version: 66.08
glider: 166
mission: 3
dive: 454
start: 11 6 110 5 10 12
data:
$ID,166
$MISSION,3
$DIVE,454
$N_DIVES,467
$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,-22155.74
$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,36
$R_STBD_OVSHOOT,63
$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
$GPS1,061110,050206,2116.375,12601.079,34,1.0,34,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-66.6
$GPS2,061110,050938,2116.293,12601.060,12,1.2,12,-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,176.5,5178,-21.6,-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,16,-1.20,-177.2,0.0,0.0,0,133,0.00,0.00,-113.78,0.000,2,0.000,0.000,161,1833,3449,0,0,0,0,0,0
$GC,136,-1.25,-213.8,6.1,-12.0,16,161,9.15,2.30,-9.18,0.000,4,0.223,0.056,2438,382,3948,0,0,0,0,0,0
$GC,337,-1.06,-213.8,92.3,-36.8,52,345,0.22,2.15,0.00,0.000,6,0.181,0.039,2495,1780,3950,0,0,0,0,0,0
$GC,669,-0.90,-213.8,192.6,-28.1,113,677,0.20,2.17,0.00,0.000,4,0.182,0.041,2541,3223,3953,0,0,0,0,0,0
$GC,848,-0.88,-213.8,226.7,-17.1,145,856,0.00,2.12,0.00,0.000,6,0.000,0.032,2540,1789,3954,0,0,0,0,0,0
$GC,1182,-0.83,-213.8,294.7,-18.1,206,1191,0.12,2.17,0.00,0.000,4,0.182,0.045,2573,391,3955,0,0,0,0,0,0
$GC,1266,-0.83,-213.8,309.3,-17.0,216,1274,0.00,2.17,0.00,0.000,6,0.000,0.040,2560,1809,3955,0,0,0,0,0,0
$GC,1593,-0.83,-213.8,361.5,-15.7,247,1596,0.00,2.12,0.00,0.000,4,0.000,0.048,2550,3215,3954,0,0,0,0,0,0
$GC,1623,-0.85,-213.8,366.1,-15.3,249,1627,0.00,2.10,0.00,0.000,6,0.000,0.033,2551,1801,3953,0,0,0,0,0,0
$GC,1950,-0.87,-213.8,416.2,-16.0,279,1954,0.00,2.15,0.00,0.000,4,0.000,0.046,2550,395,3953,0,0,0,0,0,0
$GC,2065,-0.91,-213.8,434.7,-14.7,289,2073,0.00,2.15,0.00,0.000,6,0.000,0.043,2549,1799,3952,0,0,0,0,0,0
$GC,2391,-0.94,-214.1,479.3,-13.2,320,2392,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1800,3950,0,0,0,0,0,0
$GC,2713,-0.98,-214.1,519.5,-12.0,350,2717,0.00,2.20,0.00,0.000,4,0.000,0.048,2549,398,3948,0,0,0,0,0,0
$GC,2735,-1.01,-214.1,522.9,-12.5,351,2742,0.00,2.12,0.00,0.000,6,0.000,0.041,2540,1805,3948,0,0,0,0,0,0
$GC,3062,-1.04,-214.1,565.6,-14.5,382,3066,0.10,2.15,0.00,0.000,4,0.105,0.050,2498,3203,3945,0,0,0,0,0,0
$GC,3120,-1.02,-214.1,575.0,-17.1,387,3124,0.00,2.10,0.00,0.000,6,0.000,0.036,2498,1801,3944,0,0,0,0,0,0
$GC,3442,-0.97,-214.1,636.7,-19.5,408,3447,0.12,2.22,0.00,0.000,4,0.189,0.050,2535,388,3942,0,0,0,0,0,0
$GC,3528,-0.97,-214.1,651.3,-17.0,412,3532,0.00,2.17,0.00,0.000,6,0.000,0.047,2528,1803,3941,0,0,0,0,0,0
$GC,3856,-0.97,-214.1,704.0,-15.4,428,3860,0.00,2.20,0.00,0.000,4,0.000,0.054,2517,3221,3938,0,0,0,0,0,0
$GC,3913,-1.00,-214.1,712.5,-14.1,430,3920,0.00,2.15,0.00,0.000,6,0.000,0.039,2517,1803,3937,0,0,0,0,0,0
