version: 66.08
glider: 166
mission: 3
dive: 463
start: 11 7 110 14 27 30
data:
$ID,166
$MISSION,3
$DIVE,463
$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,-22167.059
$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,41
$R_STBD_OVSHOOT,44
$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
$GPS1,071110,142006,2118.541,12601.320,38,1.2,38,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-67.8
$GPS2,071110,142708,2118.430,12601.332,15,1.4,15,-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,187.5,9133,-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,-214.1,0.0,0.0,0,96,0.00,0.00,-76.53,0.000,2,0.000,0.000,169,1791,3446,0,0,0,0,0,0
$GC,99,-1.16,-214.1,6.2,-11.2,10,124,9.25,2.25,-9.20,0.000,4,0.223,0.059,2457,385,3947,0,0,0,0,0,0
$GC,351,-0.90,-214.1,113.1,-35.9,56,361,0.32,2.17,0.00,0.000,6,0.174,0.042,2542,1784,3950,0,0,0,0,0,0
$GC,686,-0.78,-214.1,198.5,-23.6,117,694,0.15,2.17,0.00,0.000,4,0.184,0.047,2581,393,3953,0,0,0,0,0,0
$GC,808,-0.78,-214.1,222.5,-16.5,138,816,0.00,2.20,0.00,0.000,6,0.000,0.044,2579,1804,3954,0,0,0,0,0,0
$GC,1152,-0.74,-214.1,279.4,-17.9,199,1159,0.00,2.20,0.00,0.000,4,0.000,0.047,2579,392,3955,0,0,0,0,0,0
$GC,1226,-0.74,-214.1,292.2,-15.6,212,1236,0.10,2.17,0.00,0.000,6,0.137,0.042,2596,1796,3955,0,0,0,0,0,0
$GC,1563,-0.77,-214.1,335.1,-12.8,248,1565,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,1796,3956,0,0,0,0,0,0
$GC,1884,-0.81,-214.1,377.8,-13.5,278,1888,0.00,2.17,0.00,0.000,4,0.000,0.048,2577,3215,3954,0,0,0,0,0,0
$GC,1929,-0.88,-214.1,383.3,-12.2,281,1934,0.00,2.12,0.00,0.000,6,0.000,0.034,2576,1796,3954,0,0,0,0,0,0
$GC,2257,-0.92,-214.1,426.3,-12.3,311,2261,0.00,2.15,0.00,0.000,4,0.000,0.048,2577,393,3953,0,0,0,0,0,0
$GC,2325,-0.96,-214.1,435.2,-13.0,316,2334,0.08,2.20,0.00,0.000,6,0.056,0.043,2513,1807,3953,0,0,0,0,0,0
$GC,2653,-0.91,-214.1,488.0,-16.4,347,2657,0.12,2.20,0.00,0.000,4,0.179,0.051,2541,3219,3951,0,0,0,0,0,0
$GC,2685,-0.91,-214.1,493.5,-13.7,349,2692,0.00,2.12,0.00,0.000,6,0.000,0.037,2541,1801,3951,0,0,0,0,0,0
$GC,3012,-0.91,-214.1,537.6,-13.0,380,3014,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,1801,3949,0,0,0,0,0,0
$GC,3332,-0.91,-214.1,581.8,-14.0,410,3336,0.00,2.22,0.00,0.000,4,0.000,0.053,2541,388,3947,0,0,0,0,0,0
$GC,3361,-0.91,-214.1,586.5,-14.9,412,3365,0.00,2.20,0.00,0.000,6,0.000,0.049,2548,1798,3947,0,0,0,0,0,0
$GC,3695,-0.91,-214.1,630.6,-13.2,432,3696,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,1798,3945,0,0,0,0,0,0
$GC,3999,-0.91,-214.1,671.8,-13.3,447,4003,0.00,2.22,0.00,0.000,4,0.000,0.055,2545,3217,3942,0,0,0,0,0,0
$GC,4035,-0.94,-214.1,676.5,-12.8,448,4043,0.00,2.15,0.00,0.000,6,0.000,0.040,2544,1803,3941,0,0,0,0,0,0
$GC,4351,-0.94,-214.1,720.7,-13.9,464,4355,0.00,2.22,0.00,0.000,4,0.000,0.055,2544,388,3939,0,0,0,0,0,0
