version: 66.08
glider: 166
mission: 3
dive: 357
start: 10 21 110 23 21 42
data:
$ID,166
$MISSION,3
$DIVE,357
$N_DIVES,370
$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,-22004.645
$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,39
$R_STBD_OVSHOOT,61
$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
$GPS1,211010,231407,2323.894,12634.507,32,1.1,32,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-66.7
$GPS2,211010,232120,2324.024,12634.548,13,1.4,13,-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,201.9,45163,-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,-214.1,0.0,0.0,0,108,0.00,0.00,-88.55,0.000,2,0.000,0.000,148,1827,3184,0,0,0,0,0,0
$GC,111,-1.16,-214.1,5.0,-8.5,12,142,9.20,2.22,-14.52,0.000,4,0.228,0.053,2455,383,3947,0,0,0,0,0,0
$GC,182,-0.84,-214.1,38.0,-46.2,23,191,0.40,2.15,0.00,0.000,6,0.176,0.040,2558,1776,3949,0,0,0,0,0,0
$GC,509,-0.72,-214.1,135.1,-24.5,84,517,0.17,2.15,0.00,0.000,4,0.174,0.044,2614,401,3952,0,0,0,0,0,0
$GC,540,-0.67,-214.1,142.0,-22.3,88,548,0.00,2.12,0.00,0.000,6,0.000,0.038,2606,1794,3952,0,0,0,0,0,0
$GC,884,-0.67,-214.1,198.4,-16.2,149,891,0.00,2.12,0.00,0.000,4,0.000,0.046,2606,393,3954,0,0,0,0,0,0
$GC,914,-0.67,-214.1,203.5,-15.4,154,923,0.00,2.15,0.00,0.000,6,0.000,0.040,2603,1802,3954,0,0,0,0,0,0
$GC,1259,-0.69,-214.1,255.8,-15.3,215,1266,0.00,2.15,0.00,0.000,4,0.000,0.046,2603,386,3954,0,0,0,0,0,0
$GC,1309,-0.74,-214.1,262.7,-13.9,223,1316,0.00,2.12,0.00,0.000,6,0.000,0.038,2601,1802,3954,0,0,0,0,0,0
$GC,1655,-0.77,-214.1,308.5,-12.9,279,1661,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,1802,3954,0,0,0,0,0,0
$GC,1983,-0.82,-214.1,348.6,-12.3,310,1984,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,1802,3953,0,0,0,0,0,0
$GC,2302,-0.88,-214.1,387.2,-11.9,340,2307,0.12,2.22,0.00,0.000,4,0.092,0.049,2540,389,3951,0,0,0,0,0,0
$GC,2366,-0.85,-214.1,397.4,-16.9,345,2371,0.12,2.12,0.00,0.000,6,0.166,0.041,2566,1800,3951,0,0,0,0,0,0
$GC,2697,-0.87,-214.1,443.8,-13.6,376,2701,0.00,2.17,0.00,0.000,4,0.000,0.048,2566,397,3950,0,0,0,0,0,0
$GC,2741,-0.90,-214.1,450.1,-13.0,379,2747,0.00,2.15,0.00,0.000,6,0.000,0.039,2561,1813,3950,0,0,0,0,0,0
$GC,3067,-0.92,-214.1,494.1,-13.4,410,3071,0.00,2.15,0.00,0.000,4,0.000,0.053,2558,3215,3948,0,0,0,0,0,0
$GC,3109,-0.98,-214.1,499.4,-12.0,413,3114,0.10,2.12,0.00,0.000,6,0.100,0.036,2499,1786,3947,0,0,0,0,0,0
$GC,3440,-0.92,-214.1,557.6,-17.3,444,3444,0.15,2.12,0.00,0.000,4,0.168,0.049,2540,401,3945,0,0,0,0,0,0
$GC,3530,-0.92,-214.1,571.1,-13.8,451,3536,0.00,2.12,0.00,0.000,6,0.000,0.040,2534,1800,3944,0,0,0,0,0,0
$GC,3864,-0.92,-214.1,617.5,-13.9,477,3868,0.00,2.20,0.00,0.000,4,0.000,0.055,2538,3206,3942,0,0,0,0,0,0
$GC,3905,-0.96,-214.1,623.0,-12.3,479,3909,0.00,2.10,0.00,0.000,6,0.000,0.037,2536,1795,3942,0,0,0,0,0,0
$GC,4234,-0.96,-214.1,669.4,-14.4,495,4238,0.00,2.15,0.00,0.000,4,0.000,0.051,2537,398,3939,0,0,0,0,0,0
