version: 66.08
glider: 166
mission: 3
dive: 354
start: 10 21 110 11 50 36
data:
$ID,166
$MISSION,3
$DIVE,354
$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,-22000.873
$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,48
$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
$GPS1,211010,114255,2327.970,12634.241,40,1.2,40,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-70.9
$GPS2,211010,115014,2328.015,12634.246,13,1.2,13,-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,192.7,52387,-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,-214.1,0.0,0.0,0,115,0.00,0.00,-95.43,0.000,2,0.000,0.000,145,1822,3194,0,0,0,0,0,0
$GC,118,-1.16,-214.1,5.3,-10.5,13,149,9.07,2.12,-14.20,0.000,4,0.225,0.057,2443,3200,3948,0,0,0,0,0,0
$GC,238,-0.91,-214.1,58.3,-40.8,33,247,0.32,2.12,0.00,0.000,6,0.174,0.033,2539,1792,3950,0,0,0,0,0,0
$GC,567,-0.79,-214.1,150.3,-23.6,94,575,0.15,2.15,0.00,0.000,4,0.172,0.043,2585,402,3953,0,0,0,0,0,0
$GC,682,-0.76,-214.1,170.9,-16.8,114,690,0.00,2.12,0.00,0.000,6,0.000,0.038,2576,1796,3953,0,0,0,0,0,0
$GC,1013,-0.73,-214.1,224.5,-16.7,175,1020,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,1797,3954,0,0,0,0,0,0
$GC,1345,-0.71,-214.1,280.8,-16.3,236,1353,0.12,0.00,0.00,0.000,6,0.171,0.000,2609,1797,3954,0,0,0,0,0,0
$GC,1680,-0.77,-214.1,322.5,-11.6,281,1684,0.00,2.15,0.00,0.000,4,0.000,0.047,2607,404,3954,0,0,0,0,0,0
$GC,1745,-0.86,-214.1,330.2,-11.3,286,1750,0.12,2.10,0.00,0.000,6,0.089,0.037,2533,1810,3954,0,0,0,0,0,0
$GC,2077,-0.82,-214.1,386.3,-17.0,317,2079,0.15,0.00,0.00,0.000,6,0.168,0.000,2573,1811,3952,0,0,0,0,0,0
$GC,2396,-0.84,-214.1,429.6,-13.2,347,2400,0.00,2.17,0.00,0.000,4,0.000,0.047,2573,398,3951,0,0,0,0,0,0
$GC,2417,-0.87,-214.1,433.0,-14.0,348,2425,0.00,2.15,0.00,0.000,6,0.000,0.038,2571,1799,3950,0,0,0,0,0,0
$GC,2744,-0.89,-214.1,478.3,-14.2,379,2748,0.00,2.20,0.00,0.000,4,0.000,0.047,2570,395,3949,0,0,0,0,0,0
$GC,2787,-0.93,-214.1,485.1,-14.5,382,2795,0.00,2.15,0.00,0.000,6,0.000,0.038,2561,1803,3948,0,0,0,0,0,0
$GC,3113,-0.96,-214.1,531.0,-13.6,413,3117,0.00,2.15,0.00,0.000,4,0.000,0.052,2558,3206,3946,0,0,0,0,0,0
$GC,3154,-1.03,-214.1,536.1,-12.1,416,3159,0.15,2.08,0.00,0.000,6,0.076,0.035,2482,1803,3946,0,0,0,0,0,0
$GC,3481,-0.95,-214.1,596.7,-18.5,446,3486,0.17,2.17,0.00,0.000,4,0.170,0.048,2530,401,3944,0,0,0,0,0,0
$GC,3559,-0.95,-214.1,609.3,-13.9,449,3565,0.00,2.10,0.00,0.000,6,0.000,0.040,2521,1806,3943,0,0,0,0,0,0
$GC,3876,-0.95,-214.1,654.7,-14.4,465,3880,0.00,2.15,0.00,0.000,4,0.000,0.048,2522,399,3941,0,0,0,0,0,0
$GC,3909,-0.93,-214.1,660.1,-14.7,466,3916,0.00,2.12,0.00,0.000,6,0.000,0.042,2520,1807,3940,0,0,0,0,0,0
$GC,4225,-0.93,-214.1,706.6,-14.8,482,4229,0.00,2.17,0.00,0.000,4,0.000,0.058,2511,3213,3938,0,0,0,0,0,0
$GC,4270,-0.94,-214.1,713.2,-14.6,484,4274,0.00,2.10,0.00,0.000,6,0.000,0.037,2510,1796,3937,0,0,0,0,0,0
