version: 66.08
glider: 166
mission: 3
dive: 465
start: 11 7 110 21 49 41
data:
$ID,166
$MISSION,3
$DIVE,465
$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,-22169.576
$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,38
$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
$GPS1,071110,214137,2113.677,12601.551,31,1.2,31,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-69.7
$GPS2,071110,214919,2113.552,12601.545,16,1.8,33,-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,351.3,9923,-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,-214.1,0.0,0.0,0,106,0.00,0.00,-86.85,0.000,2,0.000,0.000,168,1769,3499,0,0,0,0,0,0
$GC,109,-1.16,-214.1,6.6,-12.7,12,134,9.25,2.25,-7.93,0.000,4,0.222,0.055,2437,3207,3949,0,0,0,0,0,0
$GC,212,-0.90,-214.1,54.4,-38.5,29,221,0.30,2.15,0.00,0.000,6,0.171,0.033,2535,1788,3952,0,0,0,0,0,0
$GC,538,-0.77,-214.1,146.9,-22.5,90,548,0.17,2.17,0.00,0.000,4,0.172,0.045,2587,398,3953,0,0,0,0,0,0
$GC,665,-0.74,-214.1,170.6,-17.9,111,672,0.00,2.10,0.00,0.000,6,0.000,0.038,2577,1801,3954,0,0,0,0,0,0
$GC,1006,-0.70,-214.1,229.1,-17.9,172,1014,0.15,2.22,0.00,0.000,4,0.174,0.047,2619,392,3956,0,0,0,0,0,0
$GC,1042,-0.72,-214.1,234.4,-15.6,177,1049,0.00,2.12,0.00,0.000,6,0.000,0.039,2609,1808,3956,0,0,0,0,0,0
$GC,1381,-0.77,-214.1,278.9,-13.2,238,1390,0.00,2.15,0.00,0.000,4,0.000,0.045,2596,3210,3956,0,0,0,0,0,0
$GC,1419,-0.84,-214.1,284.0,-11.9,244,1427,0.00,2.12,0.00,0.000,6,0.000,0.033,2600,1807,3956,0,0,0,0,0,0
$GC,1757,-0.89,-214.1,325.4,-11.6,286,1762,0.15,2.17,0.00,0.000,4,0.078,0.045,2523,399,3956,0,0,0,0,0,0
$GC,1808,-0.83,-214.1,333.6,-18.1,290,1813,0.20,2.12,0.00,0.000,6,0.157,0.040,2568,1811,3955,0,0,0,0,0,0
$GC,2133,-0.83,-214.1,381.6,-13.8,320,2137,0.00,2.12,0.00,0.000,4,0.000,0.047,2563,3213,3955,0,0,0,0,0,0
$GC,2179,-0.88,-214.1,387.5,-12.7,324,2183,0.00,2.10,0.00,0.000,6,0.000,0.033,2563,1801,3955,0,0,0,0,0,0
$GC,2505,-0.90,-214.1,430.3,-13.1,354,2509,0.00,2.17,0.00,0.000,4,0.000,0.047,2563,388,3954,0,0,0,0,0,0
$GC,2544,-0.90,-214.1,435.8,-13.7,357,2551,0.00,2.17,0.00,0.000,6,0.000,0.043,2562,1806,3954,0,0,0,0,0,0
$GC,2870,-0.92,-214.1,476.8,-13.1,388,2871,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,1807,3952,0,0,0,0,0,0
$GC,3192,-0.95,-214.1,516.0,-11.8,418,3198,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,1807,3950,0,0,0,0,0,0
$GC,3521,-0.98,-214.1,555.0,-11.6,449,3525,0.12,2.17,0.00,0.000,4,0.091,0.050,2508,3207,3948,0,0,0,0,0,0
$GC,3600,-0.97,-214.1,567.3,-15.3,455,3607,0.00,2.15,0.00,0.000,6,0.000,0.036,2508,1794,3946,0,0,0,0,0,0
$GC,3924,-0.91,-214.1,623.4,-17.5,480,3929,0.15,2.17,0.00,0.000,4,0.176,0.050,2548,396,3944,0,0,0,0,0,0
