version: 66.08
glider: 166
mission: 3
dive: 481
start: 11 10 110 10 15 18
data:
$ID,166
$MISSION,3
$DIVE,481
$N_DIVES,481
$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,-22189.707
$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,33
$R_STBD_OVSHOOT,45
$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
$GPS1,101110,100737,2118.581,12601.134,34,0.9,34,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-62.9
$GPS2,101110,101456,2118.488,12601.056,15,1.5,15,-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,168.2,9242,-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,-214.1,0.0,0.0,0,123,0.00,0.00,-103.05,0.000,2,0.000,0.000,166,1763,3465,0,0,0,0,0,0
$GC,126,-1.16,-214.1,6.2,-10.4,14,151,9.25,2.22,-8.85,0.000,4,0.222,0.058,2455,382,3948,0,0,0,0,0,0
$GC,388,-0.88,-214.1,114.0,-35.4,62,396,0.35,2.17,0.00,0.000,6,0.181,0.039,2545,1793,3951,0,0,0,0,0,0
$GC,726,-0.78,-214.1,200.0,-20.8,123,734,0.17,2.22,0.00,0.000,4,0.174,0.045,2587,380,3954,0,0,0,0,0,0
$GC,812,-0.75,-214.1,215.6,-17.7,137,819,0.00,2.17,0.00,0.000,6,0.000,0.040,2580,1805,3954,0,0,0,0,0,0
$GC,1150,-0.73,-214.1,271.8,-15.6,198,1158,0.00,2.15,0.00,0.000,4,0.000,0.045,2568,3205,3955,0,0,0,0,0,0
$GC,1205,-0.76,-214.1,279.8,-13.4,207,1212,0.00,2.10,0.00,0.000,6,0.000,0.032,2568,1791,3955,0,0,0,0,0,0
$GC,1542,-0.74,-214.1,332.5,-16.6,250,1547,0.12,2.17,0.00,0.000,4,0.173,0.046,2603,396,3956,0,0,0,0,0,0
$GC,1628,-0.83,-214.1,344.6,-12.6,257,1632,0.00,2.12,0.00,0.000,6,0.000,0.039,2598,1810,3955,0,0,0,0,0,0
$GC,1955,-0.88,-214.1,385.6,-12.2,287,1960,0.12,2.12,0.00,0.000,4,0.091,0.046,2523,3208,3954,0,0,0,0,0,0
$GC,1999,-0.86,-214.1,392.4,-15.3,290,2008,0.10,2.15,0.00,0.000,6,0.144,0.034,2553,1795,3954,0,0,0,0,0,0
$GC,2326,-0.86,-214.1,440.5,-14.5,321,2330,0.00,2.15,0.00,0.000,4,0.000,0.047,2553,398,3953,0,0,0,0,0,0
$GC,2356,-0.86,-214.1,445.0,-15.2,323,2361,0.00,2.15,0.00,0.000,6,0.000,0.041,2548,1806,3953,0,0,0,0,0,0
$GC,2684,-0.85,-214.1,493.2,-15.2,353,2688,0.00,2.17,0.00,0.000,4,0.000,0.051,2551,3214,3952,0,0,0,0,0,0
$GC,2714,-0.85,-214.1,497.8,-15.1,355,2718,0.00,2.12,0.00,0.000,6,0.000,0.035,2552,1794,3951,0,0,0,0,0,0
$GC,3039,-0.85,-214.1,545.9,-14.6,385,3043,0.00,2.17,0.00,0.000,4,0.000,0.047,2550,387,3949,0,0,0,0,0,0
$GC,3081,-0.85,-214.1,552.0,-15.5,388,3085,0.00,2.15,0.00,0.000,6,0.000,0.042,2546,1801,3949,0,0,0,0,0,0
$GC,3407,-0.83,-214.1,601.2,-14.0,418,3411,0.00,2.15,0.00,0.000,4,0.000,0.050,2535,3205,3946,0,0,0,0,0,0
$GC,3433,-0.83,-214.1,605.3,-14.9,419,3438,0.12,2.10,0.00,0.000,6,0.163,0.034,2568,1802,3945,0,0,0,0,0,0
$GC,3759,-0.86,-214.1,643.8,-11.9,435,3763,0.00,2.17,0.00,0.000,4,0.000,0.052,2568,397,3943,0,0,0,0,0,0
$GC,3783,-0.88,-214.1,647.2,-12.3,436,3787,0.00,2.15,0.00,0.000,6,0.000,0.046,2567,1794,3943,0,0,0,0,0,0
$GC,4110,-0.91,-214.1,689.6,-13.3,452,4114,0.00,2.22,0.00,0.000,4,0.000,0.057,2567,3219,3941,0,0,0,0,0,0
