version: 66.08
glider: 166
mission: 3
dive: 361
start: 10 22 110 14 45 15
data:
$ID,166
$MISSION,3
$DIVE,361
$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,-22009.676
$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,38
$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
$GPS1,221010,143036,2318.767,12634.341,38,1.3,43,-3.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-65.6
$GPS2,221010,144452,2318.817,12634.365,11,99.0,30,-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,200.2,35635,-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,13,begin dive
$GC,15,-1.16,-214.1,0.0,0.0,0,128,0.00,0.00,-110.28,0.000,2,0.000,0.000,135,1764,3380,0,0,0,0,0,0
$GC,131,-1.16,-214.1,6.5,-13.4,15,156,9.00,2.15,-10.05,0.000,4,0.222,0.055,2458,393,3947,0,0,0,0,0,0
$GC,335,-0.95,-214.1,97.0,-33.4,51,343,0.25,2.15,0.00,0.000,6,0.166,0.039,2526,1797,3950,0,0,0,0,0,0
$GC,660,-0.83,-214.1,181.4,-22.6,112,671,0.15,2.20,0.00,0.000,4,0.181,0.047,2571,399,3953,0,0,0,0,0,0
$GC,750,-0.80,-214.1,198.9,-18.8,127,756,0.00,2.12,0.00,0.000,6,0.000,0.039,2562,1809,3953,0,0,0,0,0,0
$GC,1079,-0.76,-214.1,258.1,-17.1,188,1087,0.12,0.00,0.00,0.000,6,0.179,0.000,2594,1810,3953,0,0,0,0,0,0
$GC,1418,-0.78,-214.1,303.4,-13.5,248,1422,0.00,2.15,0.00,0.000,4,0.000,0.047,2593,401,3953,0,0,0,0,0,0
$GC,1462,-0.83,-214.1,308.7,-12.1,251,1466,0.00,2.10,0.00,0.000,6,0.000,0.038,2588,1808,3952,0,0,0,0,0,0
$GC,1794,-0.86,-214.1,352.8,-13.3,282,1795,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1808,3950,0,0,0,0,0,0
$GC,2115,-0.90,-214.1,394.1,-13.2,312,2119,0.10,2.12,0.00,0.000,4,0.108,0.052,2533,3200,3949,0,0,0,0,0,0
$GC,2189,-0.91,-214.1,404.5,-13.6,318,2193,0.00,2.08,0.00,0.000,6,0.000,0.037,2533,1801,3948,0,0,0,0,0,0
$GC,2515,-0.88,-214.1,457.3,-16.2,348,2519,0.00,2.15,0.00,0.000,4,0.000,0.048,2532,399,3946,0,0,0,0,0,0
$GC,2558,-0.87,-214.1,464.5,-16.2,351,2565,0.00,2.12,0.00,0.000,6,0.000,0.040,2533,1803,3946,0,0,0,0,0,0
$GC,2884,-0.84,-214.1,517.8,-17.2,382,2888,0.12,2.17,0.00,0.000,4,0.177,0.048,2566,395,3944,0,0,0,0,0,0
$GC,2938,-0.87,-214.1,525.6,-13.2,386,2942,0.00,2.12,0.00,0.000,6,0.000,0.038,2559,1806,3943,0,0,0,0,0,0
$GC,3265,-0.90,-214.1,568.8,-12.9,416,3266,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,1806,3941,0,0,0,0,0,0
$GC,3583,-0.92,-214.1,608.3,-12.0,443,3587,0.00,2.15,0.00,0.000,4,0.000,0.055,2559,3202,3938,0,0,0,0,0,0
$GC,3616,-0.98,-214.1,612.5,-11.0,444,3620,0.10,2.12,0.00,0.000,6,0.101,0.037,2504,1797,3938,0,0,0,0,0,0
$GC,3934,-0.93,-214.1,661.4,-15.6,459,3938,0.12,2.17,0.00,0.000,4,0.177,0.051,2540,399,3934,0,0,0,0,0,0
$GC,4005,-0.96,-214.1,671.8,-12.6,462,4009,0.00,2.12,0.00,0.000,6,0.000,0.041,2534,1797,3934,0,0,0,0,0,0