$GC,3997,-0.91,-214.1,635.1,-14.3,483,4001,0.00,2.15,0.00,0.000,6,0.000,0.046,2542,1796,3944,0,0,0,0,0,0
$GC,4313,-0.91,-214.1,681.3,-14.3,498,4314,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,1796,3941,0,0,0,0,0,0
$GC,4622,-0.91,-214.1,726.1,-14.5,513,4626,0.00,2.22,0.00,0.000,4,0.000,0.054,2542,388,3939,0,0,0,0,0,0
$GC,4650,-0.91,-214.1,730.4,-15.8,514,4654,0.00,2.20,0.00,0.000,6,0.000,0.047,2532,1811,3939,0,0,0,0,0,0
$GC,4966,-0.91,-214.1,775.9,-14.4,529,4967,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,1812,3935,0,0,0,0,0,0
$GC,5276,-0.91,-214.1,819.5,-13.7,544,5277,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,1811,3932,0,0,0,0,0,0
$GC,5587,-0.91,-214.1,862.3,-13.5,559,5588,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,1812,3930,0,0,0,0,0,0
$GC,5894,-0.91,-214.1,905.6,-14.1,574,5895,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,1812,3928,0,0,0,0,0,0
$GC,6203,-0.91,-214.1,948.5,-13.9,589,6207,0.00,2.25,0.00,0.000,4,0.000,0.057,2532,394,3925,0,0,0,0,0,0
$GC,6232,-0.91,-214.1,952.5,-14.7,590,6236,0.00,2.22,0.00,0.000,6,0.000,0.056,2522,1798,3924,0,0,0,0,0,0
$GC,6553,-0.91,-214.1,999.4,-14.6,606,6554,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,1798,3922,0,0,0,0,0,0
$STATE,6572,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6572,begin apogee
$GC,6578,-0.23,0.0,1002.4,14.8,607,6770,0.75,0.00,186.73,1.440,6,0.138,0.000,2756,1745,3072,0,0,0,0,0,0
$STATE,6771,end apogee,CONTROL_FINISHED_OK
$STATE,6771,begin climb
$GC,6773,1.16,214.1,1012.3,0.0,616,6987,1.33,2.42,201.95,1.380,4,0.057,0.057,3227,352,2198,0,0,0,0,0,0
$GC,7008,0.82,214.1,971.4,29.2,627,7016,0.47,2.35,0.00,0.000,6,0.208,0.047,3110,1748,2196,0,0,0,0,0,0
$GC,7327,0.63,214.1,899.9,23.0,643,7332,0.22,2.22,0.00,0.000,4,0.190,0.053,3040,3173,2191,0,0,0,0,0,0
$GC,7360,0.52,214.1,892.6,18.7,644,7367,0.15,2.20,0.00,0.000,6,0.188,0.044,3011,1741,2189,0,0,0,0,0,0
$GC,7676,0.47,214.1,846.8,14.6,660,7677,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,1741,2188,0,0,0,0,0,0
$GC,7987,0.42,214.1,802.5,14.4,675,7989,0.12,0.00,0.00,0.000,6,0.185,0.000,2978,1741,2187,0,0,0,0,0,0
$GC,8294,0.49,273.1,766.2,11.3,690,8357,0.00,2.38,54.25,1.291,4,0.000,0.054,2974,3169,1958,0,0,0,0,0,0
$GC,8376,0.58,320.2,756.6,11.8,693,8427,0.12,2.22,44.90,1.246,6,0.082,0.042,3045,1740,1766,0,0,0,0,0,0
$GC,8735,0.53,320.2,692.6,17.6,711,8740,0.12,2.22,0.00,0.000,4,0.179,0.057,3022,337,1761,0,0,0,0,0,0
$GC,8764,0.50,320.2,687.6,16.6,712,8768,0.00,2.20,0.00,0.000,6,0.000,0.044,3022,1762,1758,0,0,0,0,0,0
$GC,9086,0.49,320.2,637.9,15.0,728,9090,0.00,2.17,0.00,0.000,4,0.000,0.054,3022,3170,1757,0,0,0,0,0,0
$GC,9142,0.49,322.2,629.5,13.8,730,9150,0.12,2.15,0.00,0.000,6,0.174,0.042,3001,1745,1757,0,0,0,0,0,0
