version: 66.08
glider: 166
mission: 3
dive: 346
start: 10 20 110 5 34 24
data:
$ID,166
$MISSION,3
$DIVE,346
$N_DIVES,357
$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,-21990.803
$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,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
$GPS1,201010,052706,2341.117,12633.648,39,1.1,39,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-70.4
$GPS2,201010,053402,2341.167,12633.681,14,1.6,14,-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,206.8,76500,-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,-214.1,0.0,0.0,0,114,0.00,0.00,-95.28,0.000,2,0.000,0.000,160,1823,3328,0,0,0,0,0,0
$GC,119,-1.16,-214.1,5.4,-9.3,13,151,8.98,2.22,-11.20,0.000,4,0.221,0.052,2457,387,3948,0,0,0,0,0,0
$GC,289,-0.88,-214.1,84.6,-40.2,43,299,0.32,2.17,0.00,0.000,6,0.151,0.041,2550,1797,3951,0,0,0,0,0,0
$GC,617,-0.78,-214.1,164.9,-21.3,104,625,0.12,2.20,0.00,0.000,4,0.188,0.050,2574,3213,3953,0,0,0,0,0,0
$GC,653,-0.73,-214.1,172.0,-20.3,109,660,0.12,2.12,0.00,0.000,6,0.166,0.034,2607,1788,3954,0,0,0,0,0,0
$GC,989,-0.73,-214.1,223.9,-14.3,170,998,0.00,2.15,0.00,0.000,4,0.000,0.046,2607,396,3955,0,0,0,0,0,0
$GC,1054,-0.77,-214.1,233.4,-13.9,181,1061,0.00,2.12,0.00,0.000,6,0.000,0.038,2604,1808,3955,0,0,0,0,0,0
$GC,1390,-0.80,-214.1,280.6,-12.8,242,1398,0.00,2.15,0.00,0.000,4,0.000,0.049,2593,3204,3955,0,0,0,0,0,0
$GC,1416,-0.84,-214.1,284.1,-12.1,246,1423,0.00,2.12,0.00,0.000,6,0.000,0.034,2595,1798,3955,0,0,0,0,0,0
$GC,1751,-0.86,-214.1,330.1,-14.3,288,1755,0.00,2.12,0.00,0.000,4,0.000,0.046,2594,401,3955,0,0,0,0,0,0
$GC,1818,-0.90,-214.1,339.9,-14.0,294,1822,0.12,2.12,0.00,0.000,6,0.090,0.038,2523,1811,3954,0,0,0,0,0,0
$GC,2144,-0.84,-214.1,402.7,-18.5,324,2145,0.15,0.00,0.00,0.000,6,0.175,0.000,2564,1812,3954,0,0,0,0,0,0
$GC,2461,-0.84,-214.1,450.1,-14.8,354,2465,0.00,2.17,0.00,0.000,4,0.000,0.047,2564,401,3952,0,0,0,0,0,0
$GC,2548,-0.87,-214.1,463.2,-14.3,361,2555,0.00,2.12,0.00,0.000,6,0.000,0.039,2560,1807,3951,0,0,0,0,0,0
$GC,2873,-0.87,-214.1,510.5,-14.3,392,2877,0.00,2.15,0.00,0.000,4,0.000,0.051,2550,3210,3950,0,0,0,0,0,0
$GC,2895,-0.89,-214.1,513.8,-14.1,393,2902,0.00,2.10,0.00,0.000,6,0.000,0.036,2550,1796,3950,0,0,0,0,0,0
$GC,3221,-0.89,-214.1,563.3,-14.9,424,3225,0.00,2.12,0.00,0.000,4,0.000,0.047,2550,392,3948,0,0,0,0,0,0
$GC,3345,-0.91,-214.1,582.0,-15.6,434,3352,0.00,2.15,0.00,0.000,6,0.000,0.041,2547,1806,3947,0,0,0,0,0,0
$GC,3665,-0.91,-214.1,625.9,-13.0,456,3666,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,1807,3945,0,0,0,0,0,0
$GC,3976,-0.93,-214.1,667.6,-13.5,471,3980,0.00,2.20,0.00,0.000,4,0.000,0.049,2547,392,3942,0,0,0,0,0,0
$GC,4020,-0.95,-214.1,674.5,-14.7,473,4024,0.00,2.15,0.00,0.000,6,0.000,0.043,2547,1799,3942,0,0,0,0,0,0
$GC,4344,-0.97,-214.1,718.6,-13.3,489,4348,0.00,2.17,0.00,0.000,4,0.000,0.061,2538,3204,3940,0,0,0,0,0,0
