version: 66.08
glider: 166
mission: 3
dive: 421
start: 11 1 110 2 18 5
data:
$ID,166
$MISSION,3
$DIVE,421
$N_DIVES,431
$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,-22085.17
$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,38
$R_STBD_OVSHOOT,43
$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
$GPS1,011110,021006,2146.394,12610.716,38,0.9,38,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-65.1
$GPS2,011110,021743,2146.343,12610.734,12,1.1,16,-3.0
$SPEED_LIMITS,0.241,0.344
$TGT_NAME,PICKUP
$TGT_LATLONG,2121.600,12601.200
$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,227.2,48686,-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,-214.1,0.0,0.0,0,123,0.00,0.00,-103.75,0.000,2,0.000,0.000,153,1765,3316,0,0,0,0,0,0
$GC,126,-1.16,-214.1,6.0,-10.8,14,157,8.98,2.25,-11.77,0.000,4,0.219,0.057,2449,3203,3949,0,0,0,0,0,0
$GC,344,-0.94,-214.1,93.4,-33.0,53,352,0.28,2.15,0.00,0.000,6,0.164,0.037,2532,1803,3951,0,0,0,0,0,0
$GC,675,-0.82,-214.1,179.9,-24.5,114,684,0.15,2.22,0.00,0.000,4,0.178,0.048,2573,386,3953,0,0,0,0,0,0
$GC,716,-0.78,-214.1,188.5,-20.1,120,725,0.00,2.17,0.00,0.000,6,0.000,0.044,2565,1793,3953,0,0,0,0,0,0
$GC,1062,-0.74,-214.1,249.4,-16.2,181,1069,0.12,0.00,0.00,0.000,6,0.184,0.000,2596,1793,3954,0,0,0,0,0,0
$GC,1401,-0.78,-214.1,294.7,-12.7,242,1409,0.00,2.20,0.00,0.000,4,0.000,0.050,2596,396,3955,0,0,0,0,0,0
$GC,1446,-0.85,-214.1,300.2,-12.2,249,1453,0.00,2.12,0.00,0.000,6,0.000,0.044,2589,1803,3955,0,0,0,0,0,0
$GC,1774,-0.88,-214.1,342.8,-12.6,280,1778,0.00,2.12,0.00,0.000,4,0.000,0.050,2580,3212,3954,0,0,0,0,0,0
$GC,1840,-0.96,-214.1,350.7,-11.6,285,1845,0.15,2.12,0.00,0.000,6,0.073,0.036,2498,1799,3953,0,0,0,0,0,0
$GC,2169,-0.87,-214.1,414.1,-17.5,315,2173,0.20,2.17,0.00,0.000,4,0.169,0.048,2554,392,3951,0,0,0,0,0,0
$GC,2303,-0.87,-214.1,434.3,-13.8,326,2311,0.00,2.17,0.00,0.000,6,0.000,0.044,2548,1798,3951,0,0,0,0,0,0
$GC,2630,-0.87,-214.1,481.7,-15.1,357,2631,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,1799,3950,0,0,0,0,0,0
$GC,2948,-0.87,-214.1,528.2,-14.2,387,2952,0.00,2.22,0.00,0.000,4,0.000,0.050,2548,390,3948,0,0,0,0,0,0
$GC,2971,-0.87,-214.1,531.8,-14.6,388,2980,0.00,2.20,0.00,0.000,6,0.000,0.046,2548,1811,3947,0,0,0,0,0,0
$GC,3296,-0.87,-214.1,576.1,-12.6,419,3300,0.00,2.22,0.00,0.000,4,0.000,0.051,2548,395,3945,0,0,0,0,0,0
$GC,3319,-0.87,-214.1,579.1,-12.3,420,3326,0.00,2.17,0.00,0.000,6,0.000,0.046,2547,1803,3944,0,0,0,0,0,0
$GC,3642,-0.87,-214.1,616.6,-11.2,444,3646,0.00,2.15,0.00,0.000,4,0.000,0.051,2538,3217,3942,0,0,0,0,0,0
$GC,3675,-0.90,-214.1,620.4,-10.6,445,3684,0.00,2.15,0.00,0.000,6,0.000,0.037,2538,1798,3942,0,0,0,0,0,0
$GC,3993,-0.90,-214.1,656.0,-11.1,461,3997,0.00,2.17,0.00,0.000,4,0.000,0.053,2538,396,3939,0,0,0,0,0,0
$GC,4039,-0.90,-214.1,661.8,-12.4,463,4043,0.00,2.20,0.00,0.000,6,0.000,0.049,2534,1812,3939,0,0,0,0,0,0
