version: 66.08
glider: 166
mission: 3
dive: 461
start: 11 7 110 7 3 0
data:
$ID,166
$MISSION,3
$DIVE,461
$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,-22164.545
$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,34
$R_STBD_OVSHOOT,41
$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
$GPS1,071110,065536,2115.691,12601.400,32,0.9,32,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-69.5
$GPS2,071110,070238,2115.638,12601.431,14,1.0,14,-2.9
$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,5.6,6055,-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,-214.1,0.0,0.0,0,135,0.00,0.00,-116.00,0.000,2,0.000,0.000,152,1751,3468,0,0,0,0,0,0
$GC,139,-1.16,-214.1,6.7,-13.5,16,163,9.45,2.17,-8.65,0.000,4,0.231,0.057,2464,386,3949,0,0,0,0,0,0
$GC,403,-0.90,-214.1,116.5,-38.9,64,412,0.30,2.17,0.00,0.000,6,0.175,0.041,2545,1793,3952,0,0,0,0,0,0
$GC,744,-0.79,-214.1,198.0,-21.5,125,751,0.15,2.20,0.00,0.000,4,0.183,0.045,2589,389,3955,0,0,0,0,0,0
$GC,873,-0.79,-214.1,221.1,-15.6,147,880,0.00,2.12,0.00,0.000,6,0.000,0.039,2577,1805,3956,0,0,0,0,0,0
$GC,1215,-0.76,-214.1,276.1,-15.8,208,1222,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,1805,3957,0,0,0,0,0,0
$GC,1551,-0.74,-214.1,328.1,-14.9,252,1552,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,1805,3956,0,0,0,0,0,0
$GC,1868,-0.74,-214.1,375.8,-14.3,282,1873,0.12,2.25,0.00,0.000,4,0.174,0.047,2604,382,3955,0,0,0,0,0,0
$GC,1905,-0.80,-214.1,380.9,-13.1,284,1913,0.00,2.20,0.00,0.000,6,0.000,0.041,2593,1804,3955,0,0,0,0,0,0
$GC,2232,-0.86,-214.1,420.4,-12.2,315,2236,0.00,2.15,0.00,0.000,4,0.000,0.047,2582,3218,3954,0,0,0,0,0,0
$GC,2280,-0.96,-214.1,426.0,-10.9,319,2285,0.15,2.12,0.00,0.000,6,0.074,0.033,2501,1792,3954,0,0,0,0,0,0
$GC,2607,-0.88,-214.1,483.6,-17.0,349,2612,0.20,2.17,0.00,0.000,4,0.169,0.046,2560,397,3952,0,0,0,0,0,0
$GC,2684,-0.92,-214.1,494.5,-12.8,355,2688,0.00,2.15,0.00,0.000,6,0.000,0.042,2553,1800,3952,0,0,0,0,0,0
$GC,3010,-0.92,-214.1,537.7,-13.4,385,3014,0.00,2.15,0.00,0.000,4,0.000,0.052,2563,3205,3950,0,0,0,0,0,0
$GC,3064,-0.97,-214.1,544.2,-12.1,389,3068,0.10,2.12,0.00,0.000,6,0.099,0.035,2506,1790,3949,0,0,0,0,0,0
$GC,3404,-0.91,-214.1,604.8,-17.6,420,3409,0.15,2.20,0.00,0.000,4,0.181,0.050,2546,392,3946,0,0,0,0,0,0
$GC,3483,-0.91,-214.1,617.3,-15.0,423,3489,0.00,2.17,0.00,0.000,6,0.000,0.045,2542,1796,3946,0,0,0,0,0,0
$GC,3799,-0.91,-214.1,664.9,-14.8,439,3803,0.00,2.17,0.00,0.000,4,0.000,0.054,2532,3213,3943,0,0,0,0,0,0
$GC,3843,-0.93,-214.1,671.0,-13.1,441,3847,0.00,2.15,0.00,0.000,6,0.000,0.039,2532,1803,3943,0,0,0,0,0,0
$GC,4166,-0.90,-214.1,719.1,-14.8,457,4170,0.00,2.17,0.00,0.000,4,0.000,0.053,2532,393,3940,0,0,0,0,0,0
$GC,4199,-0.88,-214.1,724.6,-15.7,458,4207,0.12,2.17,0.00,0.000,6,0.177,0.047,2554,1804,3939,0,0,0,0,0,0
