version: 66.08
glider: 166
mission: 3
dive: 129
start: 10 3 110 6 22 47
data:
$ID,166
$MISSION,3
$DIVE,129
$N_DIVES,140
$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,-21650.83
$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,41
$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
$GPS1,031010,061630,2307.919,12629.786,40,1.2,40,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-72.5
$GPS2,031010,062225,2307.973,12629.752,10,1.6,15,-3.4
$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,166.5,14772,-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,15,-1.16,-214.1,0.0,0.0,0,132,0.00,0.00,-114.05,0.000,2,0.000,0.000,148,1763,3417,0,0,0,0,0,0
$GC,135,-1.16,-214.1,6.4,-13.0,16,160,8.75,2.12,-9.25,0.000,4,0.226,0.051,2458,377,3949,0,0,0,0,0,0
$GC,393,-0.91,-214.1,126.2,-35.7,63,401,0.30,2.15,0.00,0.000,6,0.167,0.038,2541,1789,3954,0,0,0,0,0,0
$GC,730,-0.78,-214.1,223.2,-25.1,124,738,0.17,2.17,0.00,0.000,4,0.176,0.050,2584,3200,3956,0,0,0,0,0,0
$GC,813,-0.78,-214.1,239.2,-16.1,138,823,0.00,2.10,0.00,0.000,6,0.000,0.035,2584,1798,3957,0,0,0,0,0,0
$GC,1155,-0.74,-214.1,300.7,-18.0,199,1159,0.00,2.10,0.00,0.000,4,0.000,0.045,2584,388,3956,0,0,0,0,0,0
$GC,1177,-0.70,-214.1,305.9,-19.4,200,1186,0.08,2.12,0.00,0.000,6,0.149,0.040,2609,1789,3956,0,0,0,0,0,0
$GC,1506,-0.72,-214.1,356.4,-13.2,231,1510,0.00,2.12,0.00,0.000,4,0.000,0.050,2602,3211,3955,0,0,0,0,0,0
$GC,1547,-0.78,-214.1,361.8,-12.0,234,1551,0.00,2.08,0.00,0.000,6,0.000,0.036,2602,1801,3955,0,0,0,0,0,0
$GC,1881,-0.80,-214.1,405.5,-13.6,265,1885,0.00,2.10,0.00,0.000,4,0.000,0.047,2601,397,3953,0,0,0,0,0,0
$GC,1912,-0.84,-214.1,409.8,-13.8,267,1916,0.00,2.10,0.00,0.000,6,0.000,0.040,2602,1801,3953,0,0,0,0,0,0
$GC,2240,-0.88,-214.1,454.9,-13.9,297,2245,0.12,2.15,0.00,0.000,4,0.093,0.054,2538,3212,3952,0,0,0,0,0,0
$GC,2300,-0.88,-214.1,465.1,-16.5,302,2309,0.00,2.10,0.00,0.000,6,0.000,0.037,2537,1804,3951,0,0,0,0,0,0
$STATE,2485,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2485,begin apogee
$GC,2491,-0.23,0.0,501.1,19.2,320,2670,0.68,0.00,167.12,0.962,6,0.138,0.000,2759,1744,3071,0,0,0,0,0,0
$STATE,2671,end apogee,CONTROL_FINISHED_OK
$STATE,2671,begin climb
$GC,2673,1.16,214.1,510.2,0.0,335,2857,1.25,2.25,171.88,0.936,4,0.070,0.050,3223,356,2198,0,0,0,0,0,0
$GC,2908,0.85,214.1,469.1,30.9,355,2915,0.40,2.17,0.00,0.000,6,0.190,0.040,3117,1745,2195,0,0,0,0,0,0
$GC,3233,0.67,214.1,396.9,22.1,386,3238,0.22,2.15,0.00,0.000,4,0.177,0.045,3044,3172,2190,0,0,0,0,0,0
$GC,3255,0.54,214.1,392.2,19.8,387,3262,0.15,2.12,0.00,0.000,6,0.180,0.037,3016,1744,2188,0,0,0,0,0,0
$GC,3581,0.54,234.4,349.8,13.0,418,3606,0.00,2.17,16.50,0.833,4,0.000,0.047,3020,353,2115,0,0,0,0,0,0
$GC,3630,0.54,255.5,343.3,13.0,422,3655,0.00,2.15,18.83,0.828,6,0.000,0.036,3023,1767,2030,0,0,0,0,0,0
$GC,3975,0.54,264.0,298.1,13.5,455,3989,0.00,0.00,8.02,0.718,6,0.000,0.000,3022,1767,1994,0,0,0,0,0,0
$GC,4326,0.54,265.0,250.8,13.8,517,4333,0.00,2.08,0.00,0.000,4,0.000,0.045,3022,3161,1991,0,0,0,0,0,0
$GC,4420,0.58,294.5,238.5,12.6,533,4450,0.00,2.12,25.20,0.789,6,0.000,0.037,3026,1741,1871,0,0,0,0,0,0
$GC,4786,0.59,307.3,189.9,13.3,597,4807,0.00,2.17,11.65,0.702,4,0.000,0.044,3034,350,1818,0,0,0,0,0,0
$GC,4815,0.59,307.3,185.3,14.1,601,4822,0.00,2.12,0.00,0.000,6,0.000,0.034,3036,1758,1817,0,0,0,0,0,0
$GC,5151,0.59,307.3,134.7,16.0,662,5159,0.00,2.12,0.00,0.000,4,0.000,0.044,3036,3159,1816,0,0,0,0,0,0
$GC,5240,0.61,307.3,120.9,15.7,678,5248,0.00,2.12,0.00,0.000,6,0.000,0.035,3044,1750,1815,0,0,0,0,0,0
$GC,5569,0.74,409.9,77.4,9.4,739,5657,0.00,2.28,82.25,0.679,4,0.000,0.045,3054,344,1399,0,0,0,0,0,0
$GC,5699,0.97,535.4,66.6,8.4,758,5807,0.22,2.17,100.97,0.643,6,0.033,0.032,3174,1755,888,0,0,0,0,0,0
$STATE,5980,end climb,SURFACE_DEPTH_REACHED
$STATE,5980,begin surface coast
$FINISH,0.6,1.021524
$STATE,5995,end surface coast,CONTROL_FINISHED_OK
$STATE,5995,begin surface
$SM_CCo,6012,93.57,0.534,1,0,455,641.95
$SM_CCo,6114,-0.38,0.000,0,0,454,642.20
$SM_GC,1.35,0.00,0.00,-0.38,0.000,0.000,0.000,148,1758,454,-8.41,-1.19,642.20
$IRIDIUM_FIX,2300.41,12627.83,031010,040438
$TT8_MAMPS,0.026215
$HUMID,40.23
$INTERNAL_PRESSURE,8.74515
$TCM_TEMP,24.20
$XPDR_PINGS,91
$24V_AH,24.4,25.209
$10V_AH,10.5,15.815
$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,20.100,55.700,602.425,93.575,0.000,24.767,42.888,147.848,22.750,0.000,17.455,1851.044,1570.630,671.732,2130.646,244.805,0.000,1493.547,0.000,1923.575,0.000,0.848,0.000
$DEVICE_MAMPS,226.440,156.825,961.605,533.970,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,542.027,824.984,1331.838,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46908,807
$CAP_FILE_SIZE,85863,0
$CFSIZE,260165632,172494848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.240,274.1,1
$GPS,031010,080532,2307.132,12629.335,12,1.8,12,-3.4