10,0.00,0.000,6,0.000,0.036,3059,1760,2191,0,0,0,0,0,0
$GC,3882,0.53,225.9,344.0,13.4,462,3895,0.17,0.00,9.95,0.790,6,0.167,0.000,3009,1760,2151,0,0,0,0,0,0
$GC,4212,0.62,299.2,309.7,10.7,493,4276,0.00,0.00,61.70,0.874,6,0.000,0.000,3010,1760,1852,0,0,0,0,0,0
$GC,4609,0.74,370.3,265.7,10.8,556,4677,0.20,2.20,60.80,0.832,4,0.065,0.043,3109,3156,1561,0,0,0,0,0,0
$GC,4703,0.63,370.3,245.9,24.8,570,4711,0.22,2.20,0.00,0.000,6,0.145,0.035,3048,1747,1560,0,0,0,0,0,0
$GC,5047,0.63,370.3,192.8,13.9,631,5053,0.00,2.15,0.00,0.000,4,0.000,0.045,3056,349,1558,0,0,0,0,0,0
$GC,5075,0.64,380.6,189.4,13.4,635,5090,0.00,2.12,9.35,0.684,6,0.000,0.034,3057,1756,1520,0,0,0,0,0,0
$GC,5425,0.66,390.1,141.8,13.5,697,5441,0.00,2.12,9.70,0.661,4,0.000,0.044,3056,3162,1481,0,0,0,0,0,0
$GC,5491,0.74,415.0,132.6,12.8,708,5523,0.00,2.15,21.80,0.713,6,0.000,0.037,3066,1758,1380,0,0,0,0,0,0
$GC,5847,0.85,468.1,85.3,11.6,772,5901,0.12,2.20,45.38,0.692,4,0.083,0.043,3162,347,1162,0,0,0,0,0,0
$GC,5926,0.78,468.1,71.4,20.1,783,5935,0.20,2.17,0.00,0.000,6,0.124,0.032,3092,1759,1161,0,0,0,0,0,0
$GC,6255,1.00,577.8,33.4,9.1,844,6353,0.20,2.17,89.07,0.644,4,0.060,0.040,3191,3154,713,0,0,0,0,0,0
$STATE,6403,end climb,SURFACE_DEPTH_REACHED
$STATE,6403,begin surface coast
$FINISH,0.9,1.021824
$STATE,6415,end surface coast,CONTROL_FINISHED_OK
$STATE,6415,begin surface
$SM_CCo,6496,0.00,0.000,0,0,709,579.64
$SM_GC,1.42,7.95,0.00,0.00,0.037,0.000,0.000,155,1797,709,-8.33,-0.08,579.64
$IRIDIUM_FIX,2347.41,12626.26,181010,222213
$TT8_MAMPS,0.026215
$HUMID,42.47
$INTERNAL_PRESSURE,8.77445
$TCM_TEMP,24.70
$XPDR_PINGS,59
$24V_AH,24.1,57.185
$10V_AH,10.4,38.203
$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,20.850,60.450,650.150,0.000,0.000,57.176,65.837,146.061,14.750,0.000,37.355,2004.009,1755.125,593.512,2365.523,277.105,0.000,1459.445,0.000,2075.180,0.000,0.849,0.000
$DEVICE_MAMPS,221.085,90.270,993.735,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,583.404,887.363,1448.257,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333936
$DATA_FILE_SIZE,50265,868
$CAP_FILE_SIZE,91329,0
$CFSIZE,260165632,161726464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.226, 92.9,1
$GPS,191010,023806,2354.062,12631.585,35,1.3,36,-3.6