version: 66.08
glider: 166
mission: 3
dive: 353
start: 10 21 110 8 6 28
data:
$ID,166
$MISSION,3
$DIVE,353
$N_DIVES,363
$D_SURF,3
$D_FLARE,5
$D_TGT,1000
$D_ABORT,1090
$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,240
$T_MISSION,300
$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,400
$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,-21999.613
$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,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
$GPS1,211010,075815,2329.434,12634.635,11,3.8,30,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-71.5
$GPS2,211010,080606,2329.470,12634.679,38,0.9,43,-3.5
$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,204.3,55158,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.16,-214.1,0.0,0.0,0,121,0.00,0.00,-101.97,0.000,2,0.000,0.000,140,1810,3232,0,0,0,0,0,0
$GC,124,-1.16,-214.1,5.3,-9.3,14,155,9.00,0.00,-13.48,0.000,6,0.223,0.000,2456,1811,3947,0,0,0,0,0,0
$GC,473,-0.92,-214.1,142.3,-32.8,78,482,0.25,2.20,0.00,0.000,4,0.180,0.041,2550,401,3951,0,0,0,0,0,0
$GC,632,-0.82,-214.1,182.2,-22.9,106,641,0.08,2.12,0.00,0.000,6,0.151,0.040,2567,1788,3952,0,0,0,0,0,0
$GC,975,-0.78,-214.1,249.6,-18.9,167,984,0.00,2.12,0.00,0.000,4,0.000,0.044,2566,387,3954,0,0,0,0,0,0
$GC,1015,-0.74,-214.1,257.1,-19.3,173,1022,0.12,2.12,0.00,0.000,6,0.169,0.038,2595,1803,3954,0,0,0,0,0,0
$GC,1360,-0.77,-214.1,310.1,-14.5,229,1364,0.00,2.15,0.00,0.000,4,0.000,0.045,2594,390,3954,0,0,0,0,0,0
$GC,1405,-0.82,-214.1,317.0,-13.8,232,1414,0.00,2.15,0.00,0.000,6,0.000,0.038,2589,1800,3954,0,0,0,0,0,0
$GC,1733,-0.86,-214.1,362.4,-13.6,263,1736,0.00,2.17,0.00,0.000,4,0.000,0.051,2584,3207,3952,0,0,0,0,0,0
$GC,1766,-0.91,-214.1,366.3,-12.5,265,1770,0.12,2.10,0.00,0.000,6,0.086,0.034,2516,1794,3952,0,0,0,0,0,0
$GC,2096,-0.85,-214.1,427.8,-19.0,296,2101,0.17,2.15,0.00,0.000,4,0.165,0.048,2566,401,3951,0,0,0,0,0,0
$GC,2209,-0.87,-214.1,444.2,-15.2,305,2212,0.00,2.12,0.00,0.000,6,0.000,0.039,2559,1811,3950,0,0,0,0,0,0
$GC,2537,-0.87,-214.1,490.8,-13.6,335,2541,0.00,2.15,0.00,0.000,4,0.000,0.047,2558,401,3949,0,0,0,0,0,0
$GC,2576,-0.90,-214.1,496.6,-13.4,338,2584,0.00,2.15,0.00,0.000,6,0.000,0.040,2557,1804,3948,0,0,0,0,0,0
$GC,2904,-0.92,-214.1,536.5,-11.5,369,2908,0.00,2.15,0.00,0.000,4,0.000,0.050,2548,3207,3946,0,0,0,0,0,0
$GC,2933,-0.95,-214.1,540.2,-11.4,371,2937,0.00,2.10,0.00,0.000,6,0.000,0.035,2548,1795,3946,0,0,0,0,0,0
$GC,3261,-0.97,-214.1,578.6,-12.1,401,3265,0.00,2.15,0.00,0.000,4,0.000,0.049,2548,389,3943,0,0,0,0,0,0
$GC,3306,-0.97,-214.1,585.0,-13.3,404,3313,0.00,2.15,0.00,0.000,6,0.000,0.042,2546,1801,3943,0,0,0,0,0,0
$GC,3635,-0.97,-214.1,629.4,-14.0,426,3639,0.00,2.17,0.00,0.000,4,0.000,0.056,2546,3204,3940,0,0,0,0,0,0
$GC,3704,-1.04,-214.1,638.2,-12.2,429,3709,0.12,2.10,0.00,0.000,6,0.087,0.037,2482,1796,3939,0,0,0,0,0,0