$GC,4229,-1.00,-214.1,758.9,-14.5,446,4233,0.00,2.20,0.00,0.000,4,0.000,0.053,2517,393,3934,0,0,0,0,0,0
$GC,4255,-1.00,-214.1,763.4,-16.0,447,4259,0.00,2.20,0.00,0.000,6,0.000,0.048,2509,1806,3934,0,0,0,0,0,0
$GC,4580,-0.98,-214.1,814.0,-16.0,463,4583,0.00,2.22,0.00,0.000,4,0.000,0.057,2509,389,3931,0,0,0,0,0,0
$GC,4618,-0.95,-214.1,821.1,-17.8,464,4626,0.12,2.20,0.00,0.000,6,0.184,0.050,2530,1809,3930,0,0,0,0,0,0
$GC,4936,-0.97,-214.1,867.8,-14.9,480,4940,0.00,2.22,0.00,0.000,4,0.000,0.054,2530,395,3927,0,0,0,0,0,0
$GC,4999,-1.00,-214.1,877.6,-14.9,483,5003,0.00,2.17,0.00,0.000,6,0.000,0.050,2522,1799,3926,0,0,0,0,0,0
$GC,5326,-1.00,-214.1,928.8,-15.9,499,5330,0.00,2.20,0.00,0.000,4,0.000,0.058,2511,3217,3923,0,0,0,0,0,0
$GC,5347,-1.00,-214.1,932.4,-15.8,500,5351,0.00,2.17,0.00,0.000,6,0.000,0.041,2511,1802,3922,0,0,0,0,0,0
$GC,5674,-1.00,-214.1,984.6,-16.1,516,5678,0.00,2.20,0.00,0.000,4,0.000,0.056,2511,394,3920,0,0,0,0,0,0
$GC,5746,-1.00,-214.1,996.6,-16.6,519,5750,0.00,2.25,0.00,0.000,6,0.000,0.052,2501,1803,3919,0,0,0,0,0,0
$STATE,5776,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5776,begin apogee
$GC,5784,-0.23,0.0,1001.6,16.1,521,5977,0.85,0.00,186.43,1.454,6,0.151,0.000,2757,1742,3072,0,0,0,0,0,0
$STATE,5978,end apogee,CONTROL_FINISHED_OK
$STATE,5978,begin climb
$GC,5982,1.25,214.1,1012.1,0.0,530,6190,1.38,0.00,201.95,1.398,6,0.058,0.000,3240,1742,2199,0,0,0,0,0,0
$GC,6500,0.94,214.1,879.9,31.4,555,6502,0.38,0.00,0.00,0.000,6,0.215,0.000,3147,1742,2191,0,0,0,0,0,0
$GC,6808,0.74,214.1,804.7,23.6,570,6813,0.25,2.17,0.00,0.000,4,0.200,0.054,3084,347,2190,0,0,0,0,0,0
$GC,6837,0.58,214.1,798.3,21.4,571,6842,0.17,2.17,0.00,0.000,6,0.190,0.046,3030,1755,2190,0,0,0,0,0,0
$GC,7153,0.54,214.1,750.5,15.0,586,7157,0.00,2.17,0.00,0.000,4,0.000,0.053,3020,3162,2188,0,0,0,0,0,0
$GC,7217,0.51,214.1,741.1,14.6,589,7221,0.00,2.12,0.00,0.000,6,0.000,0.041,3028,1752,2186,0,0,0,0,0,0
$GC,7546,0.48,214.1,693.6,14.3,605,7548,0.12,0.00,0.00,0.000,6,0.184,0.000,2996,1752,2185,0,0,0,0,0,0
$GC,7853,0.53,255.5,657.4,11.7,620,7894,0.00,0.00,37.62,1.241,6,0.000,0.000,2996,1752,2029,0,0,0,0,0,0
$GC,8205,0.64,316.7,617.9,10.7,637,8270,0.15,2.33,55.62,1.213,4,0.083,0.055,3081,356,1780,0,0,0,0,0,0
$GC,8288,0.57,316.7,603.9,19.1,640,8296,0.20,2.20,0.00,0.000,6,0.168,0.043,3025,1750,1779,0,0,0,0,0,0
$GC,8613,0.57,316.7,557.9,14.1,670,8617,0.00,2.20,0.00,0.000,4,0.000,0.053,3014,3170,1775,0,0,0,0,0,0
$GC,8670,0.62,319.8,550.0,13.7,674,8677,0.00,2.17,0.00,0.000,6,0.000,0.041,3022,1752,1774,0,0,0,0,0,0
$GC,8995,0.64,319.8,503.2,14.8,705,8999,0.00,2.20,0.00,0.000,4,0.000,0.055,3033,347,1773,0,0,0,0,0,0
$GC,9014,0.66,319.8,500.4,14.8,706,9018,0.00,2.17,0.00,0.000,6,0.000,0.040,3030,1761,1771,0,0,0,0,0,0
