version: 66.08
glider: 166
mission: 3
dive: 113
start: 10 2 110 1 18 20
data:
$ID,166
$MISSION,3
$DIVE,113
$N_DIVES,125
$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,-21630.072
$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,42
$R_STBD_OVSHOOT,56
$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
$GPS1,021010,011236,2314.775,12629.428,29,1.6,30,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-68.8
$GPS2,021010,011756,2314.846,12629.436,12,1.8,12,-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,195.0,5358,-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,-214.1,0.0,0.0,0,128,0.00,0.00,-110.43,0.000,2,0.000,0.000,139,1821,3272,0,0,0,0,0,0
$GC,131,-1.16,-214.1,5.3,-10.6,15,163,8.75,2.20,-12.68,0.000,4,0.225,0.054,2448,387,3948,0,0,0,0,0,0
$GC,333,-0.91,-214.1,96.8,-37.2,51,341,0.32,2.12,0.00,0.000,6,0.171,0.037,2537,1782,3951,0,0,0,0,0,0
$GC,661,-0.77,-214.1,193.9,-27.0,112,670,0.17,2.20,0.00,0.000,4,0.180,0.050,2577,3212,3954,0,0,0,0,0,0
$GC,685,-0.65,-214.1,200.1,-25.9,115,692,0.17,2.10,0.00,0.000,6,0.161,0.034,2626,1792,3954,0,0,0,0,0,0
$GC,1018,-0.67,-214.1,255.9,-15.7,176,1026,0.00,2.12,0.00,0.000,4,0.000,0.046,2626,390,3954,0,0,0,0,0,0
$GC,1066,-0.72,-214.1,263.1,-14.7,184,1075,0.00,2.12,0.00,0.000,6,0.000,0.040,2626,1793,3954,0,0,0,0,0,0
$GC,1407,-0.74,-214.1,311.3,-14.3,239,1411,0.00,2.12,0.00,0.000,4,0.000,0.050,2620,3206,3953,0,0,0,0,0,0
$GC,1437,-0.79,-214.1,315.3,-12.4,241,1442,0.10,2.05,0.00,0.000,6,0.100,0.035,2563,1799,3953,0,0,0,0,0,0
$GC,1765,-0.74,-214.1,377.0,-17.2,271,1770,0.12,2.17,0.00,0.000,4,0.179,0.054,2589,3203,3952,0,0,0,0,0,0
$GC,1797,-0.74,-214.1,382.8,-15.0,273,1805,0.00,2.10,0.00,0.000,6,0.000,0.036,2589,1802,3952,0,0,0,0,0,0
$GC,2122,-0.74,-214.1,430.8,-16.1,304,2126,0.00,2.10,0.00,0.000,4,0.000,0.047,2589,387,3950,0,0,0,0,0,0
$GC,2197,-0.77,-214.1,442.1,-14.9,310,2201,0.00,2.12,0.00,0.000,6,0.000,0.041,2589,1802,3950,0,0,0,0,0,0
$GC,2524,-0.79,-214.1,492.4,-15.1,340,2528,0.00,2.12,0.00,0.000,4,0.000,0.054,2580,3204,3948,0,0,0,0,0,0
$STATE,2576,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2576,begin apogee
$GC,2584,-0.23,0.0,500.1,12.2,344,2756,0.52,0.00,166.98,0.963,6,0.124,0.000,2760,1748,3072,0,0,0,0,0,0
$STATE,2757,end apogee,CONTROL_FINISHED_OK
$STATE,2757,begin climb
$GC,2759,1.16,214.1,505.7,0.0,359,2941,1.25,0.00,172.23,0.931,6,0.067,0.000,3220,1748,2198,0,0,0,0,0,0
$GC,3257,0.86,214.1,379.5,30.3,405,3262,0.35,2.15,0.00,0.000,4,0.197,0.046,3131,340,2193,0,0,0,0,0,0
$GC,3301,0.66,214.1,367.1,25.0,408,3309,0.22,2.17,0.00,0.000,6,0.166,0.037,3061,1749,2192,0,0,0,0,0,0
$GC,3628,0.58,214.1,313.4,15.3,439,3632,0.12,2.12,0.00,0.000,4,0.179,0.046,3016,3162,2188,0,0,0,0,0,0
$GC,3702,0.62,257.5,303.4,12.0,445,3745,0.00,2.12,35.17,0.835,6,0.000,0.037,3024,1740,2022,0,0,0,0,0,0
$GC,4073,0.60,257.5,250.8,14.7,509,4080,0.00,2.12,0.00,0.000,4,0.000,0.046,3031,341,2016,0,0,0,0,0,0
$GC,4131,0.60,257.5,242.1,14.5,519,4137,0.00,2.12,0.00,0.000,6,0.000,0.034,3034,1758,2016,0,0,0,0,0,0
$GC,4463,0.58,257.7,195.7,13.9,580,4471,0.00,2.12,0.00,0.000,4,0.000,0.046,3033,3156,2014,0,0,0,0,0,0
$GC,4479,0.59,279.7,193.6,12.9,582,4507,0.00,2.12,18.52,0.743,6,0.000,0.036,3041,1745,1929,0,0,0,0,0,0
$GC,4836,0.57,280.6,144.8,13.8,646,4844,0.00,2.12,0.00,0.000,4,0.000,0.046,3046,355,1925,0,0,0,0,0,0
$GC,4879,0.55,280.6,138.2,14.3,653,4888,0.00,2.10,0.00,0.000,6,0.000,0.033,3045,1751,1923,0,0,0,0,0,0
$GC,5205,0.61,325.0,97.5,12.0,714,5251,0.00,2.17,36.47,0.692,4,0.000,0.044,3044,3153,1747,0,0,0,0,0,0
$GC,5380,0.72,371.0,75.2,11.9,744,5426,0.00,2.12,38.20,0.665,6,0.000,0.035,3049,1752,1558,0,0,0,0,0,0
$GC,5746,0.90,466.6,32.7,9.7,810,5834,0.20,2.22,76.30,0.628,4,0.060,0.040,3169,344,1168,0,0,0,0,0,0
$STATE,5892,end climb,SURFACE_DEPTH_REACHED
$STATE,5892,begin surface coast
$FINISH,0.7,1.000280
$STATE,5904,end surface coast,CONTROL_FINISHED_OK
$STATE,5904,begin surface
$SM_CCo,5923,147.55,0.558,1,0,455,641.95
$SM_CCo,6079,-0.08,0.000,0,0,453,642.20
$SM_GC,1.43,0.00,0.00,-0.08,0.000,0.000,0.000,148,1827,453,-8.41,0.79,642.20
$IRIDIUM_FIX,2307.44,12630.61,011010,232333
$TT8_MAMPS,0.026215
$HUMID,38.73
$INTERNAL_PRESSURE,8.72562
$TCM_TEMP,24.40
$XPDR_PINGS,91
$24V_AH,24.4,22.480
$10V_AH,10.5,14.101
$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,20.200,59.950,543.875,147.550,0.000,30.253,17.064,137.251,22.750,0.000,13.279,1932.853,1346.631,702.343,2173.647,247.274,0.000,1520.597,0.000,1997.824,0.000,0.848,0.000
$DEVICE_MAMPS,224.910,54.315,963.135,558.450,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,561.102,852.247,1412.751,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50288,834
$CAP_FILE_SIZE,87217,0
$CFSIZE,260165632,173322240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.084, 69.9,1
$GPS,021010,030032,2314.008,12629.524,12,1.4,13,-3.4