$GC,4168,-0.99,-214.1,696.7,-11.3,454,4175,0.15,2.15,0.00,0.000,6,0.076,0.037,2497,1802,3939,0,0,0,0,0,0
$GC,4484,-0.92,-214.1,753.0,-17.7,470,4489,0.15,2.25,0.00,0.000,4,0.181,0.054,2536,389,3937,0,0,0,0,0,0
$GC,4574,-0.92,-214.1,767.0,-14.3,474,4578,0.00,2.22,0.00,0.000,6,0.000,0.048,2528,1807,3936,0,0,0,0,0,0
$GC,4897,-0.90,-214.1,814.2,-14.5,490,4898,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,1808,3932,0,0,0,0,0,0
$GC,5207,-0.88,-214.1,858.6,-14.1,505,5211,0.00,2.28,0.00,0.000,4,0.000,0.054,2528,389,3930,0,0,0,0,0,0
$GC,5256,-0.88,-214.1,866.4,-14.1,507,5261,0.15,2.20,0.00,0.000,6,0.166,0.049,2557,1805,3929,0,0,0,0,0,0
$GC,5580,-0.91,-214.1,903.9,-11.6,523,5584,0.00,2.22,0.00,0.000,4,0.000,0.056,2557,397,3927,0,0,0,0,0,0
$GC,5620,-0.94,-214.1,909.1,-12.9,524,5628,0.00,2.25,0.00,0.000,6,0.000,0.054,2555,1807,3927,0,0,0,0,0,0
$GC,5937,-0.97,-214.1,946.8,-11.8,540,5941,0.00,2.25,0.00,0.000,4,0.000,0.057,2555,394,3924,0,0,0,0,0,0
$GC,5966,-0.99,-214.1,950.6,-12.9,541,5970,0.00,2.22,0.00,0.000,6,0.000,0.050,2546,1804,3924,0,0,0,0,0,0
$GC,6282,-0.99,-214.1,990.6,-12.6,556,6284,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,1804,3922,0,0,0,0,0,0
$STATE,6362,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6362,begin apogee
$GC,6368,-0.23,0.0,1000.9,12.6,560,6562,0.68,0.00,186.43,1.437,6,0.135,0.000,2757,1750,3072,0,0,0,0,0,0
$STATE,6563,end apogee,CONTROL_FINISHED_OK
$STATE,6563,begin climb
$GC,6565,1.16,214.1,1010.3,0.0,569,6778,1.30,2.47,201.27,1.375,4,0.056,0.058,3226,349,2199,0,0,0,0,0,0
$GC,6795,0.84,214.1,971.2,29.1,579,6803,0.47,2.35,0.00,0.000,6,0.203,0.049,3113,1745,2197,0,0,0,0,0,0
$GC,7113,0.65,214.1,901.5,21.5,595,7118,0.22,2.22,0.00,0.000,4,0.187,0.053,3043,3167,2192,0,0,0,0,0,0
$GC,7134,0.50,214.1,896.4,20.2,596,7139,0.17,2.15,0.00,0.000,6,0.183,0.041,3006,1747,2190,0,0,0,0,0,0
$GC,7459,0.48,233.6,853.8,13.0,612,7485,0.00,2.30,17.98,1.260,4,0.000,0.060,3014,344,2119,0,0,0,0,0,0
$GC,7509,0.46,246.7,846.5,13.3,614,7532,0.00,2.22,14.07,1.213,6,0.000,0.044,3014,1755,2065,0,0,0,0,0,0
$GC,7844,0.42,246.7,799.5,14.6,630,7848,0.12,2.20,0.00,0.000,4,0.181,0.055,2971,3169,2063,0,0,0,0,0,0
$GC,7899,0.50,276.0,791.5,12.6,632,7934,0.00,2.20,27.83,1.266,6,0.000,0.044,2979,1742,1945,0,0,0,0,0,0
$GC,8248,0.57,316.1,750.3,12.1,649,8292,0.12,2.33,37.33,1.255,4,0.087,0.057,3058,343,1783,0,0,0,0,0,0
$GC,8318,0.50,316.1,737.6,19.2,652,8323,0.20,2.25,0.00,0.000,6,0.165,0.046,3004,1762,1781,0,0,0,0,0,0
$GC,8648,0.50,316.1,688.0,14.5,668,8652,0.00,2.15,0.00,0.000,4,0.000,0.054,2995,3168,1778,0,0,0,0,0,0
$GC,8688,0.54,316.1,681.9,14.0,670,8692,0.00,2.15,0.00,0.000,6,0.000,0.042,3003,1749,1777,0,0,0,0,0,0
$GC,9015,0.57,342.2,638.7,12.8,686,9045,0.00,2.28,24.65,1.190,4,0.000,0.057,3014,355,1676,0,0,0,0,0,0
$GC,9076,0.60,342.7,630.6,13.9,688,9084,0.00,2.17,0.00,0.000,6,0.000,0.041,3014,1758,1674,0,0,0,0,0,0