$GC,4374,-0.90,-214.1,703.6,-13.6,479,4375,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,1812,3934,0,0,0,0,0,0
$GC,4681,-0.90,-214.1,747.0,-14.3,494,4685,0.00,2.25,0.00,0.000,4,0.000,0.053,2534,397,3932,0,0,0,0,0,0
$GC,4703,-0.90,-214.1,750.4,-14.4,495,4707,0.00,2.17,0.00,0.000,6,0.000,0.047,2525,1802,3932,0,0,0,0,0,0
$GC,5032,-0.90,-214.1,798.7,-14.6,511,5036,0.00,2.22,0.00,0.000,4,0.000,0.055,2525,393,3929,0,0,0,0,0,0
$GC,5064,-0.90,-214.1,804.4,-15.8,512,5073,0.12,2.20,0.00,0.000,6,0.169,0.049,2548,1809,3928,0,0,0,0,0,0
$GC,5383,-0.94,-214.1,843.7,-12.1,528,5387,0.00,2.15,0.00,0.000,4,0.000,0.056,2543,3207,3926,0,0,0,0,0,0
$GC,5425,-1.00,-214.1,848.7,-11.2,530,5429,0.00,2.12,0.00,0.000,6,0.000,0.040,2540,1792,3925,0,0,0,0,0,0
$GC,5754,-1.03,-214.1,889.3,-12.5,546,5758,0.00,2.17,0.00,0.000,4,0.000,0.057,2540,386,3923,0,0,0,0,0,0
$GC,5796,-1.06,-214.1,894.8,-13.3,548,5801,0.10,2.20,0.00,0.000,6,0.106,0.050,2487,1799,3922,0,0,0,0,0,0
$GC,6124,-1.00,-214.1,948.9,-16.5,564,6126,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,1799,3919,0,0,0,0,0,0
$GC,6434,-0.95,-214.1,998.1,-15.5,579,6439,0.15,2.22,0.00,0.000,4,0.181,0.058,2528,392,3916,0,0,0,0,0,0
$STATE,6442,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6442,begin apogee
$GC,6450,-0.23,0.0,1000.4,15.8,579,6646,0.73,0.00,185.85,1.445,6,0.138,0.000,2757,1748,3072,0,0,0,0,0,0
$STATE,6647,end apogee,CONTROL_FINISHED_OK
$STATE,6647,begin climb
$GC,6651,1.16,214.1,1009.4,0.0,589,6863,1.30,2.45,201.82,1.382,4,0.057,0.055,3215,3157,2198,0,0,0,0,0,0
$GC,6887,0.84,214.1,965.9,31.4,600,6892,0.45,2.33,0.00,0.000,6,0.203,0.044,3117,1755,2196,0,0,0,0,0,0
$GC,7221,0.63,214.1,884.4,24.5,616,7226,0.25,2.22,0.00,0.000,4,0.181,0.054,3037,3165,2193,0,0,0,0,0,0
$GC,7261,0.52,214.1,874.6,19.2,618,7266,0.12,2.17,0.00,0.000,6,0.184,0.044,3014,1743,2191,0,0,0,0,0,0
$GC,7590,0.47,214.1,825.9,14.4,634,7594,0.00,2.17,0.00,0.000,4,0.000,0.057,3023,350,2190,0,0,0,0,0,0
$GC,7609,0.41,214.1,822.8,14.8,635,7614,0.17,2.17,0.00,0.000,6,0.167,0.046,2976,1749,2188,0,0,0,0,0,0
$GC,7938,0.48,272.7,784.5,11.3,651,7996,0.00,2.28,53.42,1.297,4,0.000,0.054,2972,3164,1959,0,0,0,0,0,0
$GC,8039,0.59,325.2,772.8,11.6,654,8094,0.15,2.20,49.33,1.261,6,0.076,0.042,3052,1753,1746,0,0,0,0,0,0
$GC,8420,0.51,325.2,702.8,18.9,673,8422,0.17,0.00,0.00,0.000,6,0.172,0.000,3005,1753,1739,0,0,0,0,0,0
$GC,8726,0.51,325.2,656.6,15.1,688,8730,0.00,2.20,0.00,0.000,4,0.000,0.051,2999,3170,1737,0,0,0,0,0,0
$GC,8743,0.51,325.2,654.0,15.2,689,8748,0.00,2.17,0.00,0.000,6,0.000,0.041,3008,1744,1736,0,0,0,0,0,0
$GC,9073,0.51,325.2,605.6,15.5,705,9077,0.00,2.17,0.00,0.000,4,0.000,0.056,3019,349,1735,0,0,0,0,0,0
$GC,9101,0.51,325.2,600.8,15.6,706,9105,0.00,2.17,0.00,0.000,6,0.000,0.042,3019,1752,1733,0,0,0,0,0,0