$GC,4327,-0.96,-214.1,716.9,-15.0,478,4328,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,1797,3931,0,0,0,0,0,0
$GC,4638,-0.96,-214.1,763.5,-14.7,493,4642,0.00,2.20,0.00,0.000,4,0.000,0.057,2527,3214,3928,0,0,0,0,0,0
$GC,4671,-0.98,-214.1,768.5,-13.9,494,4678,0.00,2.12,0.00,0.000,6,0.000,0.038,2527,1794,3927,0,0,0,0,0,0
$GC,4989,-0.98,-214.1,812.8,-13.7,510,4993,0.00,2.15,0.00,0.000,4,0.000,0.060,2526,402,3924,0,0,0,0,0,0
$GC,5062,-0.98,-214.1,823.1,-13.6,513,5066,0.00,2.15,0.00,0.000,6,0.000,0.044,2517,1807,3924,0,0,0,0,0,0
$GC,5383,-0.98,-214.1,867.6,-14.1,529,5387,0.00,2.20,0.00,0.000,4,0.000,0.053,2517,391,3921,0,0,0,0,0,0
$GC,5422,-0.98,-214.1,873.3,-14.9,530,5429,0.00,2.17,0.00,0.000,6,0.000,0.044,2508,1806,3921,0,0,0,0,0,0
$GC,5739,-0.96,-214.1,920.5,-15.7,546,5740,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,1806,3917,0,0,0,0,0,0
$GC,6050,-0.95,-214.1,968.5,-15.3,561,6051,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,1806,3915,0,0,0,0,0,0
$STATE,6252,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6252,begin apogee
$GC,6259,-0.23,0.0,1000.3,15.4,571,6450,0.77,0.00,183.32,1.430,6,0.132,0.000,2758,1754,3072,0,0,0,0,0,0
$STATE,6451,end apogee,CONTROL_FINISHED_OK
$STATE,6451,begin climb
$GC,6455,1.16,214.1,1011.7,0.0,580,6668,1.27,2.47,200.62,1.367,4,0.046,0.055,3234,345,2199,0,0,0,0,0,0
$GC,6724,0.80,214.1,958.6,33.8,592,6729,0.50,2.28,0.00,0.000,6,0.204,0.045,3101,1745,2195,0,0,0,0,0,0
$GC,7040,0.60,214.1,885.2,22.5,607,7045,0.25,2.17,0.00,0.000,4,0.184,0.053,3015,3159,2191,0,0,0,0,0,0
$GC,7114,0.52,214.1,872.2,15.8,610,7118,0.00,2.15,0.00,0.000,6,0.000,0.039,3024,1747,2189,0,0,0,0,0,0
$GC,7430,0.43,214.1,823.5,15.2,625,7435,0.15,2.17,0.00,0.000,4,0.181,0.054,2995,346,2188,0,0,0,0,0,0
$GC,7475,0.43,235.8,817.5,12.9,627,7500,0.00,2.15,19.83,1.245,6,0.000,0.041,2991,1758,2110,0,0,0,0,0,0
$GC,7826,0.43,260.0,774.5,12.8,644,7856,0.00,2.28,23.05,1.245,4,0.000,0.053,2991,3166,2011,0,0,0,0,0,0
$GC,7920,0.46,279.6,761.8,13.0,648,7945,0.00,2.17,19.15,1.206,6,0.000,0.040,3000,1752,1931,0,0,0,0,0,0
$GC,8270,0.46,279.6,711.2,14.9,665,8274,0.00,2.17,0.00,0.000,4,0.000,0.054,3012,340,1929,0,0,0,0,0,0
$GC,8299,0.44,279.6,706.1,16.9,666,8303,0.00,2.17,0.00,0.000,6,0.000,0.039,3012,1758,1926,0,0,0,0,0,0
$GC,8622,0.41,279.6,655.9,15.5,682,8626,0.12,2.15,0.00,0.000,4,0.174,0.052,2974,3162,1925,0,0,0,0,0,0
$GC,8650,0.45,292.3,651.8,13.3,683,8667,0.00,2.15,11.70,1.107,6,0.000,0.040,2982,1743,1880,0,0,0,0,0,0
$GC,8994,0.53,332.0,611.3,12.2,700,9038,0.00,2.30,37.03,1.167,4,0.000,0.053,2996,343,1717,0,0,0,0,0,0
$GC,9065,0.61,358.9,602.4,12.7,703,9098,0.12,2.17,25.62,1.121,6,0.085,0.038,3058,1750,1608,0,0,0,0,0,0
