version: 66.08
glider: 166
mission: 3
dive: 442
start: 11 4 110 8 22 6
data:
$ID,166
$MISSION,3
$DIVE,442
$N_DIVES,454
$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,-22139.156
$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,42
$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
$GPS1,041110,081436,2118.953,12600.526,31,1.1,31,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-65.1
$GPS2,041110,082144,2118.951,12600.480,16,1.1,16,-2.9
$SPEED_LIMITS,0.241,0.344
$TGT_NAME,PICKUP_SOUTH_SOUTH
$TGT_LATLONG,2113.500,12601.200
$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,167.6,10172,-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,-214.1,0.0,0.0,0,97,0.00,0.00,-77.82,0.000,2,0.000,0.000,165,1789,3312,0,0,0,0,0,0
$GC,100,-1.16,-214.1,5.4,-8.9,11,132,9.32,2.22,-12.05,0.000,4,0.226,0.057,2435,3207,3948,0,0,0,0,0,0
$GC,256,-0.94,-214.1,68.0,-36.1,38,264,0.30,2.15,0.00,0.000,6,0.163,0.035,2532,1795,3950,0,0,0,0,0,0
$GC,584,-0.81,-214.1,160.9,-23.3,99,591,0.17,2.17,0.00,0.000,4,0.176,0.046,2580,387,3952,0,0,0,0,0,0
$GC,633,-0.74,-214.1,171.4,-19.9,107,640,0.00,2.15,0.00,0.000,6,0.000,0.041,2573,1802,3952,0,0,0,0,0,0
$GC,967,-0.70,-214.1,236.0,-18.6,168,976,0.15,2.22,0.00,0.000,4,0.174,0.047,2617,395,3954,0,0,0,0,0,0
$GC,1082,-0.76,-214.1,250.9,-11.8,188,1091,0.00,2.15,0.00,0.000,6,0.000,0.041,2610,1793,3955,0,0,0,0,0,0
$GC,1417,-0.81,-214.1,293.8,-12.9,249,1425,0.00,2.17,0.00,0.000,4,0.000,0.048,2597,3222,3955,0,0,0,0,0,0
$GC,1490,-0.90,-214.1,303.8,-11.9,259,1497,0.12,2.12,0.00,0.000,6,0.082,0.034,2525,1791,3955,0,0,0,0,0,0
$GC,1816,-0.83,-214.1,362.4,-16.4,290,1821,0.17,2.15,0.00,0.000,4,0.168,0.047,2573,392,3955,0,0,0,0,0,0
$GC,1894,-0.85,-214.1,373.0,-12.8,296,1902,0.00,2.17,0.00,0.000,6,0.000,0.042,2566,1797,3955,0,0,0,0,0,0
$GC,2221,-0.85,-214.1,415.4,-12.8,327,2225,0.00,2.15,0.00,0.000,4,0.000,0.050,2559,3217,3954,0,0,0,0,0,0
$GC,2264,-0.91,-214.1,420.7,-12.6,330,2268,0.00,2.12,0.00,0.000,6,0.000,0.036,2559,1795,3954,0,0,0,0,0,0
$GC,2590,-0.93,-214.1,465.2,-13.5,360,2594,0.00,2.15,0.00,0.000,4,0.000,0.050,2559,392,3953,0,0,0,0,0,0
$GC,2690,-0.96,-214.1,478.8,-12.8,368,2698,0.00,2.20,0.00,0.000,6,0.000,0.045,2553,1805,3952,0,0,0,0,0,0
$GC,3016,-0.96,-214.1,522.0,-13.2,399,3020,0.00,2.17,0.00,0.000,4,0.000,0.054,2558,3215,3950,0,0,0,0,0,0
$GC,3049,-1.00,-214.1,525.8,-13.4,401,3054,0.12,2.12,0.00,0.000,6,0.084,0.038,2493,1795,3950,0,0,0,0,0,0
$GC,3374,-0.92,-214.1,585.2,-19.0,431,3379,0.17,2.20,0.00,0.000,4,0.174,0.052,2540,389,3948,0,0,0,0,0,0
$GC,3397,-0.86,-214.1,589.5,-18.1,432,3404,0.00,2.17,0.00,0.000,6,0.000,0.047,2538,1808,3947,0,0,0,0,0,0
$GC,3715,-0.84,-214.1,636.7,-14.4,451,3720,0.10,2.17,0.00,0.000,4,0.191,0.056,2566,3212,3945,0,0,0,0,0,0