$GC,4517,-0.88,-214.1,765.4,-12.6,474,4518,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,1804,3936,0,0,0,0,0,0
$GC,4825,-0.90,-214.1,804.5,-12.9,489,4829,0.00,2.22,0.00,0.000,4,0.000,0.055,2554,396,3932,0,0,0,0,0,0
$GC,4869,-0.92,-214.1,810.6,-13.0,491,4874,0.00,2.20,0.00,0.000,6,0.000,0.050,2554,1796,3932,0,0,0,0,0,0
$GC,5192,-0.94,-214.1,851.2,-12.5,507,5193,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,1797,3930,0,0,0,0,0,0
$GC,5501,-0.96,-214.1,889.3,-12.3,522,5502,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,1797,3927,0,0,0,0,0,0
$GC,5812,-0.98,-214.1,927.4,-12.0,537,5813,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,1797,3924,0,0,0,0,0,0
$GC,6120,-1.01,-214.1,964.5,-11.7,552,6121,0.12,0.00,0.00,0.000,6,0.096,0.000,2499,1797,3922,0,0,0,0,0,0
$STATE,6364,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6364,begin apogee
$GC,6372,-0.23,0.0,1002.8,15.6,564,6564,0.85,0.00,187.12,1.447,6,0.151,0.000,2756,1746,3072,0,0,0,0,0,0
$STATE,6565,end apogee,CONTROL_FINISHED_OK
$STATE,6565,begin climb
$GC,6569,1.16,214.1,1010.8,0.0,573,6782,1.30,2.55,202.48,1.376,4,0.059,0.057,3206,3161,2198,0,0,0,0,0,0
$GC,6817,0.86,214.1,964.9,29.7,585,6822,0.38,2.30,0.00,0.000,6,0.206,0.045,3125,1752,2196,0,0,0,0,0,0
$GC,7146,0.66,214.1,886.2,23.6,601,7148,0.25,0.00,0.00,0.000,6,0.182,0.000,3056,1752,2192,0,0,0,0,0,0
$GC,7455,0.55,214.1,829.9,17.5,616,7460,0.15,2.22,0.00,0.000,4,0.174,0.056,3004,3162,2191,0,0,0,0,0,0
$GC,7482,0.48,214.1,824.9,15.2,617,7486,0.00,2.17,0.00,0.000,6,0.000,0.044,3012,1735,2189,0,0,0,0,0,0
$GC,7800,0.46,234.4,783.2,13.0,632,7826,0.00,2.28,18.65,1.245,4,0.000,0.057,3023,346,2116,0,0,0,0,0,0
$GC,7843,0.42,247.5,777.1,13.3,634,7865,0.17,2.20,14.20,1.193,6,0.164,0.045,2977,1754,2062,0,0,0,0,0,0
$GC,8195,0.54,328.0,740.4,10.4,651,8282,0.12,2.35,74.25,1.265,4,0.089,0.055,3039,3168,1734,0,0,0,0,0,0
$GC,8300,0.50,328.0,723.2,16.7,655,8307,0.17,2.22,0.00,0.000,6,0.171,0.044,3004,1742,1733,0,0,0,0,0,0
$GC,8618,0.50,328.0,679.3,14.1,671,8622,0.00,2.17,0.00,0.000,4,0.000,0.057,3013,346,1729,0,0,0,0,0,0
$GC,8658,0.50,328.0,673.3,15.0,673,8663,0.00,2.17,0.00,0.000,6,0.000,0.044,3011,1761,1726,0,0,0,0,0,0
$GC,8986,0.50,328.0,627.2,14.0,689,8990,0.00,2.15,0.00,0.000,4,0.000,0.054,3011,3166,1725,0,0,0,0,0,0
$GC,9043,0.53,335.7,619.2,13.6,691,9055,0.00,2.15,6.95,0.988,6,0.000,0.042,3020,1749,1703,0,0,0,0,0,0
$GC,9373,0.53,335.7,571.8,14.8,716,9377,0.00,2.17,0.00,0.000,4,0.000,0.057,3030,346,1702,0,0,0,0,0,0
$GC,9449,0.53,335.7,560.6,15.9,722,9453,0.00,2.17,0.00,0.000,6,0.000,0.047,3030,1748,1700,0,0,0,0,0,0
$GC,9779,0.53,335.7,509.7,14.8,753,9783,0.00,2.17,0.00,0.000,4,0.000,0.052,3029,3171,1700,0,0,0,0,0,0
$GC,9813,0.53,335.7,504.8,14.6,755,9819,0.00,2.17,0.00,0.000,6,0.000,0.041,3037,1739,1699,0,0,0,0,0,0
