version: 66.08
glider: 166
mission: 3
dive: 102
start: 10 1 110 5 9 13
data:
$ID,166
$MISSION,3
$DIVE,102
$N_DIVES,115
$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,-21615.594
$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
$GPS1,011010,050337,2319.104,12628.487,37,1.0,37,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-69.0
$GPS2,011010,050850,2319.115,12628.405,12,1.1,12,-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,148.6,13453,-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,15,-1.16,-214.1,0.0,0.0,0,127,0.00,0.00,-108.78,0.000,2,0.000,0.000,146,1750,3222,0,0,0,0,0,0
$GC,130,-1.16,-214.1,5.2,-10.3,15,161,8.90,2.03,-13.57,0.000,4,0.233,0.044,2458,378,3947,0,0,0,0,0,0
$GC,229,-0.86,-214.1,51.7,-47.0,31,237,0.35,2.17,0.00,0.000,6,0.187,0.041,2551,1790,3949,0,0,0,0,0,0
$GC,556,-0.73,-214.1,159.1,-24.3,92,564,0.17,2.15,0.00,0.000,4,0.178,0.042,2599,392,3952,0,0,0,0,0,0
$GC,644,-0.71,-214.1,177.6,-19.4,107,651,0.00,2.15,0.00,0.000,6,0.000,0.041,2599,1816,3954,0,0,0,0,0,0
$GC,977,-0.68,-214.1,241.6,-19.6,168,985,0.00,2.12,0.00,0.000,4,0.000,0.052,2592,3206,3954,0,0,0,0,0,0
$GC,1020,-0.68,-214.1,249.3,-17.4,175,1027,0.00,2.08,0.00,0.000,6,0.000,0.034,2592,1793,3954,0,0,0,0,0,0
$GC,1357,-0.66,-214.1,314.5,-19.5,230,1359,0.12,0.00,0.00,0.000,6,0.170,0.000,2625,1793,3953,0,0,0,0,0,0
$GC,1675,-0.72,-214.1,359.7,-13.2,260,1679,0.00,2.15,0.00,0.000,4,0.000,0.053,2626,3206,3953,0,0,0,0,0,0
$GC,1708,-0.81,-214.1,363.7,-10.9,262,1717,0.10,2.10,0.00,0.000,6,0.048,0.035,2559,1804,3953,0,0,0,0,0,0
$GC,2035,-0.78,-214.1,422.8,-18.7,293,2039,0.10,2.12,0.00,0.000,4,0.187,0.046,2583,395,3951,0,0,0,0,0,0
$GC,2074,-0.78,-214.1,430.2,-17.2,296,2078,0.00,2.10,0.00,0.000,6,0.000,0.041,2585,1804,3951,0,0,0,0,0,0
$GC,2406,-0.80,-214.1,482.9,-15.5,327,2409,0.00,2.10,0.00,0.000,4,0.000,0.053,2578,3209,3949,0,0,0,0,0,0
$GC,2457,-0.86,-214.1,490.7,-14.0,331,2461,0.00,2.08,0.00,0.000,6,0.000,0.036,2578,1787,3948,0,0,0,0,0,0
$STATE,2527,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2527,begin apogee
$GC,2533,-0.23,0.0,501.7,16.0,337,2711,0.55,0.00,167.93,0.966,6,0.130,0.000,2763,1787,3072,0,0,0,0,0,0
$STATE,2711,end apogee,CONTROL_FINISHED_OK
$STATE,2711,begin climb
$GC,2715,1.16,214.1,511.8,0.0,352,2899,1.20,2.35,173.18,0.939,4,0.048,0.049,3233,340,2199,0,0,0,0,0,0
$GC,2969,0.84,214.1,463.8,31.4,374,2975,0.45,2.17,0.00,0.000,6,0.192,0.038,3112,1744,2195,0,0,0,0,0,0
$GC,3295,0.67,214.1,385.7,22.6,404,3300,0.20,2.15,0.00,0.000,4,0.179,0.044,3047,3163,2190,0,0,0,0,0,0
$GC,3337,0.58,214.1,377.8,18.7,407,3341,0.00,2.10,0.00,0.000,6,0.000,0.037,3053,1745,2189,0,0,0,0,0,0
$GC,3664,0.49,214.1,326.4,15.6,437,3669,0.20,2.10,0.00,0.000,4,0.167,0.044,3006,343,2187,0,0,0,0,0,0
$GC,3709,0.55,259.6,320.3,11.9,440,3752,0.00,2.15,36.97,0.854,6,0.000,0.035,3008,1762,2013,0,0,0,0,0,0
$GC,4075,0.62,313.6,276.6,11.5,491,4129,0.00,2.20,44.20,0.822,4,0.000,0.045,3008,3153,1792,0,0,0,0,0,0
$GC,4201,0.70,349.4,260.7,12.3,512,4244,0.12,2.15,30.90,0.793,6,0.043,0.037,3088,1757,1646,0,0,0,0,0,0
$GC,4571,0.62,349.4,182.5,20.0,578,4580,0.17,2.20,0.00,0.000,4,0.171,0.045,3047,336,1642,0,0,0,0,0,0
$GC,4610,0.60,349.4,175.4,17.9,584,4618,0.00,2.15,0.00,0.000,6,0.000,0.033,3045,1752,1640,0,0,0,0,0,0
$GC,4937,0.60,349.4,122.2,15.1,645,4946,0.00,2.12,0.00,0.000,4,0.000,0.045,3045,3155,1639,0,0,0,0,0,0
$GC,4987,0.63,349.4,113.8,16.4,653,4996,0.00,2.12,0.00,0.000,6,0.000,0.035,3050,1741,1639,0,0,0,0,0,0
$GC,5314,0.85,483.1,72.2,8.1,714,5431,0.17,2.22,106.18,0.668,4,0.067,0.044,3160,348,1101,0,0,0,0,0,0
$GC,5474,0.79,483.1,42.1,22.8,737,5483,0.20,2.15,0.00,0.000,6,0.137,0.031,3095,1753,1099,0,0,0,0,0,0
$STATE,5730,end climb,SURFACE_DEPTH_REACHED
$STATE,5730,begin surface coast
$FINISH,0.6,1.008635
$STATE,5753,end surface coast,CONTROL_FINISHED_OK
$STATE,5753,begin surface
$SM_CCo,5770,136.45,0.558,1,0,455,641.95
$SM_CCo,5915,0.00,0.000,0,0,454,642.20
$SM_GC,1.28,0.00,0.00,0.00,0.000,0.000,0.000,152,1759,454,-8.41,-1.16,642.20
$IRIDIUM_FIX,2309.79,12630.61,011010,030348
$TT8_MAMPS,0.026215
$HUMID,38.50
$INTERNAL_PRESSURE,8.74515
$TCM_TEMP,24.60
$XPDR_PINGS,72
$24V_AH,24.4,20.620
$10V_AH,10.5,12.893
$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,20.475,55.700,559.350,136.450,0.000,23.936,15.507,136.553,18.000,0.000,13.714,1820.290,1402.380,693.983,2065.685,246.149,0.000,1488.320,0.000,1902.432,0.000,0.848,0.000
$DEVICE_MAMPS,232.560,52.785,966.195,557.685,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,530.197,807.090,1336.798,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333908
$DATA_FILE_SIZE,46802,789
$CAP_FILE_SIZE,85228,0
$CFSIZE,260165632,173912064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.244,283.7,1
$GPS,011010,064858,2318.448,12628.169,11,99.0,30,-3.4