$GC,3737,-0.84,-214.1,639.9,-13.8,452,3741,0.00,2.12,0.00,0.000,6,0.000,0.038,2566,1792,3945,0,0,0,0,0,0
$GC,4066,-0.87,-214.1,679.2,-11.9,468,4070,0.00,2.17,0.00,0.000,4,0.000,0.054,2566,395,3942,0,0,0,0,0,0
$GC,4129,-0.90,-214.1,687.1,-12.2,471,4133,0.00,2.20,0.00,0.000,6,0.000,0.047,2557,1806,3941,0,0,0,0,0,0
$GC,4464,-0.90,-214.1,729.0,-12.8,487,4468,0.00,2.20,0.00,0.000,4,0.000,0.057,2555,3216,3938,0,0,0,0,0,0
$GC,4497,-0.94,-214.1,733.4,-12.1,488,4503,0.00,2.12,0.00,0.000,6,0.000,0.040,2555,1801,3937,0,0,0,0,0,0
$GC,4813,-0.96,-214.1,772.8,-12.2,504,4817,0.00,2.17,0.00,0.000,4,0.000,0.055,2555,392,3935,0,0,0,0,0,0
$GC,4881,-0.98,-214.1,781.4,-12.4,507,4885,0.00,2.22,0.00,0.000,6,0.000,0.051,2554,1809,3934,0,0,0,0,0,0
$GC,5202,-1.00,-214.1,818.8,-11.3,523,5204,0.10,0.00,0.00,0.000,6,0.106,0.000,2506,1810,3931,0,0,0,0,0,0
$GC,5513,-0.95,-214.1,865.7,-15.5,538,5517,0.00,2.22,0.00,0.000,4,0.000,0.057,2506,398,3928,0,0,0,0,0,0
$GC,5532,-0.90,-214.1,868.8,-15.5,539,5536,0.20,2.20,0.00,0.000,6,0.167,0.051,2551,1802,3928,0,0,0,0,0,0
$GC,5862,-0.92,-214.1,910.2,-12.6,555,5863,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,1802,3925,0,0,0,0,0,0
$GC,6169,-0.94,-214.1,948.8,-12.3,570,6170,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,1802,3923,0,0,0,0,0,0
$GC,6479,-0.97,-214.1,985.5,-11.7,585,6483,0.00,2.25,0.00,0.000,4,0.000,0.059,2551,398,3921,0,0,0,0,0,0
$GC,6520,-0.99,-214.1,990.9,-13.1,587,6524,0.00,2.22,0.00,0.000,6,0.000,0.050,2543,1810,3921,0,0,0,0,0,0
$STATE,6598,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6598,begin apogee
$GC,6604,-0.23,0.0,1000.8,12.4,591,6797,0.68,0.00,187.12,1.447,6,0.131,0.000,2758,1739,3071,0,0,0,0,0,0
$STATE,6797,end apogee,CONTROL_FINISHED_OK
$STATE,6797,begin climb
$GC,6800,1.16,214.1,1009.4,0.0,600,7014,1.30,2.42,201.85,1.382,4,0.057,0.057,3222,352,2199,0,0,0,0,0,0
$GC,7075,0.83,214.1,955.0,31.4,612,7083,0.40,2.28,0.00,0.000,6,0.204,0.049,3115,1743,2195,0,0,0,0,0,0
$GC,7393,0.63,214.1,881.4,22.8,628,7398,0.25,2.20,0.00,0.000,4,0.185,0.054,3030,3165,2191,0,0,0,0,0,0
$GC,7482,0.56,214.1,865.2,16.0,632,7486,0.00,2.12,0.00,0.000,6,0.000,0.041,3039,1752,2189,0,0,0,0,0,0
$GC,7807,0.47,214.1,812.4,17.0,648,7812,0.17,2.17,0.00,0.000,4,0.174,0.051,2982,3170,2189,0,0,0,0,0,0
$GC,7840,0.45,214.1,806.8,14.5,649,7848,0.00,2.17,0.00,0.000,6,0.000,0.041,2990,1747,2187,0,0,0,0,0,0
$GC,8158,0.50,255.6,766.7,12.1,665,8198,0.00,0.00,38.65,1.281,6,0.000,0.000,2990,1747,2029,0,0,0,0,0,0
$GC,8506,0.55,298.3,723.1,12.0,682,8552,0.00,2.30,39.88,1.250,4,0.000,0.057,3001,347,1855,0,0,0,0,0,0
$GC,8578,0.61,332.7,714.1,12.4,685,8618,0.12,2.20,33.60,1.217,6,0.086,0.041,3059,1756,1715,0,0,0,0,0,0
$GC,8926,0.55,332.7,650.6,18.4,702,8931,0.15,2.20,0.00,0.000,4,0.172,0.057,3013,3165,1711,0,0,0,0,0,0