$GC,9340,0.68,319.8,451.0,14.6,736,9344,0.00,2.15,0.00,0.000,4,0.000,0.050,3031,3160,1771,0,0,0,0,0,0
$GC,9390,0.71,319.8,443.6,13.9,740,9395,0.00,2.12,0.00,0.000,6,0.000,0.041,3039,1748,1770,0,0,0,0,0,0
$GC,9716,0.72,320.9,399.8,13.8,770,9720,0.00,2.17,0.00,0.000,4,0.000,0.054,3049,343,1770,0,0,0,0,0,0
$GC,9745,0.73,320.9,395.8,14.5,772,9749,0.00,2.17,0.00,0.000,6,0.000,0.040,3050,1757,1769,0,0,0,0,0,0
$GC,10071,0.73,320.9,347.7,15.0,802,10075,0.00,2.15,0.00,0.000,4,0.000,0.049,3050,3165,1769,0,0,0,0,0,0
$GC,10099,0.73,320.9,343.2,16.1,804,10103,0.00,2.12,0.00,0.000,6,0.000,0.040,3058,1750,1768,0,0,0,0,0,0
$GC,10427,0.73,320.9,293.1,15.1,838,10435,0.00,2.20,0.00,0.000,4,0.000,0.054,3069,352,1767,0,0,0,0,0,0
$GC,10493,0.77,333.9,284.1,13.2,849,10514,0.00,2.15,15.38,0.891,6,0.000,0.039,3069,1753,1710,0,0,0,0,0,0
$GC,10838,0.79,347.6,236.2,13.2,912,10861,0.00,2.20,13.77,0.835,4,0.000,0.046,3069,3164,1654,0,0,0,0,0,0
$GC,10892,0.82,351.0,228.8,13.7,920,10907,0.00,2.17,4.82,0.617,6,0.000,0.039,3079,1753,1640,0,0,0,0,0,0
$GC,11236,0.88,370.8,184.3,12.9,982,11265,0.12,2.20,18.75,0.799,4,0.089,0.044,3148,3168,1560,0,0,0,0,0,0
$GC,11273,0.83,370.8,177.8,18.0,987,11281,0.17,2.17,0.00,0.000,6,0.175,0.037,3111,1737,1560,0,0,0,0,0,0
$GC,11605,0.83,370.8,129.5,14.9,1048,11613,0.00,2.17,0.00,0.000,4,0.000,0.050,3117,344,1558,0,0,0,0,0,0
$GC,11670,0.92,398.3,121.0,12.4,1059,11701,0.00,2.15,24.90,0.750,6,0.000,0.035,3114,1751,1448,0,0,0,0,0,0
$GC,12023,1.02,439.2,78.0,11.7,1123,12068,0.15,2.15,36.22,0.706,4,0.073,0.041,3181,3166,1281,0,0,0,0,0,0
$GC,12155,0.99,439.2,53.8,18.6,1145,12165,0.10,2.17,0.00,0.000,6,0.163,0.037,3162,1750,1281,0,0,0,0,0,0
$STATE,12448,end climb,SURFACE_DEPTH_REACHED
$STATE,12449,begin surface coast
$FINISH,0.9,1.021309
$STATE,12472,end surface coast,CONTROL_FINISHED_OK
$STATE,12472,begin surface
$SM_CCo,12552,0.00,0.000,0,0,1277,440.31
$SM_GC,1.78,7.90,0.00,0.00,0.037,0.000,0.000,168,1831,1277,-8.33,0.88,440.31
$IRIDIUM_FIX,2113.32,12559.43,061110,010140
$TT8_MAMPS,0.026215
$HUMID,42.75
$INTERNAL_PRESSURE,8.74515
$TCM_TEMP,25.10
$XPDR_PINGS,96
$24V_AH,22.1,86.399
$10V_AH,10.1,54.623
$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,22.000,117.725,595.475,0.000,0.000,38.155,38.632,192.447,24.000,0.000,13.320,2975.725,5998.953,669.707,2937.453,416.031,0.000,1816.506,0.000,2684.613,0.000,0.844,0.000
$DEVICE_MAMPS,223.380,113.985,1453.500,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,820.874,1042.573,1397.455,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333764
$DATA_FILE_SIZE,70207,1204
$CAP_FILE_SIZE,144288,0
$CFSIZE,260165632,152080384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.088,199.0,1
$GPS,061110,084036,2114.008,12601.322,36,1.0,36,-2.8