$GC,9416,0.54,358.9,534.3,19.1,735,9421,0.15,2.17,0.00,0.000,4,0.170,0.051,3009,3165,1604,0,0,0,0,0,0
$GC,9491,0.67,416.9,523.7,11.4,741,9550,0.10,2.15,51.92,1.094,6,0.096,0.041,3073,1753,1372,0,0,0,0,0,0
$GC,9867,0.61,416.9,448.2,20.6,776,9871,0.15,2.20,0.00,0.000,4,0.175,0.052,3046,347,1367,0,0,0,0,0,0
$GC,9887,0.56,416.9,443.3,20.6,777,9895,0.00,2.12,0.00,0.000,6,0.000,0.037,3039,1750,1366,0,0,0,0,0,0
$GC,10213,0.56,416.9,388.7,16.3,808,10217,0.00,2.12,0.00,0.000,4,0.000,0.048,3039,3164,1365,0,0,0,0,0,0
$GC,10233,0.57,416.9,385.8,16.8,809,10237,0.00,2.15,0.00,0.000,6,0.000,0.038,3047,1738,1365,0,0,0,0,0,0
$GC,10560,0.57,416.9,328.2,17.8,839,10561,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,1738,1365,0,0,0,0,0,0
$GC,10879,0.57,416.9,275.5,15.7,883,10886,0.00,2.17,0.00,0.000,4,0.000,0.046,3046,3174,1365,0,0,0,0,0,0
$GC,10907,0.57,416.9,271.6,15.8,887,10913,0.00,2.15,0.00,0.000,6,0.000,0.038,3051,1748,1365,0,0,0,0,0,0
$GC,11238,0.59,427.0,223.5,13.5,948,11253,0.00,2.22,9.30,0.754,4,0.000,0.049,3060,341,1330,0,0,0,0,0,0
$GC,11320,0.67,457.6,212.0,12.6,962,11356,0.00,2.15,27.80,0.824,6,0.000,0.033,3060,1756,1206,0,0,0,0,0,0
$GC,11681,0.70,457.6,157.1,14.7,1027,11688,0.00,2.12,0.00,0.000,4,0.000,0.046,3060,3160,1205,0,0,0,0,0,0
$GC,11709,0.73,457.6,153.3,15.4,1031,11716,0.00,2.12,0.00,0.000,6,0.000,0.037,3066,1749,1205,0,0,0,0,0,0
$GC,12035,0.82,491.3,106.6,12.4,1092,12074,0.10,2.17,29.88,0.732,4,0.099,0.045,3144,343,1067,0,0,0,0,0,0
$GC,12148,0.79,491.3,84.5,21.2,1110,12157,0.12,2.15,0.00,0.000,6,0.130,0.034,3098,1746,1067,0,0,0,0,0,0
$GC,12479,1.06,633.2,47.0,7.7,1171,12605,0.22,0.00,117.93,0.672,6,0.057,0.000,3208,1749,488,0,0,0,0,0,0
$STATE,12665,end climb,SURFACE_DEPTH_REACHED
$STATE,12665,begin surface coast
$FINISH,1.1,1.021648
$STATE,12677,end surface coast,CONTROL_FINISHED_OK
$STATE,12677,begin surface
$SM_CCo,12755,0.00,0.000,0,0,482,635.33
$SM_GC,1.48,7.90,0.00,0.00,0.031,0.000,0.000,148,1841,482,-8.33,1.16,635.33
$IRIDIUM_FIX,2314.48,12630.12,221010,141422
$TT8_MAMPS,0.026215
$HUMID,42.20
$INTERNAL_PRESSURE,8.67679
$TCM_TEMP,24.60
$XPDR_PINGS,101
$24V_AH,22.4,63.400
$10V_AH,10.3,41.845
$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,21.925,108.550,757.150,0.000,0.000,81.910,96.610,323.265,25.250,0.000,33.571,2940.510,6250.577,736.682,3245.726,424.750,0.000,1950.319,0.000,2707.646,0.000,1.149,0.000
$DEVICE_MAMPS,221.850,116.280,1429.785,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,817.157,1034.689,1364.512,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,70201,1201
$CAP_FILE_SIZE,151220,0
$CFSIZE,260165632,159649792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.165, 38.8,1
$GPS,221010,181906,2317.696,12634.561,40,1.5,40,-3.4