$GC,4400,-1.03,-214.1,725.7,-10.9,491,4404,0.00,2.10,0.00,0.000,6,0.000,0.037,2538,1792,3939,0,0,0,0,0,0
$GC,4719,-1.04,-214.1,764.4,-12.5,506,4722,0.00,2.15,0.00,0.000,4,0.000,0.051,2538,394,3935,0,0,0,0,0,0
$GC,4808,-1.07,-214.1,776.3,-13.1,510,4813,0.10,2.15,0.00,0.000,6,0.105,0.042,2482,1799,3935,0,0,0,0,0,0
$GC,5131,-1.02,-214.1,833.8,-19.5,526,5136,0.12,2.22,0.00,0.000,4,0.187,0.056,2518,391,3932,0,0,0,0,0,0
$GC,5193,-1.02,-214.1,845.1,-16.5,529,5197,0.00,2.17,0.00,0.000,6,0.000,0.048,2510,1800,3931,0,0,0,0,0,0
$GC,5520,-1.02,-214.1,895.4,-14.7,545,5524,0.00,2.20,0.00,0.000,4,0.000,0.052,2510,392,3928,0,0,0,0,0,0
$GC,5549,-1.00,-214.1,899.5,-15.6,546,5554,0.00,2.17,0.00,0.000,6,0.000,0.044,2501,1803,3928,0,0,0,0,0,0
$GC,5866,-0.97,-214.1,944.0,-14.1,561,5870,0.00,2.17,0.00,0.000,4,0.000,0.051,2500,396,3925,0,0,0,0,0,0
$GC,5930,-0.94,-214.1,953.1,-14.9,564,5934,0.15,2.17,0.00,0.000,6,0.169,0.043,2532,1810,3924,0,0,0,0,0,0
$GC,6260,-0.96,-214.1,994.3,-13.1,580,6264,0.00,2.20,0.00,0.000,4,0.000,0.052,2531,401,3922,0,0,0,0,0,0
$GC,6283,-0.98,-214.1,998.1,-13.6,581,6287,0.00,2.17,0.00,0.000,6,0.000,0.044,2523,1807,3922,0,0,0,0,0,0
$STATE,6315,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6315,begin apogee
$GC,6322,-0.23,0.0,1002.5,13.6,583,6515,0.73,0.00,184.43,1.436,6,0.127,0.000,2759,1750,3072,0,0,0,0,0,0
$STATE,6516,end apogee,CONTROL_FINISHED_OK
$STATE,6516,begin climb
$GC,6520,1.16,214.1,1013.3,0.0,592,6728,1.30,2.47,198.82,1.375,4,0.043,0.057,3225,3143,2199,0,0,0,0,0,0
$GC,6792,0.84,214.1,957.4,32.5,605,6797,0.50,2.28,0.00,0.000,6,0.202,0.045,3112,1747,2195,0,0,0,0,0,0
$GC,7121,0.64,214.1,875.5,23.9,621,7123,0.22,0.00,0.00,0.000,6,0.178,0.000,3050,1747,2192,0,0,0,0,0,0
$GC,7430,0.54,214.1,817.4,18.0,636,7435,0.12,2.20,0.00,0.000,4,0.181,0.053,3024,336,2190,0,0,0,0,0,0
$GC,7451,0.45,214.1,813.1,17.4,637,7456,0.15,2.15,0.00,0.000,6,0.174,0.041,2986,1749,2189,0,0,0,0,0,0
$GC,7775,0.48,242.2,771.6,12.7,653,7805,0.00,2.25,25.33,1.255,4,0.000,0.054,2976,3164,2084,0,0,0,0,0,0
$GC,7861,0.52,250.1,760.7,13.5,657,7875,0.00,2.20,8.98,1.095,6,0.000,0.041,2984,1740,2052,0,0,0,0,0,0
$GC,8196,0.55,279.5,718.4,12.6,673,8231,0.10,2.28,27.38,1.226,4,0.107,0.053,3050,350,1931,0,0,0,0,0,0
$GC,8255,0.48,279.5,707.5,19.0,675,8263,0.20,2.20,0.00,0.000,6,0.160,0.039,2996,1751,1929,0,0,0,0,0,0
$GC,8573,0.55,331.3,667.6,11.6,691,8625,0.00,2.25,47.05,1.209,4,0.000,0.054,2996,3159,1721,0,0,0,0,0,0
$GC,8671,0.63,359.7,655.3,12.7,695,8704,0.12,2.20,27.38,1.159,6,0.083,0.041,3064,1746,1605,0,0,0,0,0,0
$GC,9024,0.56,359.7,583.6,21.9,716,9029,0.15,2.20,0.00,0.000,4,0.177,0.052,3031,340,1600,0,0,0,0,0,0
$GC,9057,0.53,359.7,576.9,19.0,718,9063,0.00,2.17,0.00,0.000,6,0.000,0.038,3030,1752,1598,0,0,0,0,0,0
$GC,9383,0.51,359.7,524.2,16.4,749,9387,0.00,2.15,0.00,0.000,4,0.000,0.050,3029,3171,1597,0,0,0,0,0,0
