version: 66.08
glider: 166
mission: 3
dive: 425
start: 11 1 110 17 42 0
data:
$ID,166
$MISSION,3
$DIVE,425
$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,-22090.197
$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,35
$R_STBD_OVSHOOT,48
$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
$GPS1,011110,173406,2138.766,12607.638,36,1.1,36,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-60.9
$GPS2,011110,174138,2138.802,12607.664,12,1.6,12,-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,201.2,33752,-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,-95.10,0.000,2,0.000,0.000,138,1817,3220,0,0,0,0,0,0
$GC,117,-1.16,-214.1,5.1,-8.5,13,148,8.98,2.12,-14.00,0.000,4,0.216,0.057,2445,3205,3947,0,0,0,0,0,0
$GC,324,-0.94,-214.1,83.8,-33.4,50,333,0.28,2.12,0.00,0.000,6,0.164,0.034,2531,1797,3950,0,0,0,0,0,0
$GC,655,-0.82,-214.1,171.2,-22.7,111,663,0.15,2.15,0.00,0.000,4,0.177,0.049,2572,389,3952,0,0,0,0,0,0
$GC,743,-0.75,-214.1,189.8,-20.2,126,752,0.08,2.15,0.00,0.000,6,0.157,0.044,2587,1781,3952,0,0,0,0,0,0
$GC,1077,-0.75,-214.1,240.8,-14.2,187,1085,0.00,2.17,0.00,0.000,4,0.000,0.050,2578,3210,3954,0,0,0,0,0,0
$GC,1148,-0.80,-214.1,250.3,-13.8,199,1155,0.00,2.10,0.00,0.000,6,0.000,0.037,2578,1797,3954,0,0,0,0,0,0
$GC,1481,-0.80,-214.1,301.8,-14.2,259,1482,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,1797,3954,0,0,0,0,0,0
$GC,1803,-0.80,-214.1,346.3,-13.2,289,1807,0.00,2.17,0.00,0.000,4,0.000,0.051,2578,389,3953,0,0,0,0,0,0
$GC,1870,-0.82,-214.1,356.1,-13.3,294,1877,0.00,2.20,0.00,0.000,6,0.000,0.045,2570,1807,3952,0,0,0,0,0,0
$GC,2197,-0.84,-214.1,398.7,-12.6,325,2198,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,1807,3952,0,0,0,0,0,0
$GC,2517,-0.87,-214.1,439.7,-12.6,355,2521,0.00,2.15,0.00,0.000,4,0.000,0.052,2561,3212,3950,0,0,0,0,0,0
$GC,2576,-0.93,-214.1,447.3,-12.0,360,2580,0.00,2.12,0.00,0.000,6,0.000,0.037,2561,1796,3950,0,0,0,0,0,0
$GC,2902,-0.95,-214.1,490.8,-13.0,390,2906,0.00,2.15,0.00,0.000,4,0.000,0.052,2561,395,3948,0,0,0,0,0,0
$GC,2969,-0.97,-214.1,499.3,-14.3,395,2973,0.00,2.15,0.00,0.000,6,0.000,0.045,2552,1802,3947,0,0,0,0,0,0
$GC,3300,-0.97,-214.1,541.5,-13.1,426,3301,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1802,3945,0,0,0,0,0,0
$GC,3622,-0.97,-214.1,584.3,-14.3,456,3626,0.00,2.17,0.00,0.000,4,0.000,0.057,2549,3216,3942,0,0,0,0,0,0
$GC,3719,-1.03,-214.1,597.1,-12.0,464,3724,0.12,2.15,0.00,0.000,6,0.086,0.039,2484,1791,3941,0,0,0,0,0,0
$GC,4053,-0.95,-214.1,658.7,-18.5,481,4058,0.17,2.20,0.00,0.000,4,0.173,0.054,2531,391,3938,0,0,0,0,0,0
$GC,4141,-0.95,-214.1,672.7,-14.3,485,4145,0.00,2.17,0.00,0.000,6,0.000,0.047,2525,1802,3938,0,0,0,0,0,0