$GC,4026,-0.96,-214.1,695.8,-17.8,445,4030,0.17,2.17,0.00,0.000,4,0.171,0.050,2530,396,3936,0,0,0,0,0,0
$GC,4136,-0.98,-214.1,711.1,-13.9,450,4140,0.00,2.15,0.00,0.000,6,0.000,0.041,2521,1813,3935,0,0,0,0,0,0
$GC,4468,-0.98,-214.1,758.9,-14.9,466,4472,0.00,2.20,0.00,0.000,4,0.000,0.050,2522,393,3933,0,0,0,0,0,0
$GC,4510,-0.98,-214.1,765.0,-15.1,468,4514,0.00,2.17,0.00,0.000,6,0.000,0.048,2512,1807,3932,0,0,0,0,0,0
$GC,4837,-0.96,-214.1,815.5,-16.0,484,4838,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,1808,3929,0,0,0,0,0,0
$GC,5146,-0.96,-214.1,862.8,-14.6,499,5150,0.00,2.22,0.00,0.000,4,0.000,0.057,2512,390,3926,0,0,0,0,0,0
$GC,5196,-0.96,-214.1,870.5,-15.1,501,5200,0.00,2.17,0.00,0.000,6,0.000,0.044,2503,1803,3926,0,0,0,0,0,0
$GC,5518,-0.94,-214.1,917.7,-14.7,517,5520,0.12,0.00,0.00,0.000,6,0.182,0.000,2535,1803,3923,0,0,0,0,0,0
$GC,5828,-0.96,-214.1,955.4,-11.9,532,5832,0.00,2.22,0.00,0.000,4,0.000,0.054,2535,391,3920,0,0,0,0,0,0
$GC,5869,-0.99,-214.1,960.8,-12.5,534,5873,0.00,2.20,0.00,0.000,6,0.000,0.047,2535,1808,3920,0,0,0,0,0,0
$GC,6199,-1.02,-214.1,999.7,-11.5,550,6200,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,1808,3917,0,0,0,0,0,0
$STATE,6215,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6215,begin apogee
$GC,6222,-0.23,0.0,1002.2,11.6,551,6414,0.68,0.00,183.57,1.433,6,0.124,0.000,2762,1747,3072,0,0,0,0,0,0
$STATE,6415,end apogee,CONTROL_FINISHED_OK
$STATE,6415,begin climb
$GC,6419,1.16,214.1,1009.1,0.0,560,6625,1.27,0.00,201.82,1.374,6,0.040,0.000,3235,1747,2199,0,0,0,0,0,0
$GC,6924,0.82,214.1,875.8,32.2,585,6929,0.45,2.25,0.00,0.000,4,0.207,0.060,3103,3158,2192,0,0,0,0,0,0
$GC,6953,0.56,214.1,867.0,28.1,586,6958,0.32,2.17,0.00,0.000,6,0.178,0.041,3023,1746,2191,0,0,0,0,0,0
$GC,7270,0.49,214.1,816.6,15.3,601,7273,0.00,2.17,0.00,0.000,4,0.000,0.054,3032,346,2189,0,0,0,0,0,0
$GC,7293,0.41,214.1,812.7,16.5,602,7298,0.20,2.15,0.00,0.000,6,0.168,0.043,2978,1751,2189,0,0,0,0,0,0
$GC,7623,0.48,267.3,775.0,11.6,618,7678,0.00,2.33,47.58,1.274,4,0.000,0.054,2974,3168,1981,0,0,0,0,0,0
$GC,7747,0.56,297.1,759.1,12.6,623,7780,0.10,2.20,27.92,1.228,6,0.099,0.041,3035,1750,1860,0,0,0,0,0,0
$GC,8103,0.50,297.1,694.5,18.4,641,8108,0.12,2.20,0.00,0.000,4,0.177,0.054,3012,348,1854,0,0,0,0,0,0
$GC,8145,0.50,297.1,687.7,16.2,643,8149,0.00,2.17,0.00,0.000,6,0.000,0.041,3012,1758,1852,0,0,0,0,0,0
$GC,8472,0.50,297.1,636.4,15.4,659,8475,0.00,2.12,0.00,0.000,4,0.000,0.053,3012,3158,1851,0,0,0,0,0,0
$GC,8521,0.50,297.1,628.5,15.6,661,8526,0.00,2.15,0.00,0.000,6,0.000,0.041,3021,1755,1850,0,0,0,0,0,0
$GC,8850,0.48,297.1,579.6,15.0,683,8854,0.00,2.15,0.00,0.000,4,0.000,0.050,3013,3163,1849,0,0,0,0,0,0
$GC,8880,0.48,297.1,574.9,15.4,685,8884,0.00,2.15,0.00,0.000,6,0.000,0.041,3021,1745,1849,0,0,0,0,0,0
