version: 66.08
glider: 166
mission: 3
dive: 450
start: 11 5 110 13 48 17
data:
$ID,166
$MISSION,3
$DIVE,450
$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,-22149.213
$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,42
$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
$GPS1,051110,134106,2113.888,12601.337,30,1.0,41,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-65.2
$GPS2,051110,134755,2113.822,12601.338,11,0.9,16,-2.8
$SPEED_LIMITS,0.241,0.344
$TGT_NAME,PICKUP_SOUTH
$TGT_LATLONG,2118.900,12601.200
$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,9.1,9407,-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,-214.1,0.0,0.0,0,92,0.00,0.00,-72.62,0.000,2,0.000,0.000,168,1754,3307,0,0,0,0,0,0
$GC,95,-1.16,-214.1,5.4,-10.5,10,126,9.10,2.25,-12.45,0.000,4,0.220,0.056,2447,3200,3950,0,0,0,0,0,0
$GC,230,-0.93,-214.1,64.2,-37.5,33,239,0.28,2.15,0.00,0.000,6,0.165,0.036,2529,1803,3952,0,0,0,0,0,0
$GC,557,-0.78,-214.1,162.3,-25.3,94,566,0.20,2.22,0.00,0.000,4,0.174,0.045,2588,386,3953,0,0,0,0,0,0
$GC,733,-0.78,-214.1,195.1,-15.9,125,740,0.00,2.12,0.00,0.000,6,0.000,0.039,2580,1803,3955,0,0,0,0,0,0
$GC,1063,-0.74,-214.1,252.0,-15.5,186,1071,0.00,2.22,0.00,0.000,4,0.000,0.045,2580,386,3956,0,0,0,0,0,0
$GC,1117,-0.72,-214.1,261.0,-15.9,195,1125,0.15,2.12,0.00,0.000,6,0.160,0.041,2607,1799,3956,0,0,0,0,0,0
$GC,1458,-0.76,-214.1,302.9,-11.7,255,1462,0.00,2.20,0.00,0.000,4,0.000,0.045,2604,386,3957,0,0,0,0,0,0
$GC,1543,-0.83,-214.1,314.0,-12.6,262,1547,0.00,2.12,0.00,0.000,6,0.000,0.041,2596,1796,3956,0,0,0,0,0,0
$GC,1869,-0.87,-214.1,355.4,-12.9,292,1874,0.10,2.15,0.00,0.000,4,0.105,0.049,2537,3209,3956,0,0,0,0,0,0
$GC,1909,-0.87,-214.1,361.0,-14.2,295,1914,0.00,2.10,0.00,0.000,6,0.000,0.034,2537,1796,3956,0,0,0,0,0,0
$GC,2241,-0.84,-214.1,413.7,-15.6,326,2245,0.12,2.15,0.00,0.000,4,0.173,0.047,2571,398,3954,0,0,0,0,0,0
$GC,2327,-0.88,-214.1,424.8,-12.7,333,2331,0.00,2.12,0.00,0.000,6,0.000,0.041,2565,1805,3954,0,0,0,0,0,0
$GC,2654,-0.91,-214.1,467.3,-13.4,363,2655,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,1805,3953,0,0,0,0,0,0
$GC,2974,-0.94,-214.1,508.8,-13.1,393,2980,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,1805,3951,0,0,0,0,0,0
$GC,3302,-0.98,-214.1,550.0,-11.8,424,3307,0.12,2.17,0.00,0.000,4,0.090,0.050,2507,3214,3948,0,0,0,0,0,0
$GC,3344,-0.96,-214.1,556.0,-15.3,427,3348,0.00,2.12,0.00,0.000,6,0.000,0.036,2507,1803,3948,0,0,0,0,0,0
$GC,3667,-0.89,-214.1,611.6,-17.6,454,3672,0.17,2.20,0.00,0.000,4,0.174,0.050,2555,390,3945,0,0,0,0,0,0
$GC,3769,-0.89,-214.1,625.9,-13.4,458,3776,0.00,2.17,0.00,0.000,6,0.000,0.048,2555,1800,3945,0,0,0,0,0,0
$GC,4085,-0.89,-214.1,668.3,-13.7,474,4089,0.00,2.22,0.00,0.000,4,0.000,0.055,2545,3220,3942,0,0,0,0,0,0
