version: 66.08
glider: 166
mission: 3
dive: 100
start: 10 1 110 1 36 11
data:
$ID,166
$MISSION,3
$DIVE,100
$N_DIVES,105
$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,-21612.9
$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,41
$R_STBD_OVSHOOT,46
$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
$GPS1,011010,013001,2321.115,12629.205,12,1.9,29,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-65.9
$GPS2,011010,013549,2321.154,12629.216,11,1.1,16,-3.4
$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,190.1,17006,-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,-110.50,0.000,2,0.000,0.000,139,1749,3288,0,0,0,0,0,0
$GC,132,-1.16,-214.1,5.9,-13.1,15,163,8.75,2.05,-11.98,0.000,4,0.224,0.049,2459,378,3949,0,0,0,0,0,0
$GC,277,-0.91,-214.1,74.8,-40.0,40,286,0.28,2.17,0.00,0.000,6,0.168,0.041,2534,1792,3951,0,0,0,0,0,0
$GC,606,-0.77,-214.1,175.4,-29.1,101,614,0.20,2.10,0.00,0.000,4,0.174,0.040,2590,391,3954,0,0,0,0,0,0
$GC,656,-0.73,-214.1,189.3,-22.8,109,664,0.00,2.10,0.00,0.000,6,0.000,0.041,2588,1806,3955,0,0,0,0,0,0
$GC,992,-0.69,-214.1,255.6,-17.1,170,1001,0.12,2.15,0.00,0.000,4,0.177,0.052,2614,3201,3955,0,0,0,0,0,0
$GC,1049,-0.75,-214.1,263.3,-11.9,179,1055,0.00,2.08,0.00,0.000,6,0.000,0.034,2614,1792,3955,0,0,0,0,0,0
$GC,1380,-0.77,-214.1,313.7,-16.1,232,1383,0.00,2.08,0.00,0.000,4,0.000,0.045,2614,401,3955,0,0,0,0,0,0
$GC,1403,-0.79,-214.1,317.7,-15.9,234,1407,0.00,2.10,0.00,0.000,6,0.000,0.040,2614,1801,3955,0,0,0,0,0,0
$GC,1729,-0.82,-214.1,365.3,-14.4,264,1734,0.12,2.15,0.00,0.000,4,0.091,0.053,2549,3207,3953,0,0,0,0,0,0
$GC,1803,-0.82,-214.1,377.5,-16.8,270,1807,0.00,2.05,0.00,0.000,6,0.000,0.035,2549,1801,3953,0,0,0,0,0,0
$GC,2128,-0.77,-214.1,438.2,-18.0,300,2133,0.15,2.12,0.00,0.000,4,0.164,0.046,2590,389,3952,0,0,0,0,0,0
$GC,2206,-0.81,-214.1,449.7,-13.4,306,2213,0.00,2.15,0.00,0.000,6,0.000,0.041,2589,1808,3951,0,0,0,0,0,0
$GC,2534,-0.84,-214.1,495.9,-14.3,337,2538,0.00,2.12,0.00,0.000,4,0.000,0.054,2587,3204,3949,0,0,0,0,0,0
$STATE,2558,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2558,begin apogee
$GC,2566,-0.23,0.0,500.1,13.3,339,2739,0.50,0.00,167.65,0.965,6,0.115,0.000,2762,1739,3072,0,0,0,0,0,0
$STATE,2740,end apogee,CONTROL_FINISHED_OK
$STATE,2740,begin climb
$GC,2742,1.16,214.1,508.5,0.0,354,2924,1.23,2.28,172.73,0.936,4,0.052,0.048,3230,355,2199,0,0,0,0,0,0
$GC,2967,0.83,214.1,468.3,34.0,373,2972,0.43,2.17,0.00,0.000,6,0.196,0.038,3113,1756,2197,0,0,0,0,0,0
$GC,3294,0.64,214.1,388.6,23.5,403,3299,0.25,2.15,0.00,0.000,4,0.177,0.044,3050,343,2192,0,0,0,0,0,0
$GC,3338,0.55,214.1,379.3,18.2,406,3346,0.08,2.15,0.00,0.000,6,0.161,0.036,3027,1747,2192,0,0,0,0,0,0
$GC,3665,0.52,215.6,332.3,13.8,437,3669,0.00,2.10,0.00,0.000,4,0.000,0.047,3023,3160,2188,0,0,0,0,0,0
$GC,3689,0.47,215.6,328.9,14.4,439,3693,0.12,2.10,0.00,0.000,6,0.178,0.037,2996,1741,2187,0,0,0,0,0,0
$GC,4018,0.59,313.5,293.6,9.6,475,4106,0.10,0.00,80.20,0.843,6,0.106,0.000,3049,1741,1792,0,0,0,0,0,0
$GC,4434,0.56,313.5,222.2,18.2,548,4442,0.00,2.20,0.00,0.000,4,0.000,0.045,3042,3164,1785,0,0,0,0,0,0
$GC,4467,0.54,313.5,216.6,17.4,553,4475,0.12,2.12,0.00,0.000,6,0.174,0.037,3014,1747,1785,0,0,0,0,0,0
$GC,4801,0.62,357.6,171.8,12.0,614,4842,0.00,2.22,35.58,0.749,4,0.000,0.046,3019,343,1613,0,0,0,0,0,0
$GC,4863,0.72,401.5,164.2,12.0,623,4911,0.15,2.12,36.75,0.727,6,0.075,0.032,3097,1760,1434,0,0,0,0,0,0
$GC,5231,0.68,401.5,91.2,17.7,690,5240,0.12,2.15,0.00,0.000,4,0.169,0.044,3053,3152,1430,0,0,0,0,0,0
$GC,5248,0.66,401.5,88.0,17.6,692,5256,0.00,2.12,0.00,0.000,6,0.000,0.035,3057,1751,1430,0,0,0,0,0,0
$GC,5575,0.89,523.5,51.1,8.6,753,5680,0.20,0.00,96.88,0.645,6,0.061,0.000,3163,1751,936,0,0,0,0,0,0
$STATE,5788,end climb,SURFACE_DEPTH_REACHED
$STATE,5788,begin surface coast
$FINISH,0.7,1.021414
$STATE,5800,end surface coast,CONTROL_FINISHED_OK
$STATE,5800,begin surface
$SM_CCo,5817,102.70,0.542,1,0,454,641.95
$SM_CCo,5928,-0.35,0.000,0,0,454,642.20
$SM_GC,1.32,0.00,0.00,-0.35,0.000,0.000,0.000,141,1749,454,-8.44,-1.41,642.20
$IRIDIUM_FIX,2312.13,12626.84,300910,232327
$TT8_MAMPS,0.026215
$HUMID,39.95
$INTERNAL_PRESSURE,8.73539
$TCM_TEMP,24.20
$XPDR_PINGS,79
$24V_AH,24.4,20.281
$10V_AH,10.5,12.680
$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,20.775,55.525,589.775,102.700,0.000,31.609,39.559,133.886,19.750,0.000,16.916,1814.490,1457.043,675.775,2090.392,238.413,0.000,1473.158,0.000,1883.465,0.000,0.847,0.000
$DEVICE_MAMPS,224.145,54.315,964.665,542.385,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,529.696,806.392,1306.071,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,47009,789
$CAP_FILE_SIZE,85848,0
$CFSIZE,260165632,174018560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.005,260.7,1
$GPS,011010,031550,2320.116,12629.000,11,1.1,11,-3.4