$GC,9427,0.51,359.7,516.6,15.2,752,9435,0.12,2.15,0.00,0.000,6,0.171,0.041,3004,1748,1597,0,0,0,0,0,0
$GC,9754,0.60,397.7,476.6,12.2,783,9793,0.00,2.22,33.50,1.065,4,0.000,0.052,3011,349,1450,0,0,0,0,0,0
$GC,9834,0.66,397.7,465.3,14.1,790,9839,0.12,2.17,0.00,0.000,6,0.086,0.037,3075,1767,1448,0,0,0,0,0,0
$GC,10159,0.59,397.7,393.9,22.5,820,10164,0.15,2.12,0.00,0.000,4,0.171,0.050,3025,3159,1446,0,0,0,0,0,0
$GC,10201,0.62,397.7,386.2,17.3,823,10205,0.00,2.15,0.00,0.000,6,0.000,0.041,3031,1742,1446,0,0,0,0,0,0
$GC,10528,0.64,397.7,337.0,14.5,853,10532,0.00,2.12,0.00,0.000,4,0.000,0.050,3041,341,1446,0,0,0,0,0,0
$GC,10568,0.66,397.7,330.8,15.0,856,10572,0.00,2.12,0.00,0.000,6,0.000,0.040,3041,1754,1444,0,0,0,0,0,0
$GC,10898,0.66,397.7,278.2,15.0,898,10906,0.00,2.17,0.00,0.000,4,0.000,0.047,3040,3158,1444,0,0,0,0,0,0
$GC,10935,0.69,397.7,272.5,15.9,904,10944,0.00,2.15,0.00,0.000,6,0.000,0.039,3048,1749,1444,0,0,0,0,0,0
$GC,11277,0.69,397.7,222.4,15.0,965,11284,0.00,2.17,0.00,0.000,4,0.000,0.047,3059,335,1444,0,0,0,0,0,0
$GC,11315,0.69,397.7,216.4,17.3,971,11322,0.00,2.12,0.00,0.000,6,0.000,0.034,3059,1752,1444,0,0,0,0,0,0
$GC,11657,0.69,397.7,163.5,14.3,1032,11666,0.00,2.15,0.00,0.000,4,0.000,0.046,3059,3159,1444,0,0,0,0,0,0
$GC,11715,0.72,398.5,155.4,13.9,1041,11722,0.00,2.12,0.00,0.000,6,0.000,0.036,3068,1743,1444,0,0,0,0,0,0
$GC,12047,0.74,401.6,108.1,13.8,1102,12056,0.00,2.20,4.57,0.513,4,0.000,0.046,3079,343,1434,0,0,0,0,0,0
$GC,12092,0.77,401.6,101.3,15.4,1109,12100,0.00,2.15,0.00,0.000,6,0.000,0.034,3079,1757,1434,0,0,0,0,0,0
$GC,12424,0.99,523.7,63.4,8.6,1170,12536,0.22,2.20,103.10,0.689,4,0.057,0.043,3182,3166,937,0,0,0,0,0,0
$GC,12624,0.99,523.7,21.7,18.3,1201,12633,0.10,2.17,0.00,0.000,6,0.145,0.037,3161,1763,936,0,0,0,0,0,0
$STATE,12727,end climb,SURFACE_DEPTH_REACHED
$STATE,12727,begin surface coast
$FINISH,0.9,1.021690
$STATE,12748,end surface coast,CONTROL_FINISHED_OK
$STATE,12748,begin surface
$SM_CCo,12825,0.00,0.000,0,0,933,524.70
$SM_GC,1.64,7.72,0.00,0.00,0.028,0.000,0.000,139,1762,933,-8.34,-1.07,524.70
$IRIDIUM_FIX,2335.63,12633.83,201010,010109
$TT8_MAMPS,0.026964
$HUMID,43.73
$INTERNAL_PRESSURE,8.71586
$TCM_TEMP,24.50
$XPDR_PINGS,100
$24V_AH,22.5,59.591
$10V_AH,10.2,39.741
$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,22.250,130.550,660.525,0.000,0.000,27.345,15.232,205.627,25.000,0.000,15.622,3032.194,6064.922,688.983,3014.689,425.397,0.000,1915.332,0.000,2786.513,0.000,0.845,0.000
$DEVICE_MAMPS,221.085,113.985,1435.905,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,833.357,1058.145,1410.322,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333884
$DATA_FILE_SIZE,73604,1223
$CAP_FILE_SIZE,154397,0
$CFSIZE,260165632,160878592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.065, 61.4,1
$GPS,201010,090924,2339.334,12633.522,39,1.8,39,-3.5