$GC,4459,-0.94,-214.1,736.3,-15.0,469,4463,0.00,2.17,0.00,0.000,6,0.000,0.048,2536,1801,3937,0,0,0,0,0,0
$GC,4788,-0.94,-214.1,782.1,-13.6,485,4792,0.00,2.20,0.00,0.000,4,0.000,0.057,2525,3209,3933,0,0,0,0,0,0
$GC,4875,-0.96,-214.1,793.5,-12.8,489,4879,0.00,2.15,0.00,0.000,6,0.000,0.041,2526,1790,3933,0,0,0,0,0,0
$GC,5204,-0.94,-214.1,839.9,-14.3,505,5208,0.00,2.20,0.00,0.000,4,0.000,0.057,2525,389,3930,0,0,0,0,0,0
$GC,5281,-0.94,-214.1,852.2,-14.5,508,5289,0.00,2.17,0.00,0.000,6,0.000,0.049,2515,1800,3929,0,0,0,0,0,0
$GC,5600,-0.91,-214.1,900.9,-15.6,524,5604,0.12,2.25,0.00,0.000,4,0.184,0.056,2549,393,3927,0,0,0,0,0,0
$GC,5649,-0.94,-214.1,908.7,-14.8,526,5653,0.00,2.20,0.00,0.000,6,0.000,0.050,2541,1806,3926,0,0,0,0,0,0
$GC,5971,-0.94,-214.1,952.4,-13.7,542,5972,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,1806,3923,0,0,0,0,0,0
$GC,6283,-0.94,-214.1,992.9,-12.7,557,6287,0.00,2.22,0.00,0.000,4,0.000,0.057,2541,391,3921,0,0,0,0,0,0
$GC,6316,-0.94,-214.1,997.8,-13.8,558,6324,0.00,2.20,0.00,0.000,6,0.000,0.051,2531,1801,3921,0,0,0,0,0,0
$STATE,6341,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6341,begin apogee
$GC,6347,-0.23,0.0,1001.1,13.1,560,6541,0.73,0.00,186.85,1.440,6,0.135,0.000,2758,1745,3071,0,0,0,0,0,0
$STATE,6541,end apogee,CONTROL_FINISHED_OK
$STATE,6541,begin climb
$GC,6544,1.16,214.1,1008.9,0.0,569,6753,1.30,0.00,201.18,1.375,6,0.056,0.000,3217,1745,2199,0,0,0,0,0,0
$GC,7059,0.84,214.1,880.0,30.6,594,7064,0.38,2.22,0.00,0.000,4,0.210,0.054,3107,3160,2192,0,0,0,0,0,0
$GC,7083,0.57,214.1,873.1,29.1,595,7087,0.32,2.17,0.00,0.000,6,0.184,0.044,3028,1751,2190,0,0,0,0,0,0
$GC,7404,0.50,214.1,821.5,15.5,611,7408,0.00,2.20,0.00,0.000,4,0.000,0.058,3037,346,2189,0,0,0,0,0,0
$GC,7454,0.42,214.1,812.9,16.9,613,7459,0.20,2.20,0.00,0.000,6,0.168,0.047,2983,1748,2189,0,0,0,0,0,0
$GC,7777,0.47,256.0,772.7,12.1,629,7821,0.00,2.33,38.47,1.278,4,0.000,0.055,2980,3167,2028,0,0,0,0,0,0
$GC,7870,0.54,290.7,761.3,12.4,633,7913,0.00,2.20,33.35,1.245,6,0.000,0.044,2989,1745,1886,0,0,0,0,0,0
$GC,8223,0.60,318.3,716.8,12.7,650,8251,0.12,0.00,26.20,1.217,6,0.086,0.000,3055,1745,1774,0,0,0,0,0,0
$GC,8553,0.53,318.3,656.4,18.5,666,8558,0.15,2.22,0.00,0.000,4,0.174,0.057,3025,342,1770,0,0,0,0,0,0
$GC,8593,0.53,318.3,649.3,15.9,668,8597,0.00,2.17,0.00,0.000,6,0.000,0.044,3025,1756,1769,0,0,0,0,0,0
$GC,8923,0.52,318.3,598.2,15.6,684,8926,0.00,2.15,0.00,0.000,4,0.000,0.054,3025,3162,1767,0,0,0,0,0,0
$GC,9002,0.52,318.3,585.4,15.3,690,9008,0.00,2.17,0.00,0.000,6,0.000,0.042,3035,1742,1767,0,0,0,0,0,0
$GC,9327,0.49,318.3,536.6,15.2,721,9332,0.12,2.20,0.00,0.000,4,0.179,0.057,3011,346,1766,0,0,0,0,0,0
$GC,9357,0.49,318.3,532.4,15.4,723,9361,0.00,2.17,0.00,0.000,6,0.000,0.043,3012,1752,1764,0,0,0,0,0,0