$GC,9463,0.57,370.4,592.1,11.8,749,9519,0.00,2.33,45.92,1.180,4,0.000,0.057,3010,346,1560,0,0,0,0,0,0
$GC,9562,0.70,428.6,580.0,11.4,757,9625,0.15,2.17,54.10,1.151,6,0.076,0.041,3081,1753,1324,0,0,0,0,0,0
$GC,9942,0.64,428.6,500.4,21.6,793,9946,0.12,2.20,0.00,0.000,4,0.182,0.057,3045,3160,1320,0,0,0,0,0,0
$GC,10015,0.69,428.6,487.7,14.9,799,10022,0.00,2.15,0.00,0.000,6,0.000,0.043,3053,1748,1319,0,0,0,0,0,0
$GC,10342,0.69,428.6,434.2,16.3,830,10346,0.00,2.17,0.00,0.000,4,0.000,0.057,3064,344,1318,0,0,0,0,0,0
$GC,10428,0.71,428.6,419.7,15.6,837,10432,0.00,2.17,0.00,0.000,6,0.000,0.041,3064,1753,1315,0,0,0,0,0,0
$GC,10757,0.71,428.6,362.6,16.7,867,10761,0.00,2.20,0.00,0.000,4,0.000,0.055,3075,347,1315,0,0,0,0,0,0
$GC,10790,0.71,428.6,356.6,17.2,870,10795,0.00,2.15,0.00,0.000,6,0.000,0.041,3074,1753,1315,0,0,0,0,0,0
$GC,11116,0.67,428.6,301.0,17.9,900,11120,0.00,2.12,0.00,0.000,4,0.000,0.048,3074,3164,1315,0,0,0,0,0,0
$GC,11179,0.71,428.6,291.0,14.9,910,11187,0.00,2.17,0.00,0.000,6,0.000,0.041,3084,1754,1315,0,0,0,0,0,0
$GC,11523,0.71,428.6,235.6,15.0,971,11529,0.00,2.17,0.00,0.000,4,0.000,0.054,3095,344,1315,0,0,0,0,0,0
$GC,11608,0.73,428.6,221.9,14.9,986,11619,0.00,2.17,0.00,0.000,6,0.000,0.037,3095,1758,1314,0,0,0,0,0,0
$GC,11956,0.73,428.6,167.6,14.5,1047,11963,0.00,2.12,0.00,0.000,4,0.000,0.046,3093,3164,1314,0,0,0,0,0,0
$GC,11997,0.75,428.6,162.2,14.7,1053,12003,0.00,2.15,0.00,0.000,6,0.000,0.039,3102,1740,1314,0,0,0,0,0,0
$GC,12328,0.83,476.8,116.6,11.8,1114,12375,0.00,2.28,41.28,0.741,4,0.000,0.052,3112,346,1128,0,0,0,0,0,0
$GC,12484,1.05,559.9,96.6,10.3,1140,12565,0.15,2.15,71.10,0.713,6,0.039,0.034,3204,1754,789,0,0,0,0,0,0
$STATE,12884,end climb,SURFACE_DEPTH_REACHED
$STATE,12884,begin surface coast
$FINISH,1.1,1.009944
$STATE,12896,end surface coast,CONTROL_FINISHED_OK
$STATE,12896,begin surface
$SM_CCo,12975,0.00,0.000,0,0,783,561.25
$SM_GC,1.86,8.05,0.00,0.00,0.040,0.000,0.000,157,1757,783,-8.35,-1.22,561.25
$IRIDIUM_FIX,2108.69,12559.94,071110,181851
$TT8_MAMPS,0.026215
$HUMID,45.15
$INTERNAL_PRESSURE,8.67679
$TCM_TEMP,24.20
$XPDR_PINGS,85
$24V_AH,22.1,89.074
$10V_AH,10.1,56.108
$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,22.400,105.250,700.225,0.000,0.000,23.672,42.318,196.092,21.250,0.000,34.490,2949.138,6425.094,734.795,2903.332,410.826,0.000,1873.524,0.000,2632.556,0.000,0.846,0.000
$DEVICE_MAMPS,221.850,115.515,1440.495,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,827.328,1041.921,1349.191,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,70111,1213
$CAP_FILE_SIZE,141075,0
$CFSIZE,260165632,151191552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.168,208.4,1
$GPS,081110,012706,2114.649,12600.486,34,1.4,34,-2.9