version: 66.08
glider: 166
mission: 3
dive: 462
start: 11 7 110 10 53 42
data:
$ID,166
$MISSION,3
$DIVE,462
$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,-22165.799
$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,37
$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
$GPS1,071110,104536,2117.196,12601.327,30,1.5,30,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-64.6
$GPS2,071110,105307,2117.108,12601.355,9,1.7,15,-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,3.5,3330,-21.5,-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,-1.20,-179.2,0.0,0.0,0,112,0.00,0.00,-92.82,0.000,2,0.000,0.000,141,1762,3250,0,0,0,0,0,0
$GC,115,-1.24,-214.1,5.1,-9.9,13,147,9.25,0.00,-13.77,0.000,6,0.225,0.000,2431,1762,3947,0,0,0,0,0,0
$GC,464,-1.00,-214.1,148.2,-36.6,77,473,0.25,2.17,0.00,0.000,4,0.194,0.044,2521,390,3950,0,0,0,0,0,0
$GC,719,-0.88,-214.1,214.9,-24.6,123,727,0.17,2.12,0.00,0.000,6,0.177,0.040,2554,1799,3952,0,0,0,0,0,0
$GC,1056,-0.84,-214.1,281.8,-19.3,184,1064,0.00,2.22,0.00,0.000,4,0.000,0.044,2554,386,3953,0,0,0,0,0,0
$GC,1084,-0.81,-214.1,286.8,-18.7,188,1093,0.10,2.17,0.00,0.000,6,0.145,0.039,2574,1795,3953,0,0,0,0,0,0
$GC,1419,-0.83,-214.1,341.0,-16.2,226,1423,0.00,2.12,0.00,0.000,4,0.000,0.046,2563,3211,3952,0,0,0,0,0,0
$GC,1455,-0.89,-214.1,346.4,-15.0,228,1463,0.00,2.15,0.00,0.000,6,0.000,0.034,2563,1800,3953,0,0,0,0,0,0
$GC,1782,-0.92,-214.1,393.7,-14.0,259,1786,0.00,2.17,0.00,0.000,4,0.000,0.047,2563,388,3953,0,0,0,0,0,0
$GC,1866,-0.97,-214.1,405.3,-13.2,266,1874,0.00,2.17,0.00,0.000,6,0.000,0.041,2554,1800,3952,0,0,0,0,0,0
$GC,2193,-1.00,-214.1,454.2,-14.3,297,2198,0.10,2.15,0.00,0.000,4,0.099,0.046,2492,3215,3951,0,0,0,0,0,0
$GC,2226,-1.00,-214.1,460.1,-18.2,299,2234,0.00,2.12,0.00,0.000,6,0.000,0.034,2493,1793,3951,0,0,0,0,0,0
$GC,2552,-0.94,-214.1,522.1,-19.3,330,2557,0.15,2.17,0.00,0.000,4,0.180,0.045,2536,388,3949,0,0,0,0,0,0
$GC,2642,-0.97,-214.1,537.3,-16.4,337,2649,0.00,2.12,0.00,0.000,6,0.000,0.039,2534,1798,3948,0,0,0,0,0,0
$GC,2967,-0.97,-214.1,588.2,-15.1,368,2969,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,1799,3946,0,0,0,0,0,0
$GC,3281,-0.97,-214.1,634.5,-14.8,387,3282,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,1799,3944,0,0,0,0,0,0
$GC,3589,-0.99,-214.1,680.3,-14.7,402,3593,0.00,2.17,0.00,0.000,4,0.000,0.050,2532,3209,3941,0,0,0,0,0,0
$GC,3622,-1.03,-214.1,685.3,-13.3,403,3626,0.00,2.12,0.00,0.000,6,0.000,0.035,2532,1793,3940,0,0,0,0,0,0
$GC,3940,-1.03,-214.1,731.4,-14.6,418,3944,0.00,2.15,0.00,0.000,4,0.000,0.048,2532,392,3937,0,0,0,0,0,0