$GC,4110,-0.89,-214.1,671.5,-13.7,475,4114,0.00,2.15,0.00,0.000,6,0.000,0.038,2545,1789,3942,0,0,0,0,0,0
$GC,4432,-0.89,-214.1,718.1,-14.5,491,4436,0.00,2.17,0.00,0.000,4,0.000,0.054,2545,390,3939,0,0,0,0,0,0
$GC,4471,-0.89,-214.1,724.0,-14.9,493,4475,0.00,2.17,0.00,0.000,6,0.000,0.049,2542,1799,3938,0,0,0,0,0,0
$GC,4800,-0.89,-214.1,770.7,-14.1,509,4801,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,1800,3936,0,0,0,0,0,0
$GC,5109,-0.89,-214.1,813.5,-13.6,524,5110,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,1800,3932,0,0,0,0,0,0
$GC,5419,-0.89,-214.1,854.1,-13.0,539,5423,0.00,2.25,0.00,0.000,4,0.000,0.056,2541,396,3930,0,0,0,0,0,0
$GC,5476,-0.89,-214.1,862.0,-13.5,541,5482,0.00,2.17,0.00,0.000,6,0.000,0.050,2531,1801,3930,0,0,0,0,0,0
$GC,5792,-0.89,-214.1,905.2,-13.4,557,5793,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,1800,3926,0,0,0,0,0,0
$GC,6103,-0.89,-214.1,946.6,-13.4,572,6104,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,1800,3924,0,0,0,0,0,0
$GC,6411,-0.89,-214.1,987.6,-13.3,587,6412,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,1800,3922,0,0,0,0,0,0
$STATE,6511,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6511,begin apogee
$GC,6517,-0.23,0.0,1001.0,13.2,592,6710,0.73,0.00,187.18,1.455,6,0.138,0.000,2758,1751,3072,0,0,0,0,0,0
$STATE,6711,end apogee,CONTROL_FINISHED_OK
$STATE,6711,begin climb
$GC,6713,1.16,214.1,1009.1,0.0,601,6921,1.33,0.00,202.15,1.382,6,0.057,0.000,3215,1750,2199,0,0,0,0,0,0
$GC,7228,0.84,214.1,883.8,29.7,626,7233,0.35,2.25,0.00,0.000,4,0.210,0.056,3111,3170,2191,0,0,0,0,0,0
$GC,7271,0.65,214.1,872.8,24.0,628,7276,0.25,2.20,0.00,0.000,6,0.187,0.045,3054,1741,2189,0,0,0,0,0,0
$GC,7598,0.54,214.1,816.8,16.3,644,7603,0.12,2.17,0.00,0.000,4,0.181,0.057,3028,341,2188,0,0,0,0,0,0
$GC,7655,0.49,214.1,807.7,15.3,646,7663,0.12,2.17,0.00,0.000,6,0.175,0.047,2997,1748,2188,0,0,0,0,0,0
$GC,7972,0.50,249.0,768.4,12.4,662,8009,0.00,2.25,32.03,1.275,4,0.000,0.054,2992,3161,2056,0,0,0,0,0,0
$GC,8062,0.51,255.2,756.7,13.6,665,8079,0.00,2.20,7.35,1.048,6,0.000,0.045,3000,1746,2031,0,0,0,0,0,0
$GC,8389,0.53,271.0,713.2,13.2,681,8411,0.00,2.22,15.85,1.197,4,0.000,0.056,3010,340,1966,0,0,0,0,0,0
$GC,8445,0.53,271.0,705.0,14.1,683,8449,0.00,2.20,0.00,0.000,6,0.000,0.045,3011,1757,1964,0,0,0,0,0,0
$GC,8769,0.52,278.1,661.2,13.6,699,8783,0.00,2.25,7.45,1.039,4,0.000,0.054,3011,3166,1938,0,0,0,0,0,0
$GC,8828,0.52,278.1,652.3,14.6,701,8835,0.00,2.15,0.00,0.000,6,0.000,0.043,3021,1750,1938,0,0,0,0,0,0
$GC,9146,0.49,278.1,606.0,14.9,717,9150,0.00,2.20,0.00,0.000,4,0.000,0.057,3032,349,1937,0,0,0,0,0,0
$GC,9190,0.47,278.1,598.9,15.1,719,9198,0.15,2.15,0.00,0.000,6,0.165,0.044,2992,1752,1935,0,0,0,0,0,0
$GC,9516,0.58,349.6,561.3,10.8,750,9588,0.10,2.25,66.65,1.174,4,0.104,0.053,3045,3164,1645,0,0,0,0,0,0