$GC,4594,-0.92,-214.1,763.4,-15.6,500,4599,0.12,2.17,0.00,0.000,4,0.172,0.050,2543,392,3934,0,0,0,0,0,0
$GC,4659,-0.97,-214.1,772.6,-13.7,503,4663,0.00,2.15,0.00,0.000,6,0.000,0.041,2536,1810,3933,0,0,0,0,0,0
$GC,4988,-0.99,-214.1,817.7,-13.3,519,4992,0.00,2.15,0.00,0.000,4,0.000,0.055,2528,3201,3930,0,0,0,0,0,0
$GC,5034,-1.04,-214.1,823.8,-11.9,521,5037,0.00,2.10,0.00,0.000,6,0.000,0.037,2528,1791,3930,0,0,0,0,0,0
$GC,5355,-1.04,-214.1,866.8,-13.7,537,5359,0.00,2.15,0.00,0.000,4,0.000,0.052,2528,402,3927,0,0,0,0,0,0
$GC,5423,-1.06,-214.1,876.4,-13.5,540,5427,0.00,2.12,0.00,0.000,6,0.000,0.043,2519,1801,3926,0,0,0,0,0,0
$GC,5746,-1.06,-214.1,922.5,-14.2,556,5750,0.00,2.20,0.00,0.000,4,0.000,0.057,2511,3213,3924,0,0,0,0,0,0
$GC,5774,-1.06,-214.1,926.9,-13.8,557,5777,0.00,2.10,0.00,0.000,6,0.000,0.037,2510,1801,3924,0,0,0,0,0,0
$GC,6097,-1.06,-214.1,974.1,-14.7,573,6101,0.00,2.20,0.00,0.000,4,0.000,0.053,2511,392,3920,0,0,0,0,0,0
$GC,6168,-1.06,-214.1,985.3,-14.7,576,6172,0.00,2.15,0.00,0.000,6,0.000,0.044,2501,1808,3920,0,0,0,0,0,0
$STATE,6282,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6282,begin apogee
$GC,6288,-0.23,0.0,1002.5,15.1,582,6478,0.80,0.00,184.00,1.431,6,0.135,0.000,2755,1749,3072,0,0,0,0,0,0
$STATE,6478,end apogee,CONTROL_FINISHED_OK
$STATE,6479,begin climb
$GC,6481,1.16,214.1,1011.8,0.0,591,6695,1.30,2.47,200.02,1.375,4,0.047,0.055,3236,356,2198,0,0,0,0,0,0
$GC,6711,0.81,214.1,969.2,32.7,601,6719,0.50,2.33,0.00,0.000,6,0.200,0.043,3107,1753,2196,0,0,0,0,0,0
$GC,7029,0.61,214.1,894.0,23.5,617,7034,0.25,2.17,0.00,0.000,4,0.183,0.051,3022,3161,2191,0,0,0,0,0,0
$GC,7062,0.50,214.1,886.9,17.7,618,7069,0.00,2.15,0.00,0.000,6,0.000,0.039,3031,1747,2189,0,0,0,0,0,0
$GC,7380,0.41,214.1,836.6,16.1,634,7384,0.20,2.17,0.00,0.000,4,0.175,0.050,2987,346,2188,0,0,0,0,0,0
$GC,7407,0.37,214.1,832.1,14.1,635,7411,0.00,2.15,0.00,0.000,6,0.000,0.040,2987,1761,2188,0,0,0,0,0,0
$GC,7723,0.47,297.0,796.6,10.3,650,7807,0.00,2.33,73.82,1.294,4,0.000,0.053,2988,3162,1861,0,0,0,0,0,0
$GC,7849,0.62,388.6,783.3,9.9,655,7946,0.12,2.20,85.07,1.255,6,0.083,0.040,3056,1750,1487,0,0,0,0,0,0
$GC,8250,0.56,388.6,711.6,19.0,675,8252,0.12,0.00,0.00,0.000,6,0.181,0.000,3024,1750,1481,0,0,0,0,0,0
$GC,8559,0.56,388.6,661.2,16.3,690,8560,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,1750,1479,0,0,0,0,0,0
$GC,8870,0.56,388.6,611.1,16.1,705,8871,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,1750,1476,0,0,0,0,0,0
$GC,9184,0.56,388.6,560.6,16.1,731,9188,0.00,2.17,0.00,0.000,4,0.000,0.050,3013,3172,1476,0,0,0,0,0,0
$GC,9215,0.59,388.6,556.2,16.4,733,9219,0.00,2.17,0.00,0.000,6,0.000,0.041,3023,1741,1475,0,0,0,0,0,0
$GC,9540,0.59,388.6,508.1,15.1,763,9544,0.00,2.15,0.00,0.000,4,0.000,0.051,3034,346,1475,0,0,0,0,0,0