$GC,4471,-0.93,-214.1,718.8,-14.3,501,4472,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,1802,3934,0,0,0,0,0,0
$GC,4778,-0.93,-214.1,762.8,-14.5,516,4782,0.00,2.20,0.00,0.000,4,0.000,0.055,2524,388,3931,0,0,0,0,0,0
$GC,4822,-0.93,-214.1,769.6,-14.7,518,4826,0.00,2.20,0.00,0.000,6,0.000,0.047,2516,1806,3931,0,0,0,0,0,0
$GC,5152,-0.91,-214.1,820.1,-15.3,534,5157,0.12,2.25,0.00,0.000,4,0.180,0.055,2548,388,3928,0,0,0,0,0,0
$GC,5201,-0.95,-214.1,827.5,-14.0,536,5205,0.00,2.20,0.00,0.000,6,0.000,0.054,2542,1805,3927,0,0,0,0,0,0
$GC,5525,-0.97,-214.1,868.1,-12.4,552,5529,0.00,2.20,0.00,0.000,4,0.000,0.056,2542,392,3925,0,0,0,0,0,0
$GC,5552,-0.97,-214.1,872.4,-14.1,553,5557,0.00,2.20,0.00,0.000,6,0.000,0.052,2543,1799,3924,0,0,0,0,0,0
$GC,5875,-0.99,-214.1,914.6,-13.1,569,5876,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,1799,3921,0,0,0,0,0,0
$GC,6187,-1.01,-214.1,955.6,-13.2,584,6191,0.00,2.22,0.00,0.000,4,0.000,0.060,2544,3212,3918,0,0,0,0,0,0
$GC,6228,-1.06,-214.1,961.0,-12.0,586,6232,0.12,2.15,0.00,0.000,6,0.088,0.043,2486,1794,3917,0,0,0,0,0,0
$STATE,6470,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6470,begin apogee
$GC,6477,-0.23,0.0,1003.0,17.4,598,6669,0.90,0.00,185.88,1.447,6,0.153,0.000,2758,1753,3072,0,0,0,0,0,0
$STATE,6670,end apogee,CONTROL_FINISHED_OK
$STATE,6670,begin climb
$GC,6674,1.16,214.1,1012.1,0.0,607,6887,1.30,2.47,201.57,1.389,4,0.054,0.055,3206,3159,2197,0,0,0,0,0,0
$GC,6979,0.86,214.1,947.2,29.9,621,6984,0.38,2.22,0.00,0.000,6,0.202,0.044,3120,1744,2193,0,0,0,0,0,0
$GC,7309,0.65,214.1,867.5,23.6,637,7314,0.25,2.22,0.00,0.000,4,0.177,0.054,3033,3164,2190,0,0,0,0,0,0
$GC,7328,0.46,214.1,862.9,23.3,638,7333,0.17,2.15,0.00,0.000,6,0.174,0.041,2995,1742,2189,0,0,0,0,0,0
$GC,7657,0.48,251.9,819.9,12.2,654,7700,0.00,2.28,34.70,1.295,4,0.000,0.056,3004,350,2044,0,0,0,0,0,0
$GC,7719,0.51,289.7,811.9,12.2,656,7761,0.00,2.20,35.62,1.269,6,0.000,0.044,3003,1755,1890,0,0,0,0,0,0
$GC,8078,0.49,289.7,761.7,14.2,674,8082,0.00,2.15,0.00,0.000,4,0.000,0.054,3004,3161,1883,0,0,0,0,0,0
$GC,8165,0.49,289.7,749.2,14.5,678,8169,0.00,2.12,0.00,0.000,6,0.000,0.042,3013,1750,1882,0,0,0,0,0,0
$GC,8492,0.46,289.7,700.1,15.0,694,8496,0.00,2.20,0.00,0.000,4,0.000,0.056,3024,339,1880,0,0,0,0,0,0
$GC,8526,0.43,289.7,694.6,16.6,695,8534,0.15,2.20,0.00,0.000,6,0.163,0.044,2984,1757,1879,0,0,0,0,0,0
$GC,8843,0.53,344.9,656.7,11.5,711,8900,0.00,2.28,50.42,1.228,4,0.000,0.053,2984,3158,1665,0,0,0,0,0,0
$GC,8958,0.67,407.2,644.2,11.2,716,9024,0.17,2.17,57.65,1.198,6,0.067,0.041,3075,1740,1412,0,0,0,0,0,0
$GC,9339,0.58,407.2,563.6,21.8,741,9344,0.17,2.20,0.00,0.000,4,0.176,0.057,3037,340,1405,0,0,0,0,0,0
