version: 66.08
glider: 166
mission: 3
dive: 368
start: 10 23 110 17 17 56
data:
$ID,166
$MISSION,3
$DIVE,368
$N_DIVES,379
$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,-22018.49
$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,52
$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
$GPS1,231010,171006,2310.450,12633.632,39,1.1,39,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-70.3
$GPS2,231010,171734,2310.470,12633.650,12,99.0,31,-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,207.0,20365,-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,-214.1,0.0,0.0,0,120,0.00,0.00,-100.60,0.000,2,0.000,0.000,142,1743,3305,0,0,0,0,0,0
$GC,123,-1.16,-214.1,6.3,-13.3,14,155,9.07,2.10,-11.60,0.000,4,0.225,0.056,2458,398,3949,0,0,0,0,0,0
$GC,195,-0.87,-214.1,41.7,-47.0,25,203,0.35,2.12,0.00,0.000,6,0.171,0.038,2553,1786,3951,0,0,0,0,0,0
$GC,521,-0.77,-214.1,136.7,-22.0,86,528,0.15,0.00,0.00,0.000,6,0.176,0.000,2594,1787,3953,0,0,0,0,0,0
$GC,861,-0.77,-214.1,195.1,-16.4,147,868,0.00,2.15,0.00,0.000,4,0.000,0.047,2599,400,3955,0,0,0,0,0,0
$GC,910,-0.79,-214.1,202.5,-14.1,155,916,0.00,2.12,0.00,0.000,6,0.000,0.038,2592,1811,3955,0,0,0,0,0,0
$GC,1252,-0.79,-214.1,255.7,-15.4,216,1261,0.00,2.15,0.00,0.000,4,0.000,0.049,2579,3209,3955,0,0,0,0,0,0
$GC,1276,-0.79,-214.1,258.8,-14.8,219,1283,0.00,2.10,0.00,0.000,6,0.000,0.035,2580,1793,3955,0,0,0,0,0,0
$GC,1613,-0.79,-214.1,309.3,-14.3,274,1617,0.00,2.12,0.00,0.000,4,0.000,0.049,2579,392,3955,0,0,0,0,0,0
$GC,1712,-0.81,-214.1,322.4,-13.3,282,1716,0.00,2.12,0.00,0.000,6,0.000,0.039,2572,1800,3955,0,0,0,0,0,0
$GC,2037,-0.81,-214.1,367.2,-13.9,312,2038,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,1800,3953,0,0,0,0,0,0
$GC,2360,-0.83,-214.1,411.5,-13.8,342,2364,0.00,2.17,0.00,0.000,4,0.000,0.048,2572,401,3952,0,0,0,0,0,0
$GC,2392,-0.85,-214.1,416.9,-15.2,344,2401,0.00,2.12,0.00,0.000,6,0.000,0.038,2562,1793,3952,0,0,0,0,0,0
$GC,2719,-0.87,-214.1,463.8,-14.2,375,2723,0.00,2.15,0.00,0.000,4,0.000,0.053,2559,3200,3950,0,0,0,0,0,0
$GC,2757,-0.92,-214.1,469.1,-12.2,378,2765,0.00,2.12,0.00,0.000,6,0.000,0.036,2560,1802,3950,0,0,0,0,0,0
$GC,3084,-0.94,-214.1,509.6,-12.4,409,3088,0.00,2.15,0.00,0.000,4,0.000,0.050,2559,401,3947,0,0,0,0,0,0
$GC,3186,-0.97,-214.1,523.5,-13.5,417,3193,0.00,2.12,0.00,0.000,6,0.000,0.041,2558,1805,3946,0,0,0,0,0,0
$GC,3513,-0.99,-214.1,569.1,-14.3,448,3518,0.10,2.15,0.00,0.000,4,0.106,0.052,2498,3200,3944,0,0,0,0,0,0
$GC,3546,-0.97,-214.1,575.3,-17.7,450,3553,0.12,2.08,0.00,0.000,6,0.169,0.036,2530,1796,3944,0,0,0,0,0,0
$GC,3869,-0.97,-214.1,628.9,-16.2,473,3873,0.00,2.15,0.00,0.000,4,0.000,0.051,2531,395,3941,0,0,0,0,0,0
$GC,3941,-0.97,-214.1,641.4,-16.1,476,3946,0.00,2.12,0.00,0.000,6,0.000,0.041,2523,1797,3940,0,0,0,0,0,0