$GC,4328,-0.96,-214.1,683.9,-14.9,499,4332,0.00,2.15,0.00,0.000,6,0.000,0.043,2539,1806,3938,0,0,0,0,0,0
$GC,4652,-0.96,-214.1,730.4,-14.6,515,4656,0.00,2.17,0.00,0.000,4,0.000,0.050,2539,390,3935,0,0,0,0,0,0
$GC,4670,-0.96,-214.1,733.4,-14.7,516,4674,0.00,2.17,0.00,0.000,6,0.000,0.044,2533,1804,3934,0,0,0,0,0,0
$GC,4996,-0.96,-214.1,780.9,-14.2,532,5000,0.00,2.15,0.00,0.000,4,0.000,0.051,2533,401,3932,0,0,0,0,0,0
$GC,5025,-0.96,-214.1,785.1,-15.3,533,5029,0.00,2.15,0.00,0.000,6,0.000,0.044,2529,1803,3931,0,0,0,0,0,0
$GC,5341,-0.96,-214.1,826.8,-12.6,548,5345,0.00,2.17,0.00,0.000,4,0.000,0.052,2530,401,3929,0,0,0,0,0,0
$GC,5404,-0.96,-214.1,835.0,-12.8,551,5408,0.00,2.15,0.00,0.000,6,0.000,0.043,2521,1805,3928,0,0,0,0,0,0
$GC,5733,-0.96,-214.1,878.8,-13.5,567,5737,0.00,2.17,0.00,0.000,4,0.000,0.052,2521,396,3925,0,0,0,0,0,0
$GC,5773,-0.96,-214.1,885.1,-14.5,569,5777,0.00,2.17,0.00,0.000,6,0.000,0.044,2513,1810,3925,0,0,0,0,0,0
$GC,6102,-0.94,-214.1,933.7,-15.0,585,6103,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,1810,3922,0,0,0,0,0,0
$GC,6409,-0.92,-214.1,980.7,-15.2,600,6414,0.12,2.22,0.00,0.000,4,0.178,0.054,2546,402,3920,0,0,0,0,0,0
$GC,6476,-0.96,-214.1,989.8,-12.7,603,6480,0.00,2.17,0.00,0.000,6,0.000,0.045,2541,1809,3919,0,0,0,0,0,0
$STATE,6568,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6568,begin apogee
$GC,6575,-0.23,0.0,1002.1,13.2,608,6769,0.68,0.00,184.23,1.430,6,0.123,0.000,2763,1747,3072,0,0,0,0,0,0
$STATE,6770,end apogee,CONTROL_FINISHED_OK
$STATE,6770,begin climb
$GC,6774,1.16,214.1,1011.4,0.0,617,6986,1.27,2.42,200.07,1.368,4,0.049,0.056,3227,359,2199,0,0,0,0,0,0
$GC,7000,0.83,214.1,973.7,28.9,627,7005,0.45,2.33,0.00,0.000,6,0.202,0.044,3111,1746,2197,0,0,0,0,0,0
$GC,7316,0.64,214.1,900.0,22.3,642,7321,0.22,2.20,0.00,0.000,4,0.185,0.053,3040,3168,2192,0,0,0,0,0,0
$GC,7373,0.54,214.1,889.4,17.1,644,7381,0.12,2.17,0.00,0.000,6,0.194,0.045,3018,1749,2190,0,0,0,0,0,0
$GC,7689,0.47,214.1,842.8,14.6,660,7693,0.00,2.17,0.00,0.000,4,0.000,0.055,3027,349,2189,0,0,0,0,0,0
$GC,7709,0.40,214.1,839.9,15.7,661,7714,0.20,2.17,0.00,0.000,6,0.168,0.044,2973,1757,2189,0,0,0,0,0,0
$GC,8041,0.48,280.2,801.9,11.0,677,8104,0.00,0.00,60.10,1.299,6,0.000,0.000,2973,1760,1929,0,0,0,0,0,0
$GC,8413,0.61,350.6,760.6,10.8,695,8485,0.17,2.35,63.95,1.265,4,0.074,0.055,3053,3169,1642,0,0,0,0,0,0
$GC,8503,0.54,350.6,744.3,19.8,699,8508,0.17,2.25,0.00,0.000,6,0.173,0.041,3018,1747,1641,0,0,0,0,0,0
$GC,8826,0.54,350.6,692.0,15.9,715,8830,0.00,2.17,0.00,0.000,4,0.000,0.054,3027,346,1636,0,0,0,0,0,0
$GC,8843,0.54,350.6,688.8,16.4,716,8847,0.00,2.15,0.00,0.000,6,0.000,0.039,3027,1760,1635,0,0,0,0,0,0
$GC,9170,0.51,350.6,635.4,16.5,732,9174,0.00,2.17,0.00,0.000,4,0.000,0.054,3027,3159,1634,0,0,0,0,0,0
$GC,9215,0.51,350.6,628.4,15.8,734,9219,0.00,2.15,0.00,0.000,6,0.000,0.041,3035,1742,1634,0,0,0,0,0,0
$GC,9541,0.48,350.6,577.0,16.3,756,9543,0.15,0.00,0.00,0.000,6,0.172,0.000,2995,1741,1634,0,0,0,0,0,0