$GC,9366,0.53,407.2,557.3,19.6,743,9373,0.00,2.17,0.00,0.000,6,0.000,0.043,3037,1755,1404,0,0,0,0,0,0
$GC,9693,0.52,407.2,499.1,18.2,774,9698,0.12,2.15,0.00,0.000,4,0.171,0.052,2997,3170,1403,0,0,0,0,0,0
$GC,9757,0.65,437.6,489.8,12.6,779,9793,0.12,2.17,27.67,1.075,6,0.083,0.042,3072,1741,1286,0,0,0,0,0,0
$GC,10113,0.59,437.6,412.1,22.5,812,10117,0.15,2.22,0.00,0.000,4,0.174,0.050,3023,3171,1285,0,0,0,0,0,0
$GC,10139,0.59,437.6,406.0,19.5,814,10147,0.00,2.20,0.00,0.000,6,0.000,0.041,3031,1744,1285,0,0,0,0,0,0
$GC,10467,0.61,437.6,357.7,14.4,845,10468,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,1744,1284,0,0,0,0,0,0
$GC,10786,0.66,441.9,315.6,13.7,875,10799,0.00,2.20,4.68,0.669,4,0.000,0.054,3042,347,1269,0,0,0,0,0,0
$GC,10817,0.70,441.9,310.7,14.5,877,10823,0.00,2.12,0.00,0.000,6,0.000,0.037,3042,1760,1269,0,0,0,0,0,0
$GC,11155,0.74,448.9,261.9,13.6,931,11172,0.10,2.20,8.35,0.782,4,0.099,0.047,3099,3158,1240,0,0,0,0,0,0
$GC,11212,0.71,448.9,251.2,19.0,940,11221,0.10,2.17,0.00,0.000,6,0.148,0.038,3076,1744,1240,0,0,0,0,0,0
$GC,11558,0.71,448.9,190.6,16.4,1001,11565,0.00,2.15,0.00,0.000,4,0.000,0.044,3066,3170,1240,0,0,0,0,0,0
$GC,11619,0.82,465.3,181.4,13.2,1011,11641,0.12,2.15,16.27,0.781,6,0.084,0.038,3137,1746,1174,0,0,0,0,0,0
$GC,11970,0.77,465.3,107.1,20.7,1074,11979,0.17,2.20,0.00,0.000,4,0.160,0.051,3095,352,1174,0,0,0,0,0,0
$GC,12003,0.77,465.3,100.9,17.3,1079,12011,0.00,2.12,0.00,0.000,6,0.000,0.035,3094,1751,1172,0,0,0,0,0,0
$GC,12332,0.95,547.3,64.4,10.3,1140,12414,0.15,2.22,69.82,0.697,4,0.072,0.043,3169,3158,838,0,0,0,0,0,0
$GC,12446,0.95,547.3,43.5,18.1,1156,12458,0.10,2.17,0.00,0.000,6,0.146,0.037,3145,1753,837,0,0,0,0,0,0
$STATE,12734,end climb,SURFACE_DEPTH_REACHED
$STATE,12734,begin surface coast
$FINISH,1.0,1.010666
$STATE,12760,end surface coast,CONTROL_FINISHED_OK
$STATE,12760,begin surface
$SM_CCo,12837,0.00,0.000,0,0,835,548.98
$SM_GC,1.64,7.75,0.00,0.00,0.037,0.000,0.000,155,1749,835,-8.33,-1.44,548.98
$IRIDIUM_FIX,2134.17,12608.12,011110,131336
$TT8_MAMPS,0.026215
$HUMID,43.06
$INTERNAL_PRESSURE,8.70609
$TCM_TEMP,24.90
$XPDR_PINGS,89
$24V_AH,22.1,79.656
$10V_AH,10.2,50.709
$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,22.425,113.675,692.650,0.000,0.000,24.919,42.591,196.763,22.250,0.000,13.280,3001.476,6118.712,704.819,3029.492,418.396,0.000,1912.338,0.000,2759.205,0.000,0.847,0.000
$DEVICE_MAMPS,215.730,165.240,1446.615,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,827.743,1048.001,1410.185,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,70209,1214
$CAP_FILE_SIZE,148835,0
$CFSIZE,260165632,154398720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.054, 66.8,1
$GPS,011110,211726,2137.032,12607.671,33,2.2,52,-3.0