$GC,9205,0.46,297.1,528.4,14.0,715,9210,0.12,2.15,0.00,0.000,4,0.182,0.052,2998,349,1849,0,0,0,0,0,0
$GC,9238,0.49,307.1,523.7,13.5,717,9258,0.00,2.12,8.43,0.976,6,0.000,0.037,2997,1758,1820,0,0,0,0,0,0
$GC,9576,0.61,372.5,485.0,11.0,749,9648,0.12,2.28,60.08,1.083,4,0.084,0.050,3058,3160,1553,0,0,0,0,0,0
$GC,9685,0.58,372.5,467.0,18.1,758,9690,0.15,2.20,0.00,0.000,6,0.171,0.040,3029,1744,1551,0,0,0,0,0,0
$GC,10010,0.58,376.9,421.7,13.7,788,10025,0.00,2.20,5.00,0.733,4,0.000,0.051,3037,350,1535,0,0,0,0,0,0
$GC,10061,0.60,376.9,414.5,15.2,792,10065,0.00,2.12,0.00,0.000,6,0.000,0.037,3037,1751,1534,0,0,0,0,0,0
$GC,10386,0.60,376.9,362.6,16.5,822,10390,0.00,2.15,0.00,0.000,4,0.000,0.050,3037,3174,1534,0,0,0,0,0,0
$GC,10434,0.63,376.9,355.1,15.3,825,10441,0.00,2.15,0.00,0.000,6,0.000,0.040,3042,1750,1533,0,0,0,0,0,0
$GC,10759,0.63,376.9,304.9,15.7,856,10763,0.00,2.17,0.00,0.000,4,0.000,0.050,3051,347,1533,0,0,0,0,0,0
$GC,10778,0.63,376.9,302.1,16.0,857,10782,0.00,2.12,0.00,0.000,6,0.000,0.034,3052,1761,1533,0,0,0,0,0,0
$GC,11116,0.63,376.9,246.7,15.8,916,11124,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,1761,1533,0,0,0,0,0,0
$GC,11457,0.63,376.9,197.9,14.2,977,11463,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,1765,1532,0,0,0,0,0,0
$GC,11798,0.67,387.3,151.0,13.4,1038,11816,0.00,2.15,10.70,0.710,4,0.000,0.046,3049,3149,1493,0,0,0,0,0,0
$GC,11832,0.70,387.3,146.6,13.9,1042,11840,0.00,2.15,0.00,0.000,6,0.000,0.037,3054,1739,1493,0,0,0,0,0,0
$GC,12162,0.85,468.9,106.8,10.3,1103,12239,0.15,2.25,69.90,0.737,4,0.075,0.046,3154,346,1160,0,0,0,0,0,0
$GC,12300,0.81,468.9,81.5,16.8,1124,12310,0.12,2.15,0.00,0.000,6,0.135,0.032,3108,1741,1158,0,0,0,0,0,0
$GC,12635,0.99,559.9,41.5,9.9,1185,12717,0.15,0.00,75.32,0.669,6,0.074,0.000,3188,1744,789,0,0,0,0,0,0
$STATE,12819,end climb,SURFACE_DEPTH_REACHED
$STATE,12819,begin surface coast
$FINISH,0.8,1.005187
$STATE,12832,end surface coast,CONTROL_FINISHED_OK
$STATE,12832,begin surface
$SM_CCo,12910,0.00,0.000,0,0,783,561.25
$SM_GC,1.71,7.90,0.00,0.00,0.033,0.000,0.000,141,1821,783,-8.34,0.57,561.25
$IRIDIUM_FIX,2319.18,12636.69,211010,040414
$TT8_MAMPS,0.026215
$HUMID,41.45
$INTERNAL_PRESSURE,8.70609
$TCM_TEMP,24.70
$XPDR_PINGS,102
$24V_AH,22.4,61.346
$10V_AH,10.2,40.715
$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,22.050,112.825,690.325,0.000,0.000,25.099,17.844,212.328,25.500,0.000,44.586,2994.461,6242.402,729.659,2992.545,407.400,0.000,1916.146,0.000,2704.048,0.000,0.848,0.000
$DEVICE_MAMPS,222.615,113.220,1432.845,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,829.099,1041.674,1374.684,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333784
$DATA_FILE_SIZE,73590,1217
$CAP_FILE_SIZE,147733,0
$CFSIZE,260165632,160313344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.075, 13.7,1
$GPS,211010,114255,2327.970,12634.241,40,1.2,40,-3.5