$GC,3984,-1.05,-214.1,738.6,-15.2,420,3988,0.00,2.15,0.00,0.000,6,0.000,0.043,2523,1807,3937,0,0,0,0,0,0
$GC,4309,-1.05,-214.1,788.6,-15.6,436,4312,0.00,2.20,0.00,0.000,4,0.000,0.050,2522,399,3934,0,0,0,0,0,0
$GC,4371,-1.05,-214.1,799.4,-16.2,439,4375,0.00,2.15,0.00,0.000,6,0.000,0.042,2512,1811,3933,0,0,0,0,0,0
$GC,4698,-1.05,-214.1,850.4,-15.0,455,4702,0.00,2.20,0.00,0.000,4,0.000,0.050,2512,398,3929,0,0,0,0,0,0
$GC,4726,-1.05,-214.1,855.0,-16.6,456,4731,0.00,2.17,0.00,0.000,6,0.000,0.046,2502,1805,3929,0,0,0,0,0,0
$GC,5049,-1.03,-214.1,904.4,-15.0,472,5053,0.00,2.15,0.00,0.000,4,0.000,0.052,2492,3210,3926,0,0,0,0,0,0
$GC,5072,-1.01,-214.1,908.1,-15.3,473,5076,0.00,2.12,0.00,0.000,6,0.000,0.038,2492,1789,3926,0,0,0,0,0,0
$GC,5395,-0.98,-214.1,958.7,-15.8,489,5400,0.12,2.20,0.00,0.000,4,0.187,0.053,2523,388,3923,0,0,0,0,0,0
$GC,5467,-1.00,-214.1,969.4,-13.6,492,5471,0.00,2.17,0.00,0.000,6,0.000,0.047,2515,1798,3922,0,0,0,0,0,0
$STATE,5698,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5698,begin apogee
$GC,5706,-0.23,0.0,1001.5,13.8,503,5900,0.80,0.00,185.85,1.439,6,0.143,0.000,2761,1739,3072,0,0,0,0,0,0
$STATE,5901,end apogee,CONTROL_FINISHED_OK
$STATE,5901,begin climb
$GC,5905,1.24,214.1,1008.8,0.0,512,6110,1.38,0.00,199.30,1.372,6,0.055,0.000,3244,1739,2199,0,0,0,0,0,0
$GC,6418,0.92,214.1,874.3,32.6,537,6420,0.40,0.00,0.00,0.000,6,0.215,0.000,3144,1739,2192,0,0,0,0,0,0
$GC,6725,0.73,214.1,797.8,23.8,552,6730,0.25,2.22,0.00,0.000,4,0.193,0.052,3061,3168,2191,0,0,0,0,0,0
$GC,6754,0.61,214.1,791.6,20.3,553,6759,0.12,2.15,0.00,0.000,6,0.195,0.042,3039,1749,2188,0,0,0,0,0,0
$GC,7070,0.56,214.1,743.3,14.8,568,7074,0.00,2.17,0.00,0.000,4,0.000,0.056,3047,345,2188,0,0,0,0,0,0
$GC,7134,0.50,214.1,732.9,16.1,571,7138,0.15,2.17,0.00,0.000,6,0.176,0.044,3004,1756,2188,0,0,0,0,0,0
$GC,7464,0.54,245.6,691.6,12.3,587,7499,0.00,2.30,28.48,1.219,4,0.000,0.054,2999,3170,2070,0,0,0,0,0,0
$GC,7558,0.59,263.4,679.3,13.0,591,7580,0.00,2.17,17.70,1.161,6,0.000,0.043,3007,1752,1998,0,0,0,0,0,0
$GC,7908,0.64,285.1,635.7,12.8,608,7934,0.12,2.25,20.60,1.165,4,0.088,0.056,3084,345,1909,0,0,0,0,0,0
$GC,7958,0.57,285.1,626.2,19.1,610,7963,0.20,2.20,0.00,0.000,6,0.174,0.044,3030,1755,1907,0,0,0,0,0,0
$GC,8280,0.57,285.1,574.3,16.5,632,8284,0.00,2.17,0.00,0.000,4,0.000,0.052,3029,3162,1903,0,0,0,0,0,0
$GC,8343,0.60,285.1,563.6,16.0,637,8347,0.00,2.17,0.00,0.000,6,0.000,0.042,3037,1745,1903,0,0,0,0,0,0
$GC,8668,0.60,285.1,513.1,14.5,667,8672,0.00,2.20,0.00,0.000,4,0.000,0.056,3048,346,1902,0,0,0,0,0,0
$GC,8708,0.60,285.1,506.6,16.2,670,8713,0.00,2.15,0.00,0.000,6,0.000,0.042,3047,1754,1900,0,0,0,0,0,0