$GC,10138,0.50,335.7,457.3,14.5,786,10143,0.12,2.20,0.00,0.000,4,0.177,0.056,3014,344,1699,0,0,0,0,0,0
$GC,10182,0.56,352.4,451.8,13.2,789,10207,0.00,2.15,16.42,1.029,6,0.000,0.039,3007,1757,1635,0,0,0,0,0,0
$GC,10524,0.67,402.2,411.1,11.7,821,10576,0.15,2.22,45.67,1.021,4,0.076,0.050,3075,3164,1432,0,0,0,0,0,0
$GC,10620,0.65,402.2,393.8,19.0,829,10627,0.12,2.17,0.00,0.000,6,0.177,0.041,3053,1746,1431,0,0,0,0,0,0
$GC,10947,0.65,403.0,344.3,13.9,860,10951,0.00,2.20,0.00,0.000,4,0.000,0.054,3061,337,1429,0,0,0,0,0,0
$GC,11005,0.65,403.0,335.6,14.7,865,11009,0.00,2.15,0.00,0.000,6,0.000,0.038,3054,1755,1427,0,0,0,0,0,0
$GC,11335,0.65,403.0,288.1,13.9,902,11344,0.00,2.17,0.00,0.000,4,0.000,0.048,3054,3154,1427,0,0,0,0,0,0
$GC,11396,0.72,422.5,279.8,13.0,912,11424,0.00,2.17,19.12,0.869,6,0.000,0.039,3061,1750,1348,0,0,0,0,0,0
$GC,11758,0.72,422.5,224.9,15.7,976,11766,0.00,2.25,0.00,0.000,4,0.000,0.054,3072,349,1348,0,0,0,0,0,0
$GC,11831,0.80,446.3,214.5,12.9,988,11860,0.00,2.17,21.92,0.815,6,0.000,0.037,3072,1762,1251,0,0,0,0,0,0
$GC,12198,0.88,479.1,167.3,12.5,1052,12235,0.15,2.33,29.35,0.776,4,0.073,0.052,3163,343,1118,0,0,0,0,0,0
$GC,12320,0.84,479.1,141.4,21.8,1072,12328,0.15,2.17,0.00,0.000,6,0.138,0.038,3113,1739,1116,0,0,0,0,0,0
$GC,12651,0.96,524.6,92.6,11.9,1133,12698,0.10,2.25,39.45,0.711,4,0.099,0.044,3170,3164,932,0,0,0,0,0,0
$GC,12724,0.92,524.6,80.4,18.5,1143,12733,0.10,2.20,0.00,0.000,6,0.153,0.037,3140,1747,932,0,0,0,0,0,0
$GC,13053,0.92,524.6,26.2,14.7,1204,13061,0.00,2.20,0.00,0.000,4,0.000,0.049,3148,344,931,0,0,0,0,0,0
$GC,13106,0.92,524.6,16.6,17.2,1213,13114,0.00,2.15,0.00,0.000,6,0.000,0.034,3140,1756,930,0,0,0,0,0,0
$STATE,13193,end climb,SURFACE_DEPTH_REACHED
$STATE,13193,begin surface coast
$FINISH,1.2,1.022385
$STATE,13213,end surface coast,CONTROL_FINISHED_OK
$STATE,13213,begin surface
$SM_CCo,13290,0.00,0.000,0,0,930,525.43
$SM_GC,1.66,7.70,0.00,0.00,0.032,0.000,0.000,138,1762,930,-8.35,-1.07,525.43
$IRIDIUM_FIX,2108.69,12558.07,071110,030340
$TT8_MAMPS,0.026964
$HUMID,44.09
$INTERNAL_PRESSURE,8.70609
$TCM_TEMP,24.70
$XPDR_PINGS,103
$24V_AH,22.0,88.107
$10V_AH,10.1,55.571
$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,22.875,114.375,675.600,0.000,0.000,28.017,25.858,185.530,25.750,0.000,15.600,3015.932,6580.432,702.677,2969.769,427.182,0.000,1910.459,0.000,2737.540,0.000,0.843,0.000
$DEVICE_MAMPS,231.030,120.870,1446.615,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,840.219,1056.028,1379.713,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333752
$DATA_FILE_SIZE,73666,1232
$CAP_FILE_SIZE,149419,0
$CFSIZE,260165632,151506944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.089,194.1,1
$GPS,071110,104536,2117.196,12601.327,30,1.5,30,-2.9