$GC,9395,0.61,355.2,588.7,13.3,708,9418,0.00,2.25,13.15,1.096,4,0.000,0.052,3014,3162,1624,0,0,0,0,0,0
$GC,9466,0.70,389.2,579.7,12.4,714,9505,0.12,2.17,32.55,1.145,6,0.081,0.042,3088,1744,1485,0,0,0,0,0,0
$GC,9827,0.61,389.2,506.4,20.5,747,9831,0.17,2.20,0.00,0.000,4,0.173,0.055,3051,346,1481,0,0,0,0,0,0
$GC,9861,0.58,389.2,499.7,17.9,750,9865,0.00,2.15,0.00,0.000,6,0.000,0.041,3051,1753,1478,0,0,0,0,0,0
$GC,10193,0.55,389.2,444.4,17.7,781,10198,0.12,2.17,0.00,0.000,4,0.171,0.052,3008,3162,1477,0,0,0,0,0,0
$GC,10248,0.68,426.4,436.7,12.3,785,10292,0.12,2.15,33.67,1.042,6,0.082,0.043,3084,1749,1333,0,0,0,0,0,0
$GC,10608,0.63,426.4,368.1,19.5,819,10613,0.15,2.20,0.00,0.000,4,0.173,0.057,3053,348,1330,0,0,0,0,0,0
$GC,10626,0.57,426.4,364.5,19.3,820,10630,0.00,2.17,0.00,0.000,6,0.000,0.040,3053,1763,1329,0,0,0,0,0,0
$GC,10951,0.57,426.4,315.2,15.1,850,10952,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,1767,1329,0,0,0,0,0,0
$GC,11282,0.57,426.4,264.9,16.6,900,11291,0.00,2.17,0.00,0.000,4,0.000,0.050,3053,3162,1329,0,0,0,0,0,0
$GC,11299,0.59,426.4,262.2,16.2,902,11307,0.08,2.17,0.00,0.000,6,0.138,0.040,3036,1755,1329,0,0,0,0,0,0
$GC,11646,0.78,512.8,220.4,10.1,963,11728,0.15,2.33,75.38,0.838,4,0.076,0.054,3133,347,980,0,0,0,0,0,0
$GC,11766,0.71,512.8,197.7,21.6,981,11774,0.22,2.15,0.00,0.000,6,0.147,0.039,3069,1745,979,0,0,0,0,0,0
$GC,12111,0.91,594.4,152.0,10.3,1042,12185,0.17,0.00,70.38,0.764,6,0.066,0.000,3159,1749,647,0,0,0,0,0,0
$GC,12507,0.88,594.4,70.4,22.0,1112,12516,0.12,2.28,0.00,0.000,4,0.168,0.051,3131,350,642,0,0,0,0,0,0
$GC,12561,0.96,594.4,60.1,16.9,1121,12569,0.00,2.17,0.00,0.000,6,0.000,0.036,3131,1768,642,0,0,0,0,0,0
$GC,12890,1.00,594.4,9.5,14.9,1182,12897,0.00,2.28,0.00,0.000,4,0.000,0.053,3140,350,641,0,0,0,0,0,0
$GC,12934,1.08,594.4,3.2,15.6,1189,12943,0.10,2.15,0.00,0.000,6,0.047,0.037,3214,1750,641,0,0,0,0,0,0
$STATE,12949,end climb,SURFACE_DEPTH_REACHED
$STATE,12949,begin surface coast
$FINISH,1.1,1.007384
$STATE,12971,end surface coast,CONTROL_FINISHED_OK
$STATE,12971,begin surface
$SM_CCo,13048,0.00,0.000,0,0,641,596.32
$SM_GC,1.69,7.97,0.00,0.00,0.034,0.000,0.000,146,1755,641,-8.35,-1.27,596.32
$IRIDIUM_FIX,2111.01,12601.30,101110,060643
$TT8_MAMPS,0.026215
$HUMID,44.29
$INTERNAL_PRESSURE,8.66703
$TCM_TEMP,24.40
$XPDR_PINGS,108
$24V_AH,22.0,92.995
$10V_AH,10.1,58.316
$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,23.525,132.100,734.675,0.000,0.000,23.182,42.357,188.586,27.000,0.000,16.195,2949.984,6412.166,742.986,2929.948,435.328,0.000,1963.811,0.000,2678.062,0.000,0.843,0.000
$DEVICE_MAMPS,221.850,117.045,1436.670,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,814.338,1020.553,1316.191,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333740
$DATA_FILE_SIZE,70222,1195
$CAP_FILE_SIZE,155302,0
$CFSIZE,260165632,149884928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.086,239.5,1
$GPS,101110,135354,2116.168,12601.252,12,99.0,31,-2.9