version: 66.08
glider: 166
mission: 3
dive: 103
start: 10 1 110 6 56 58
data:
$ID,166
$MISSION,3
$DIVE,103
$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,-21616.854
$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,43
$R_STBD_OVSHOOT,47
$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
$GPS1,011010,064858,2318.448,12628.169,11,99.0,30,-3.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-66.4
$GPS2,011010,065636,2318.499,12628.073,14,0.9,30,-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,129.8,12475,-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,12,begin dive
$GC,16,-1.16,-214.1,0.0,0.0,0,135,0.00,0.00,-116.00,0.000,2,0.000,0.000,149,1759,3481,0,0,0,0,0,0
$GC,138,-1.16,-214.1,6.9,-14.3,16,162,8.90,2.10,-7.97,0.000,4,0.234,0.047,2459,370,3950,0,0,0,0,0,0
$GC,244,-0.84,-214.1,64.3,-48.0,34,254,0.38,2.17,0.00,0.000,6,0.186,0.039,2559,1788,3952,0,0,0,0,0,0
$GC,575,-0.72,-214.1,165.7,-24.5,95,582,0.17,2.12,0.00,0.000,4,0.178,0.038,2607,381,3955,0,0,0,0,0,0
$GC,614,-0.66,-214.1,174.6,-20.7,101,621,0.00,2.15,0.00,0.000,6,0.000,0.037,2601,1813,3955,0,0,0,0,0,0
$GC,953,-0.62,-214.1,243.1,-21.4,162,963,0.12,2.15,0.00,0.000,4,0.179,0.049,2628,3214,3956,0,0,0,0,0,0
$GC,1002,-0.67,-214.1,250.6,-14.6,169,1009,0.00,2.10,0.00,0.000,6,0.000,0.034,2628,1790,3956,0,0,0,0,0,0
$GC,1344,-0.70,-214.1,300.4,-15.1,230,1348,0.00,2.17,0.00,0.000,4,0.000,0.052,2629,3212,3956,0,0,0,0,0,0
$GC,1377,-0.77,-214.1,305.4,-13.4,232,1386,0.08,2.10,0.00,0.000,6,0.055,0.034,2572,1805,3955,0,0,0,0,0,0
$GC,1706,-0.73,-214.1,367.3,-18.1,263,1710,0.12,2.12,0.00,0.000,4,0.180,0.044,2604,391,3954,0,0,0,0,0,0
$GC,1775,-0.77,-214.1,378.6,-13.1,269,1779,0.00,2.12,0.00,0.000,6,0.000,0.040,2603,1810,3954,0,0,0,0,0,0
$GC,2102,-0.80,-214.1,422.9,-13.9,299,2106,0.00,2.12,0.00,0.000,4,0.000,0.054,2603,3209,3952,0,0,0,0,0,0
$GC,2155,-0.89,-214.1,429.3,-11.3,303,2160,0.15,2.10,0.00,0.000,6,0.078,0.036,2528,1794,3952,0,0,0,0,0,0
$GC,2482,-0.82,-214.1,495.0,-20.5,333,2486,0.17,2.10,0.00,0.000,4,0.171,0.047,2576,398,3950,0,0,0,0,0,0
$STATE,2510,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2510,begin apogee
$GC,2517,-0.23,0.0,500.5,17.9,335,2695,0.55,0.00,167.90,0.960,6,0.127,0.000,2761,1754,3072,0,0,0,0,0,0
$STATE,2695,end apogee,CONTROL_FINISHED_OK
$STATE,2695,begin climb
$GC,2698,1.16,214.1,509.5,0.0,350,2881,1.25,2.35,172.88,0.933,4,0.070,0.054,3214,3162,2198,0,0,0,0,0,0
$GC,3012,0.86,214.1,440.8,31.1,377,3017,0.40,2.15,0.00,0.000,6,0.200,0.040,3119,1752,2194,0,0,0,0,0,0
$GC,3339,0.69,214.1,362.6,21.3,407,3344,0.20,2.15,0.00,0.000,4,0.181,0.044,3072,345,2191,0,0,0,0,0,0
$GC,3357,0.52,214.1,358.6,20.7,408,3362,0.20,2.12,0.00,0.000,6,0.168,0.037,3009,1750,2190,0,0,0,0,0,0
$GC,3682,0.64,307.2,320.8,9.8,438,3765,0.10,0.00,75.60,0.854,6,0.103,0.000,3062,1752,1818,0,0,0,0,0,0
$GC,4094,0.58,307.2,246.0,20.0,500,4102,0.15,2.15,0.00,0.000,4,0.173,0.045,3013,3156,1809,0,0,0,0,0,0
$GC,4132,0.60,307.2,239.6,15.1,506,4141,0.00,2.15,0.00,0.000,6,0.000,0.037,3013,1739,1809,0,0,0,0,0,0
$GC,4476,0.68,346.6,194.7,12.2,567,4517,0.12,2.17,31.67,0.759,4,0.090,0.046,3086,358,1659,0,0,0,0,0,0
$GC,4556,0.60,346.6,181.1,20.0,579,4564,0.17,2.12,0.00,0.000,6,0.164,0.034,3034,1759,1656,0,0,0,0,0,0
$GC,4890,0.67,377.5,132.7,12.5,640,4921,0.00,2.20,25.55,0.704,4,0.000,0.044,3032,3163,1533,0,0,0,0,0,0
$GC,4988,0.74,384.5,119.2,13.6,656,5004,0.08,2.15,7.70,0.593,6,0.052,0.037,3101,1759,1504,0,0,0,0,0,0
$GC,5328,0.72,384.5,61.7,15.4,718,5336,0.00,2.15,0.00,0.000,4,0.000,0.044,3112,347,1501,0,0,0,0,0,0
$GC,5386,0.70,384.5,51.2,16.5,728,5395,0.12,2.10,0.00,0.000,6,0.128,0.031,3069,1753,1500,0,0,0,0,0,0
$GC,5716,0.89,481.9,15.5,9.7,789,5792,0.15,0.00,73.10,0.614,2,0.074,0.000,3148,1758,1128,0,0,0,0,0,0
$STATE,5793,end climb,SURFACE_DEPTH_REACHED
$STATE,5793,begin surface coast
$FINISH,0.6,1.016432
$STATE,5805,end surface coast,CONTROL_FINISHED_OK
$STATE,5807,begin surface
$SM_CCo,5825,139.95,0.551,1,0,454,641.95
$SM_CCo,5973,-0.30,0.000,0,0,454,642.20
$SM_GC,1.30,0.00,0.00,-0.30,0.000,0.000,0.000,142,1759,454,-8.43,-1.16,642.20
$IRIDIUM_FIX,2312.13,12628.73,011010,060655
$TT8_MAMPS,0.026215
$HUMID,38.10
$INTERNAL_PRESSURE,8.74515
$TCM_TEMP,24.90
$XPDR_PINGS,65
$24V_AH,24.4,20.790
$10V_AH,10.5,13.001
$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,21.400,55.700,554.400,139.950,0.000,55.735,55.014,133.917,16.250,0.000,31.778,1871.679,1423.143,689.438,2194.876,253.005,0.000,1491.955,0.000,1939.371,0.000,0.848,0.000
$DEVICE_MAMPS,234.090,54.315,960.075,550.800,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,538.735,819.118,1362.233,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46873,801
$CAP_FILE_SIZE,88297,0
$CFSIZE,260165632,173854720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.242,283.4,1
$GPS,011010,083740,2318.200,12628.172,8,99.0,28,-3.4