$GC,9428,0.49,325.2,548.3,16.7,736,9432,0.00,2.17,0.00,0.000,4,0.000,0.053,3018,3174,1733,0,0,0,0,0,0
$GC,9530,0.49,325.2,531.8,15.2,744,9537,0.00,2.17,0.00,0.000,6,0.000,0.042,3029,1751,1733,0,0,0,0,0,0
$GC,9857,0.48,325.2,483.9,14.4,775,9862,0.12,2.17,0.00,0.000,4,0.177,0.056,3005,342,1732,0,0,0,0,0,0
$GC,9899,0.58,372.0,478.4,11.9,778,9948,0.00,2.17,41.50,1.096,6,0.000,0.038,3000,1764,1554,0,0,0,0,0,0
$GC,10267,0.70,420.2,435.7,11.8,812,10318,0.17,2.22,43.97,1.047,4,0.071,0.050,3079,3148,1358,0,0,0,0,0,0
$GC,10362,0.64,420.2,415.8,23.1,820,10372,0.12,2.20,0.00,0.000,6,0.158,0.041,3053,1745,1357,0,0,0,0,0,0
$GC,10689,0.62,420.2,357.9,17.4,851,10693,0.00,2.15,0.00,0.000,4,0.000,0.054,3061,344,1355,0,0,0,0,0,0
$GC,10711,0.60,420.2,353.5,17.1,852,10720,0.00,2.17,0.00,0.000,6,0.000,0.038,3058,1758,1354,0,0,0,0,0,0
$GC,11038,0.58,420.2,299.1,16.0,883,11045,0.10,2.12,0.00,0.000,4,0.180,0.048,3024,3156,1353,0,0,0,0,0,0
$GC,11100,0.71,460.9,290.9,12.1,893,11147,0.12,2.15,36.17,0.917,6,0.083,0.039,3100,1737,1192,0,0,0,0,0,0
$GC,11484,0.64,460.9,206.5,21.4,960,11493,0.17,2.22,0.00,0.000,4,0.166,0.053,3057,346,1191,0,0,0,0,0,0
$GC,11556,0.72,473.3,194.3,13.4,972,11579,0.00,2.15,12.12,0.775,6,0.000,0.036,3058,1754,1141,0,0,0,0,0,0
$GC,11912,0.75,473.3,141.5,14.1,1035,11920,0.00,2.15,0.00,0.000,4,0.000,0.046,3057,3155,1141,0,0,0,0,0,0
$GC,11954,0.83,491.8,136.2,13.1,1041,11978,0.08,2.15,17.38,0.749,6,0.047,0.037,3132,1750,1067,0,0,0,0,0,0
$GC,12297,0.83,491.8,72.0,14.2,1104,12306,0.00,2.22,0.00,0.000,4,0.000,0.052,3143,344,1065,0,0,0,0,0,0
$GC,12371,0.83,491.8,60.6,15.7,1117,12380,0.08,2.12,0.00,0.000,6,0.140,0.034,3115,1752,1064,0,0,0,0,0,0
$GC,12702,1.03,610.2,17.9,8.7,1178,12777,0.17,0.00,72.40,0.656,2,0.070,0.000,3198,1755,718,0,0,0,0,0,0
$STATE,12778,end climb,SURFACE_DEPTH_REACHED
$STATE,12778,begin surface coast
$FINISH,0.9,1.011069
$STATE,12794,end surface coast,CONTROL_FINISHED_OK
$STATE,12794,begin surface
$SM_CCo,12871,0.00,0.000,0,0,713,578.66
$SM_GC,1.72,8.10,0.00,0.00,0.041,0.000,0.000,144,1757,713,-8.35,-1.22,578.66
$IRIDIUM_FIX,2143.45,12605.74,311010,222218
$TT8_MAMPS,0.026215
$HUMID,42.87
$INTERNAL_PRESSURE,8.68656
$TCM_TEMP,24.30
$XPDR_PINGS,100
$24V_AH,22.1,78.628
$10V_AH,10.1,50.147
$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,22.850,122.575,713.975,0.000,0.000,31.039,37.639,203.451,25.000,0.000,17.702,2920.289,6295.880,737.803,2935.078,421.715,0.000,1945.949,0.000,2661.742,0.000,0.844,0.000
$DEVICE_MAMPS,218.790,58.140,1445.085,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,810.613,1014.343,1336.519,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333808
$DATA_FILE_SIZE,70316,1190
$CAP_FILE_SIZE,149455,0
$CFSIZE,260165632,154726400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.044,153.0,1
$GPS,011110,055343,2144.640,12609.461,24,1.5,31,-3.0