$GC,9859,0.60,401.5,539.1,11.7,786,9915,0.12,2.30,44.85,1.121,4,0.094,0.052,3076,340,1435,0,0,0,0,0,0
$GC,9952,0.54,401.5,521.0,23.0,794,9957,0.20,2.20,0.00,0.000,6,0.156,0.039,3020,1766,1433,0,0,0,0,0,0
$GC,10278,0.57,401.5,469.2,15.4,824,10282,0.00,2.12,0.00,0.000,4,0.000,0.052,3020,3162,1431,0,0,0,0,0,0
$GC,10327,0.62,401.5,461.7,15.3,828,10335,0.00,2.17,0.00,0.000,6,0.000,0.040,3028,1747,1430,0,0,0,0,0,0
$GC,10654,0.65,406.1,414.1,13.7,859,10667,0.00,2.15,4.80,0.722,4,0.000,0.052,3039,350,1416,0,0,0,0,0,0
$GC,10727,0.71,410.6,404.1,13.7,865,10740,0.00,2.12,5.78,0.780,6,0.000,0.037,3039,1746,1398,0,0,0,0,0,0
$GC,11057,0.71,410.6,354.6,15.1,896,11061,0.00,2.15,0.00,0.000,4,0.000,0.056,3039,3162,1397,0,0,0,0,0,0
$GC,11086,0.73,410.6,350.2,15.3,898,11095,0.00,2.15,0.00,0.000,6,0.000,0.039,3046,1754,1397,0,0,0,0,0,0
$GC,11411,0.73,410.6,297.4,15.3,930,11420,0.00,2.17,0.00,0.000,4,0.000,0.050,3056,352,1397,0,0,0,0,0,0
$GC,11456,0.73,410.6,290.2,17.1,937,11463,0.00,2.12,0.00,0.000,6,0.000,0.035,3056,1754,1397,0,0,0,0,0,0
$GC,11794,0.75,428.6,234.6,13.1,998,11817,0.00,2.22,17.90,0.834,4,0.000,0.048,3056,3165,1324,0,0,0,0,0,0
$GC,11832,0.75,428.6,229.5,14.8,1003,11839,0.00,2.17,0.00,0.000,6,0.000,0.037,3061,1739,1324,0,0,0,0,0,0
$GC,12170,0.75,428.6,179.2,15.4,1064,12178,0.00,2.15,0.00,0.000,4,0.000,0.048,3069,355,1324,0,0,0,0,0,0
$GC,12241,0.80,428.6,168.3,14.6,1076,12249,0.00,2.12,0.00,0.000,6,0.000,0.034,3069,1754,1323,0,0,0,0,0,0
$GC,12574,0.82,428.6,115.8,15.0,1137,12582,0.10,2.15,0.00,0.000,4,0.098,0.046,3129,3152,1323,0,0,0,0,0,0
$GC,12598,0.82,428.6,112.1,14.4,1140,12607,0.08,2.12,0.00,0.000,6,0.148,0.037,3109,1759,1323,0,0,0,0,0,0
$GC,12930,0.92,489.7,64.0,11.2,1201,12990,0.00,2.22,52.28,0.702,4,0.000,0.047,3118,336,1074,0,0,0,0,0,0
$GC,13021,1.06,546.5,52.9,11.4,1214,13076,0.12,2.17,48.08,0.677,6,0.044,0.031,3198,1756,844,0,0,0,0,0,0
$STATE,13252,end climb,SURFACE_DEPTH_REACHED
$STATE,13252,begin surface coast
$FINISH,0.9,1.021574
$STATE,13265,end surface coast,CONTROL_FINISHED_OK
$STATE,13265,begin surface
$SM_CCo,13342,0.00,0.000,0,0,838,548.00
$SM_GC,1.55,7.90,0.00,0.00,0.036,0.000,0.000,147,1761,838,-8.34,-1.10,548.00
$IRIDIUM_FIX,2316.83,12633.41,211010,191913
$TT8_MAMPS,0.026215
$HUMID,43.42
$INTERNAL_PRESSURE,8.70609
$TCM_TEMP,24.40
$XPDR_PINGS,86
$24V_AH,22.4,62.366
$10V_AH,10.2,41.285
$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,22.375,130.550,682.025,0.000,0.000,31.622,36.660,186.029,21.500,0.000,14.612,3098.613,6462.822,724.398,3052.271,419.069,0.000,1955.214,0.000,2802.587,0.000,0.847,0.000
$DEVICE_MAMPS,227.970,113.220,1429.785,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,855.934,1083.664,1422.963,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333804
$DATA_FILE_SIZE,73529,1256
$CAP_FILE_SIZE,155032,0
$CFSIZE,260165632,159977472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.139, 38.9,1
$GPS,221010,030521,2322.691,12634.595,26,2.0,40,-3.4