$GC,4265,-0.95,-214.1,691.8,-15.7,492,4267,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,1799,3938,0,0,0,0,0,0
$GC,4573,-0.95,-214.1,739.6,-15.5,507,4577,0.00,2.15,0.00,0.000,4,0.000,0.051,2522,402,3934,0,0,0,0,0,0
$GC,4600,-0.93,-214.1,744.4,-17.1,508,4604,0.00,2.12,0.00,0.000,6,0.000,0.042,2513,1802,3934,0,0,0,0,0,0
$GC,4918,-0.91,-214.1,794.9,-16.0,523,4923,0.12,2.17,0.00,0.000,4,0.174,0.052,2546,402,3932,0,0,0,0,0,0
$GC,4945,-0.91,-214.1,799.5,-14.9,524,4949,0.00,2.15,0.00,0.000,6,0.000,0.045,2546,1805,3931,0,0,0,0,0,0
$GC,5269,-0.94,-214.1,838.8,-12.0,540,5273,0.00,2.15,0.00,0.000,4,0.000,0.055,2540,3203,3929,0,0,0,0,0,0
$GC,5319,-1.00,-214.1,845.2,-11.5,542,5323,0.00,2.12,0.00,0.000,6,0.000,0.044,2539,1794,3928,0,0,0,0,0,0
$GC,5641,-1.02,-214.1,884.2,-12.1,558,5645,0.00,2.12,0.00,0.000,4,0.000,0.054,2539,399,3925,0,0,0,0,0,0
$GC,5687,-1.06,-214.1,890.1,-12.5,560,5691,0.12,2.17,0.00,0.000,6,0.095,0.046,2482,1809,3925,0,0,0,0,0,0
$GC,6008,-1.01,-214.1,943.7,-17.2,576,6010,0.12,0.00,0.00,0.000,6,0.184,0.000,2514,1809,3922,0,0,0,0,0,0
$GC,6318,-1.01,-214.1,988.8,-14.5,591,6320,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,1809,3920,0,0,0,0,0,0
$STATE,6397,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6397,begin apogee
$GC,6403,-0.23,0.0,1000.9,14.7,595,6593,0.75,0.00,184.65,1.428,6,0.131,0.000,2759,1737,3072,0,0,0,0,0,0
$STATE,6594,end apogee,CONTROL_FINISHED_OK
$STATE,6594,begin climb
$GC,6597,1.16,214.1,1010.3,0.0,604,6806,1.27,0.00,201.35,1.366,6,0.046,0.000,3224,1737,2199,0,0,0,0,0,0
$GC,7118,0.83,214.1,878.4,31.0,629,7123,0.40,2.22,0.00,0.000,4,0.203,0.054,3105,3154,2191,0,0,0,0,0,0
$GC,7174,0.65,214.1,862.5,22.9,631,7181,0.22,2.15,0.00,0.000,6,0.181,0.044,3054,1753,2190,0,0,0,0,0,0
$GC,7492,0.54,214.1,805.9,18.0,647,7496,0.12,2.17,0.00,0.000,4,0.181,0.054,3010,3161,2189,0,0,0,0,0,0
$GC,7524,0.48,214.1,799.7,16.4,648,7532,0.00,2.15,0.00,0.000,6,0.000,0.040,3019,1741,2188,0,0,0,0,0,0
$GC,7842,0.43,214.1,753.6,14.3,664,7844,0.15,0.00,0.00,0.000,6,0.172,0.000,2979,1741,2188,0,0,0,0,0,0
$GC,8150,0.50,276.1,719.1,11.2,679,8215,0.00,2.28,55.28,1.245,4,0.000,0.054,2988,358,1946,0,0,0,0,0,0
$GC,8234,0.62,342.8,709.4,11.0,682,8306,0.15,2.17,61.88,1.205,6,0.079,0.038,3057,1760,1673,0,0,0,0,0,0
$GC,8615,0.56,342.8,636.8,19.6,701,8619,0.12,2.17,0.00,0.000,4,0.178,0.052,3023,3161,1668,0,0,0,0,0,0
$GC,8663,0.56,342.8,628.5,16.3,703,8667,0.00,2.15,0.00,0.000,6,0.000,0.041,3032,1752,1665,0,0,0,0,0,0
$GC,8987,0.56,342.8,576.2,16.1,725,8991,0.00,2.15,0.00,0.000,4,0.000,0.054,3043,349,1664,0,0,0,0,0,0
$GC,9040,0.56,342.8,566.8,17.1,729,9044,0.00,2.12,0.00,0.000,6,0.000,0.038,3043,1750,1663,0,0,0,0,0,0
$GC,9371,0.53,342.8,511.8,16.4,760,9376,0.12,2.12,0.00,0.000,4,0.168,0.050,2999,3161,1662,0,0,0,0,0,0