$GC,9573,0.59,388.6,502.6,16.5,765,9580,0.00,2.15,0.00,0.000,6,0.000,0.037,3034,1761,1474,0,0,0,0,0,0
$GC,9899,0.59,388.6,450.5,16.3,796,9903,0.00,2.12,0.00,0.000,4,0.000,0.051,3034,3165,1474,0,0,0,0,0,0
$GC,9971,0.63,388.6,439.5,14.4,802,9975,0.00,2.15,0.00,0.000,6,0.000,0.041,3044,1745,1473,0,0,0,0,0,0
$GC,10297,0.63,388.6,390.8,15.2,832,10301,0.00,2.12,0.00,0.000,4,0.000,0.050,3054,347,1473,0,0,0,0,0,0
$GC,10351,0.63,388.6,382.0,15.7,836,10359,0.00,2.15,0.00,0.000,6,0.000,0.036,3054,1750,1472,0,0,0,0,0,0
$GC,10678,0.63,388.6,328.8,16.0,867,10682,0.00,2.12,0.00,0.000,4,0.000,0.048,3052,3165,1472,0,0,0,0,0,0
$GC,10717,0.63,388.6,322.2,15.9,870,10721,0.00,2.15,0.00,0.000,6,0.000,0.039,3058,1739,1472,0,0,0,0,0,0
$GC,11046,0.63,388.6,267.9,16.4,917,11053,0.00,2.15,0.00,0.000,4,0.000,0.048,3066,337,1472,0,0,0,0,0,0
$GC,11097,0.63,388.6,259.0,16.8,926,11105,0.00,2.17,0.00,0.000,6,0.000,0.035,3066,1758,1472,0,0,0,0,0,0
$GC,11434,0.61,388.6,204.9,16.5,987,11441,0.00,2.10,0.00,0.000,4,0.000,0.047,3059,3163,1472,0,0,0,0,0,0
$GC,11487,0.61,388.6,195.5,16.3,996,11495,0.00,2.15,0.00,0.000,6,0.000,0.037,3062,1747,1472,0,0,0,0,0,0
$GC,11820,0.61,388.6,140.7,16.2,1057,11828,0.00,2.15,0.00,0.000,4,0.000,0.047,3071,353,1472,0,0,0,0,0,0
$GC,11842,0.61,388.6,136.8,15.9,1060,11851,0.10,2.12,0.00,0.000,6,0.129,0.033,3037,1760,1472,0,0,0,0,0,0
$GC,12174,0.87,531.2,101.2,7.7,1121,12304,0.22,2.17,119.15,0.733,4,0.058,0.043,3146,3156,905,0,0,0,0,0,0
$GC,12319,0.82,531.2,75.4,21.1,1140,12327,0.15,2.20,0.00,0.000,6,0.140,0.034,3106,1747,904,0,0,0,0,0,0
$GC,12648,1.00,601.3,39.5,10.8,1201,12716,0.15,2.22,58.65,0.664,4,0.072,0.045,3200,351,618,0,0,0,0,0,0
$GC,12774,0.95,601.3,12.1,23.1,1220,12782,0.15,2.15,0.00,0.000,6,0.135,0.032,3151,1748,616,0,0,0,0,0,0
$STATE,12820,end climb,SURFACE_DEPTH_REACHED
$STATE,12820,begin surface coast
$FINISH,0.7,1.021513
$STATE,12837,end surface coast,CONTROL_FINISHED_OK
$STATE,12837,begin surface
$SM_CCo,12916,0.00,0.000,0,0,613,603.19
$SM_GC,1.53,7.70,0.00,0.00,0.029,0.000,0.000,141,1828,613,-8.35,0.79,603.19
$IRIDIUM_FIX,2319.18,12634.81,211010,080856
$TT8_MAMPS,0.026215
$HUMID,42.12
$INTERNAL_PRESSURE,8.68656
$TCM_TEMP,24.70
$XPDR_PINGS,96
$24V_AH,22.4,61.606
$10V_AH,10.2,40.855
$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,22.175,121.175,720.725,0.000,0.000,30.524,37.459,190.648,24.000,0.000,14.072,3013.646,6145.738,723.850,3053.972,401.972,0.000,1970.111,0.000,2791.550,0.000,0.845,0.000
$DEVICE_MAMPS,224.910,146.115,1430.550,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,837.824,1066.223,1443.211,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333828
$DATA_FILE_SIZE,73456,1231
$CAP_FILE_SIZE,150376,0
$CFSIZE,260165632,160231424
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.122, 30.6,1
$GPS,211010,152706,2326.685,12634.488,38,1.5,38,-3.4