$GC,9034,0.60,285.1,455.5,14.7,700,9038,0.00,2.15,0.00,0.000,4,0.000,0.051,3047,3162,1900,0,0,0,0,0,0
$GC,9053,0.60,285.1,452.7,15.9,701,9057,0.00,2.15,0.00,0.000,6,0.000,0.041,3056,1742,1899,0,0,0,0,0,0
$GC,9379,0.58,285.1,404.0,14.1,731,9381,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,1742,1899,0,0,0,0,0,0
$GC,9699,0.60,300.0,360.7,13.1,761,9718,0.00,0.00,13.20,0.928,6,0.000,0.000,3056,1742,1849,0,0,0,0,0,0
$GC,10036,0.60,300.0,312.7,14.1,793,10040,0.00,2.17,0.00,0.000,4,0.000,0.054,3066,340,1848,0,0,0,0,0,0
$GC,10080,0.62,300.5,306.0,13.9,796,10088,0.00,2.20,0.00,0.000,6,0.000,0.040,3066,1751,1847,0,0,0,0,0,0
$GC,10413,0.64,313.6,259.7,13.2,853,10434,0.00,2.25,14.10,0.835,4,0.000,0.048,3066,3167,1792,0,0,0,0,0,0
$GC,10511,0.67,322.9,247.1,13.4,869,10526,0.00,2.15,10.00,0.777,6,0.000,0.039,3075,1747,1755,0,0,0,0,0,0
$GC,10855,0.73,350.6,202.1,12.5,931,10889,0.00,2.25,25.73,0.806,4,0.000,0.054,3085,338,1642,0,0,0,0,0,0
$GC,11030,0.78,361.4,179.4,13.3,961,11051,0.00,2.17,11.32,0.726,6,0.000,0.037,3085,1758,1597,0,0,0,0,0,0
$GC,11378,0.86,385.1,132.3,12.7,1024,11408,0.00,2.15,21.38,0.730,4,0.000,0.044,3085,3165,1501,0,0,0,0,0,0
$GC,11433,0.95,390.9,124.8,13.6,1032,11449,0.10,2.20,6.88,0.601,6,0.044,0.038,3164,1747,1478,0,0,0,0,0,0
$GC,11770,0.91,390.9,71.1,16.0,1094,11778,0.00,2.20,0.00,0.000,4,0.000,0.050,3169,349,1478,0,0,0,0,0,0
$GC,11827,0.89,390.9,61.7,16.5,1103,11837,0.12,2.15,0.00,0.000,6,0.145,0.035,3129,1758,1476,0,0,0,0,0,0
$GC,12159,0.89,390.9,14.3,15.0,1164,12167,0.00,2.12,0.00,0.000,4,0.000,0.043,3119,3151,1477,0,0,0,0,0,0
$STATE,12236,end climb,SURFACE_DEPTH_REACHED
$STATE,12236,begin surface coast
$FINISH,0.9,1.020050
$STATE,12265,end surface coast,CONTROL_FINISHED_OK
$STATE,12265,begin surface
$SM_CCo,12284,16.20,0.195,1,0,1440,400.08
$SM_GC,1.70,0.00,0.00,16.20,0.000,0.000,0.195,169,1792,1440,-8.35,-0.23,400.08
$IRIDIUM_FIX,2108.69,12558.07,071110,060629
$TT8_MAMPS,0.026964
$HUMID,43.38
$INTERNAL_PRESSURE,8.75492
$TCM_TEMP,25.10
$XPDR_PINGS,85
$24V_AH,22.2,88.322
$10V_AH,10.1,55.705
$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,21.550,108.700,554.525,16.200,0.000,24.291,44.508,193.421,21.250,0.000,15.898,2935.877,5874.488,630.351,2898.756,417.689,0.000,1750.926,0.000,2638.968,0.000,0.845,0.000
$DEVICE_MAMPS,224.910,114.750,1438.965,195.075,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,806.965,1028.487,1387.338,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,70364,1183
$CAP_FILE_SIZE,139665,0
$CFSIZE,260165632,151433216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.082,167.9,1
$GPS,071110,142006,2118.541,12601.320,38,1.2,38,-2.9