$GC,9392,0.53,342.8,508.3,15.6,761,9399,0.00,2.12,0.00,0.000,6,0.000,0.039,3007,1747,1661,0,0,0,0,0,0
$GC,9718,0.60,372.9,468.9,12.6,792,9755,0.00,2.25,26.17,1.046,4,0.000,0.053,3018,346,1551,0,0,0,0,0,0
$GC,9805,0.66,381.4,457.8,13.5,799,9820,0.10,2.15,9.50,0.925,6,0.100,0.037,3072,1763,1516,0,0,0,0,0,0
$GC,10148,0.60,381.4,391.9,19.6,831,10152,0.15,2.15,0.00,0.000,4,0.169,0.050,3032,3157,1513,0,0,0,0,0,0
$GC,10190,0.60,381.4,385.2,15.5,834,10194,0.00,2.15,0.00,0.000,6,0.000,0.040,3040,1746,1513,0,0,0,0,0,0
$GC,10516,0.61,393.9,339.8,13.3,864,10533,0.00,2.20,12.25,0.894,4,0.000,0.052,3050,352,1465,0,0,0,0,0,0
$GC,10624,0.70,432.7,326.1,12.2,873,10672,0.00,2.12,35.17,0.938,6,0.000,0.035,3050,1758,1307,0,0,0,0,0,0
$GC,10998,0.70,432.7,268.1,15.9,925,11005,0.00,2.10,0.00,0.000,4,0.000,0.047,3049,3158,1305,0,0,0,0,0,0
$GC,11017,0.70,432.7,264.3,15.6,928,11025,0.00,2.15,0.00,0.000,6,0.000,0.037,3058,1749,1305,0,0,0,0,0,0
$GC,11359,0.70,432.7,211.9,15.8,989,11367,0.00,2.17,0.00,0.000,4,0.000,0.050,3067,337,1305,0,0,0,0,0,0
$GC,11432,0.73,432.7,201.1,14.6,1001,11439,0.00,2.10,0.00,0.000,6,0.000,0.033,3067,1755,1304,0,0,0,0,0,0
$GC,11775,0.76,432.7,150.8,15.0,1062,11783,0.00,2.12,0.00,0.000,4,0.000,0.044,3065,3151,1304,0,0,0,0,0,0
$GC,11813,0.84,452.9,145.1,13.0,1068,11838,0.08,2.15,19.05,0.754,6,0.051,0.037,3134,1739,1225,0,0,0,0,0,0
$GC,12160,0.82,461.4,81.2,13.5,1131,12177,0.12,2.12,8.60,0.628,4,0.162,0.046,3108,350,1191,0,0,0,0,0,0
$GC,12229,0.95,516.7,72.9,11.5,1142,12284,0.08,2.12,47.22,0.706,6,0.054,0.031,3167,1764,964,0,0,0,0,0,0
$GC,12606,0.92,516.7,6.1,18.4,1209,12614,0.00,2.08,0.00,0.000,4,0.000,0.041,3164,3138,963,0,0,0,0,0,0
$STATE,12625,end climb,SURFACE_DEPTH_REACHED
$STATE,12625,begin surface coast
$FINISH,1.1,1.021649
$STATE,12645,end surface coast,CONTROL_FINISHED_OK
$STATE,12646,begin surface
$SM_CCo,12725,0.00,0.000,0,0,961,517.83
$SM_GC,1.56,7.82,0.00,0.00,0.038,0.000,0.000,136,1796,961,-8.34,-0.11,517.83
$IRIDIUM_FIX,2300.41,12634.38,231010,131322
$TT8_MAMPS,0.026215
$HUMID,42.63
$INTERNAL_PRESSURE,8.72562
$TCM_TEMP,24.60
$XPDR_PINGS,95
$24V_AH,22.4,65.152
$10V_AH,10.2,42.819
$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,21.850,115.825,661.125,0.000,0.000,29.704,20.818,197.452,23.750,0.000,32.910,2988.869,6069.923,707.886,2981.979,407.190,0.000,1897.876,0.000,2717.181,0.000,0.845,0.000
$DEVICE_MAMPS,224.910,98.685,1428.255,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,827.724,1054.962,1397.554,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,73739,1215
$CAP_FILE_SIZE,147365,0
$CFSIZE,260165632,159072256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.116, 52.6,1
$GPS,231010,205106,2309.112,12633.559,29,1.3,29,-3.4