$GC,9625,0.56,349.6,544.4,16.4,759,9630,0.15,2.17,0.00,0.000,6,0.171,0.041,3018,1749,1644,0,0,0,0,0,0
$GC,9950,0.56,349.6,499.9,14.1,789,9951,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,1749,1640,0,0,0,0,0,0
$GC,10274,0.57,349.6,456.0,14.3,819,10278,0.00,2.20,0.00,0.000,4,0.000,0.057,3027,347,1639,0,0,0,0,0,0
$GC,10311,0.61,349.6,449.9,14.6,822,10319,0.00,2.17,0.00,0.000,6,0.000,0.041,3026,1748,1637,0,0,0,0,0,0
$GC,10638,0.63,363.0,405.8,13.3,853,10655,0.00,2.25,12.10,0.965,4,0.000,0.051,3027,3159,1591,0,0,0,0,0,0
$GC,10716,0.72,398.2,395.9,12.4,859,10755,0.10,2.15,33.25,1.014,6,0.094,0.040,3095,1746,1447,0,0,0,0,0,0
$GC,11084,0.64,398.2,324.1,19.8,893,11089,0.17,2.17,0.00,0.000,4,0.171,0.054,3057,346,1444,0,0,0,0,0,0
$GC,11136,0.66,398.2,315.0,15.1,897,11140,0.00,2.15,0.00,0.000,6,0.000,0.038,3058,1755,1441,0,0,0,0,0,0
$GC,11464,0.66,398.2,264.6,15.0,948,11472,0.00,2.15,0.00,0.000,4,0.000,0.047,3057,3152,1442,0,0,0,0,0,0
$GC,11486,0.66,398.2,261.5,15.3,951,11494,0.00,2.12,0.00,0.000,6,0.000,0.039,3066,1748,1441,0,0,0,0,0,0
$GC,11817,0.66,398.2,215.1,14.9,1012,11825,0.00,2.20,0.00,0.000,4,0.000,0.053,3076,351,1441,0,0,0,0,0,0
$GC,11862,0.69,398.2,208.7,14.2,1019,11870,0.00,2.12,0.00,0.000,6,0.000,0.037,3076,1752,1441,0,0,0,0,0,0
$GC,12196,0.75,425.4,163.0,12.7,1080,12231,0.00,2.20,24.73,0.789,4,0.000,0.045,3076,3155,1337,0,0,0,0,0,0
$GC,12266,0.88,461.6,153.8,12.3,1091,12312,0.10,2.15,32.72,0.777,6,0.093,0.038,3152,1749,1189,0,0,0,0,0,0
$GC,12634,0.85,461.6,89.8,16.9,1157,12642,0.15,2.22,0.00,0.000,4,0.162,0.052,3112,343,1187,0,0,0,0,0,0
$GC,12727,1.00,516.6,77.1,11.5,1173,12780,0.10,2.15,46.72,0.708,6,0.046,0.035,3185,1761,966,0,0,0,0,0,0
$STATE,13057,end climb,SURFACE_DEPTH_REACHED
$STATE,13057,begin surface coast
$FINISH,1.1,1.022387
$STATE,13069,end surface coast,CONTROL_FINISHED_OK
$STATE,13069,begin surface
$SM_CCo,13146,0.00,0.000,0,0,959,518.32
$SM_GC,1.62,7.88,0.00,0.00,0.035,0.000,0.000,137,1763,959,-8.35,-1.05,518.32
$IRIDIUM_FIX,2106.38,12559.94,051110,101011
$TT8_MAMPS,0.026964
$HUMID,43.69
$INTERNAL_PRESSURE,8.70609
$TCM_TEMP,24.50
$XPDR_PINGS,93
$24V_AH,22.1,85.406
$10V_AH,10.1,54.070
$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,22.050,109.125,668.175,0.000,0.000,29.771,15.705,184.267,23.250,0.000,17.051,3028.820,6470.467,681.567,2943.060,418.316,0.000,1868.150,0.000,2718.214,0.000,0.846,0.000
$DEVICE_MAMPS,219.555,120.105,1455.030,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,842.369,1056.847,1344.128,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333712
$DATA_FILE_SIZE,73602,1234
$CAP_FILE_SIZE,146906,0
$CFSIZE,260165632,152408064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.070,208.9,1
$GPS,051110,172836,2115.594,12601.261,37,1.0,37,-2.9