$GC,9684,0.54,359.4,489.8,12.1,753,9732,0.00,2.28,37.72,1.102,4,0.000,0.053,3011,3161,1606,0,0,0,0,0,0
$GC,9792,0.66,404.9,476.8,11.9,762,9841,0.00,2.17,42.55,1.071,6,0.000,0.041,3021,1748,1421,0,0,0,0,0,0
$GC,10159,0.72,424.1,429.0,13.1,796,10186,0.15,2.20,17.85,0.995,4,0.076,0.054,3113,347,1344,0,0,0,0,0,0
$GC,10224,0.65,424.1,414.9,24.1,801,10233,0.22,2.17,0.00,0.000,6,0.159,0.042,3051,1760,1342,0,0,0,0,0,0
$GC,10549,0.65,424.1,357.9,16.4,832,10553,0.00,2.12,0.00,0.000,4,0.000,0.050,3049,3161,1341,0,0,0,0,0,0
$GC,10592,0.69,424.1,351.2,14.7,835,10599,0.00,2.12,0.00,0.000,6,0.000,0.040,3058,1747,1341,0,0,0,0,0,0
$GC,10918,0.69,424.1,302.2,15.9,866,10922,0.00,2.15,0.00,0.000,4,0.000,0.054,3068,346,1341,0,0,0,0,0,0
$GC,10937,0.69,424.1,299.2,16.1,867,10943,0.00,2.12,0.00,0.000,6,0.000,0.038,3068,1755,1340,0,0,0,0,0,0
$GC,11266,0.69,424.1,246.4,15.5,928,11275,0.00,2.25,0.00,0.000,4,0.000,0.054,3078,343,1340,0,0,0,0,0,0
$GC,11288,0.69,424.1,243.3,15.7,931,11295,0.00,2.12,0.00,0.000,6,0.000,0.038,3079,1750,1340,0,0,0,0,0,0
$GC,11619,0.69,424.1,192.5,14.7,992,11627,0.00,2.17,0.00,0.000,4,0.000,0.047,3078,3162,1340,0,0,0,0,0,0
$GC,11658,0.72,427.3,187.3,13.7,998,11667,0.00,2.17,4.47,0.562,6,0.000,0.040,3089,1746,1329,0,0,0,0,0,0
$GC,11995,0.76,440.0,138.7,13.3,1059,12019,0.00,2.22,13.05,0.721,4,0.000,0.054,3100,353,1277,0,0,0,0,0,0
$GC,12097,0.90,498.7,125.4,11.3,1076,12156,0.00,2.15,50.88,0.751,6,0.000,0.036,3099,1755,1037,0,0,0,0,0,0
$GC,12477,1.12,601.8,86.5,9.4,1144,12575,0.28,2.22,86.65,0.695,4,0.052,0.044,3226,3158,617,0,0,0,0,0,0
$GC,12597,1.02,601.8,57.4,27.3,1160,12605,0.17,2.20,0.00,0.000,6,0.149,0.037,3173,1746,615,0,0,0,0,0,0
$STATE,12837,end climb,SURFACE_DEPTH_REACHED
$STATE,12837,begin surface coast
$FINISH,0.9,1.008902
$STATE,12855,end surface coast,CONTROL_FINISHED_OK
$STATE,12855,begin surface
$SM_CCo,12932,0.00,0.000,0,0,611,603.68
$SM_GC,1.71,7.97,0.00,0.00,0.038,0.000,0.000,167,1823,611,-8.34,0.68,603.68
$IRIDIUM_FIX,2111.01,12604.53,071110,101024
$TT8_MAMPS,0.026215
$HUMID,43.26
$INTERNAL_PRESSURE,8.68656
$TCM_TEMP,24.60
$XPDR_PINGS,87
$24V_AH,22.1,88.586
$10V_AH,10.1,55.840
$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,22.275,118.400,739.225,0.000,0.000,25.502,18.832,192.751,21.750,0.000,16.169,2960.728,6285.615,759.921,2913.081,421.058,0.000,1943.562,0.000,2678.563,0.000,0.845,0.000
$DEVICE_MAMPS,223.380,114.750,1440.495,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,823.270,1035.246,1346.612,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333740
$DATA_FILE_SIZE,70154,1208
$CAP_FILE_SIZE,146418,0
$CFSIZE,260165632,151351296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.058,134.1,1
$GPS,071110,180406,2116.297,12601.663,28,1.1,28,-2.9