version: 66.08
glider: 166
mission: 3
dive: 136
start: 10 3 110 18 53 49
data:
$ID,166
$MISSION,3
$DIVE,136
$N_DIVES,145
$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,-21659.91
$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,43
$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
$GPS1,031010,184806,2305.377,12629.351,11,1.6,27,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-71.3
$GPS2,031010,185326,2305.393,12629.347,15,1.4,15,-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,151.0,10050,-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,-214.1,0.0,0.0,0,129,0.00,0.00,-111.43,0.000,2,0.000,0.000,145,1753,3325,0,0,0,0,0,0
$GC,132,-1.16,-214.1,6.1,-12.8,15,157,8.85,2.12,-11.05,0.000,4,0.230,0.053,2458,380,3948,0,0,0,0,0,0
$GC,396,-0.93,-214.1,126.1,-35.7,63,404,0.28,2.15,0.00,0.000,6,0.168,0.034,2533,1801,3952,0,0,0,0,0,0
$GC,728,-0.82,-214.1,219.8,-25.0,124,737,0.15,2.15,0.00,0.000,4,0.177,0.039,2579,392,3955,0,0,0,0,0,0
$GC,774,-0.78,-214.1,230.0,-21.2,131,781,0.00,2.08,0.00,0.000,6,0.000,0.034,2574,1805,3955,0,0,0,0,0,0
$GC,1104,-0.74,-214.1,295.3,-19.7,192,1112,0.00,2.15,0.00,0.000,4,0.000,0.041,2574,392,3955,0,0,0,0,0,0
$GC,1165,-0.74,-214.1,306.7,-18.9,199,1170,0.10,2.08,0.00,0.000,6,0.184,0.036,2596,1803,3955,0,0,0,0,0,0
$GC,1492,-0.87,-214.1,352.6,-9.9,229,1497,0.12,2.15,0.00,0.000,4,0.089,0.042,2537,389,3954,0,0,0,0,0,0
$GC,1525,-0.81,-214.1,357.8,-17.4,231,1532,0.15,2.10,0.00,0.000,6,0.172,0.038,2576,1797,3954,0,0,0,0,0,0
$GC,1850,-0.81,-214.1,412.4,-15.8,262,1854,0.00,2.12,0.00,0.000,4,0.000,0.050,2572,3210,3953,0,0,0,0,0,0
$GC,1928,-0.87,-214.1,423.6,-12.6,268,1936,0.00,2.10,0.00,0.000,6,0.000,0.034,2572,1803,3952,0,0,0,0,0,0
$GC,2256,-0.87,-214.1,470.1,-14.0,299,2260,0.00,2.10,0.00,0.000,4,0.000,0.044,2572,390,3950,0,0,0,0,0,0
$GC,2324,-0.90,-214.1,479.6,-13.0,305,2328,0.00,2.10,0.00,0.000,6,0.000,0.040,2573,1807,3950,0,0,0,0,0,0
$STATE,2467,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2467,begin apogee
$GC,2473,-0.23,0.0,500.3,14.8,318,2650,0.55,0.00,166.60,0.968,6,0.126,0.000,2760,1740,3071,0,0,0,0,0,0
$STATE,2651,end apogee,CONTROL_FINISHED_OK
$STATE,2651,begin climb
$GC,2653,1.16,214.1,508.7,0.0,333,2834,1.25,2.22,171.73,0.937,4,0.067,0.047,3223,355,2198,0,0,0,0,0,0
$GC,2903,0.84,214.1,464.4,32.3,354,2908,0.40,2.17,0.00,0.000,6,0.189,0.039,3115,1748,2195,0,0,0,0,0,0
$GC,3229,0.66,214.1,390.9,21.8,384,3233,0.22,2.15,0.00,0.000,4,0.174,0.046,3044,3158,2190,0,0,0,0,0,0
$GC,3292,0.58,214.1,380.1,16.3,389,3296,0.00,2.08,0.00,0.000,6,0.000,0.037,3049,1760,2188,0,0,0,0,0,0
$GC,3623,0.51,214.1,324.1,16.5,420,3625,0.17,0.00,0.00,0.000,6,0.164,0.000,3001,1760,2187,0,0,0,0,0,0
$GC,3945,0.63,313.4,287.9,9.6,460,4033,0.12,2.22,79.70,0.835,4,0.090,0.043,3077,344,1793,0,0,0,0,0,0
$GC,4080,0.58,313.4,266.6,18.1,481,4088,0.17,2.15,0.00,0.000,6,0.161,0.034,3025,1750,1789,0,0,0,0,0,0
$GC,4417,0.62,334.2,220.5,13.0,542,4445,0.00,2.20,17.58,0.747,4,0.000,0.047,3023,3160,1708,0,0,0,0,0,0
$GC,4509,0.69,350.8,207.8,13.2,557,4530,0.10,2.10,15.02,0.724,6,0.094,0.035,3096,1747,1641,0,0,0,0,0,0
$GC,4854,0.64,350.8,140.3,18.0,620,4863,0.17,2.15,0.00,0.000,4,0.160,0.043,3052,353,1636,0,0,0,0,0,0
$GC,4886,0.64,350.8,135.0,15.6,625,4895,0.00,2.12,0.00,0.000,6,0.000,0.034,3052,1752,1636,0,0,0,0,0,0
$GC,5213,0.69,365.5,90.6,13.3,686,5235,0.00,2.15,12.68,0.642,4,0.000,0.045,3051,3151,1582,0,0,0,0,0,0
$GC,5359,0.80,404.0,72.6,12.2,711,5397,0.08,2.12,31.88,0.664,6,0.051,0.035,3132,1748,1423,0,0,0,0,0,0
$GC,5717,0.80,404.0,15.5,14.6,776,5725,0.12,2.17,0.00,0.000,4,0.164,0.044,3106,342,1420,0,0,0,0,0,0
$GC,5739,0.80,404.0,12.3,15.0,779,5748,0.00,2.12,0.00,0.000,6,0.000,0.031,3106,1756,1419,0,0,0,0,0,0
$STATE,5811,end climb,SURFACE_DEPTH_REACHED
$STATE,5811,begin surface coast
$FINISH,0.7,1.021725
$STATE,5833,end surface coast,CONTROL_FINISHED_OK
$STATE,5833,begin surface
$SM_CCo,5851,200.12,0.571,1,0,455,641.95
$SM_CCo,6060,-0.43,0.000,0,0,455,642.20
$SM_GC,1.41,0.00,0.00,-0.43,0.000,0.000,0.000,150,1763,455,-8.41,-1.05,642.20
$IRIDIUM_FIX,2258.07,12631.10,031010,171728
$TT8_MAMPS,0.026215
$HUMID,38.14
$INTERNAL_PRESSURE,8.74515
$TCM_TEMP,24.70
$XPDR_PINGS,75
$24V_AH,24.4,26.382
$10V_AH,10.5,16.565
$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,20.550,55.625,495.175,200.125,0.000,27.602,16.608,135.911,18.750,0.000,16.834,1864.762,1466.963,711.918,2093.576,245.045,0.000,1492.044,0.000,1916.758,0.000,0.847,0.000
$DEVICE_MAMPS,229.500,109.395,967.725,571.455,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,535.846,813.491,1344.211,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,47061,796
$CAP_FILE_SIZE,86155,0
$CFSIZE,260165632,172130304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.220,337.2,1
$GPS,031010,203607,2305.346,12629.671,37,1.2,37,-3.4