$GC,9035,0.61,351.9,635.3,13.1,706,9063,0.00,2.17,18.52,1.159,6,0.000,0.044,3021,1749,1637,0,0,0,0,0,0
$GC,9374,0.61,351.9,585.1,15.0,727,9375,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,1749,1633,0,0,0,0,0,0
$GC,9696,0.61,351.9,536.4,14.4,757,9700,0.00,2.20,0.00,0.000,4,0.000,0.054,3019,3169,1633,0,0,0,0,0,0
$GC,9762,0.67,365.8,526.6,13.3,762,9781,0.00,2.20,13.88,1.073,6,0.000,0.044,3027,1740,1580,0,0,0,0,0,0
$GC,10099,0.68,379.4,480.1,13.3,794,10118,0.00,0.00,13.80,1.036,6,0.000,0.000,3027,1740,1524,0,0,0,0,0,0
$GC,10440,0.71,386.0,434.5,13.6,826,10453,0.12,0.00,7.45,0.900,6,0.089,0.000,3096,1740,1497,0,0,0,0,0,0
$GC,10771,0.63,386.0,370.1,20.4,857,10776,0.17,2.20,0.00,0.000,4,0.170,0.056,3058,337,1496,0,0,0,0,0,0
$GC,10791,0.58,386.0,366.4,20.3,858,10796,0.10,2.17,0.00,0.000,6,0.168,0.041,3030,1755,1495,0,0,0,0,0,0
$GC,11117,0.63,398.6,321.5,13.3,888,11135,0.00,2.15,12.73,0.900,4,0.000,0.048,3030,3158,1446,0,0,0,0,0,0
$GC,11184,0.76,438.5,313.7,12.2,893,11233,0.12,2.15,36.80,0.936,6,0.083,0.040,3112,1747,1284,0,0,0,0,0,0
$GC,11551,0.70,438.5,238.3,20.4,954,11560,0.17,2.22,0.00,0.000,4,0.165,0.049,3056,3159,1282,0,0,0,0,0,0
$GC,11611,0.79,445.7,228.9,13.6,964,11626,0.00,2.17,7.62,0.734,6,0.000,0.040,3064,1748,1255,0,0,0,0,0,0
$GC,11955,0.88,478.1,186.2,12.5,1026,11992,0.17,2.28,29.27,0.806,4,0.067,0.053,3170,343,1122,0,0,0,0,0,0
$GC,12037,0.80,478.1,169.6,24.9,1038,12045,0.20,2.17,0.00,0.000,6,0.149,0.037,3103,1747,1121,0,0,0,0,0,0
$GC,12370,0.84,488.8,112.0,13.4,1099,12386,0.00,2.22,10.60,0.679,4,0.000,0.045,3100,3169,1079,0,0,0,0,0,0
$GC,12440,1.08,583.4,104.1,9.8,1110,12530,0.20,2.17,80.25,0.731,6,0.033,0.037,3220,1751,692,0,0,0,0,0,0
$STATE,12848,end climb,SURFACE_DEPTH_REACHED
$STATE,12848,begin surface coast
$FINISH,1.0,1.022334
$STATE,12860,end surface coast,CONTROL_FINISHED_OK
$STATE,12860,begin surface
$SM_CCo,12938,0.00,0.000,0,0,686,585.29
$SM_GC,1.80,7.90,0.00,0.00,0.031,0.000,0.000,144,1822,686,-8.33,0.62,585.29
$IRIDIUM_FIX,2111.01,12559.43,041110,040438
$TT8_MAMPS,0.026215
$HUMID,44.88
$INTERNAL_PRESSURE,8.66703
$TCM_TEMP,24.10
$XPDR_PINGS,90
$24V_AH,22.1,83.498
$10V_AH,10.1,53.006
$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,23.200,114.050,732.025,0.000,0.000,24.137,40.539,181.375,22.500,0.000,17.684,2929.781,6392.236,724.016,2888.768,417.370,0.000,1915.465,0.000,2644.402,0.000,0.844,0.000
$DEVICE_MAMPS,226.440,112.455,1446.615,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,807.262,1008.255,1278.099,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333704
$DATA_FILE_SIZE,70225,1184
$CAP_FILE_SIZE,151011,0
$CFSIZE,260165632,153038848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.069,232.0,1
$GPS,041110,115900,2116.953,12600.757,34,1.3,40,-2.9