version: 66.08
glider: 166
mission: 3
dive: 495
start: 11 12 110 9 24 43
data:
$ID,166
$MISSION,3
$DIVE,495
$N_DIVES,510
$D_SURF,3
$D_FLARE,5
$D_TGT,500
$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,120
$T_MISSION,180
$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,-22207.402
$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,40
$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
$GPS1,121110,091737,2121.330,12600.741,27,1.6,27,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-71.4
$GPS2,121110,092408,2121.305,12600.747,15,1.6,15,-2.9
$SPEED_LIMITS,0.241,0.344
$TGT_NAME,PICKUP
$TGT_LATLONG,2121.600,12601.200
$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,65.5,954,-27.2,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.37,-111.2,0.0,0.0,0,127,0.00,0.00,-109.00,0.000,2,0.000,0.000,169,1761,3439,0,0,0,0,0,0
$GC,130,-1.42,-155.0,5.7,-10.2,15,153,9.02,0.00,-5.22,0.000,6,0.229,0.000,2370,1760,3706,0,0,0,0,0,0
$GC,470,-1.21,-155.0,144.0,-27.8,78,479,0.28,2.15,0.00,0.000,4,0.200,0.042,2448,390,3708,0,0,0,0,0,0
$GC,713,-1.09,-155.0,210.0,-25.3,121,720,0.20,2.15,0.00,0.000,6,0.184,0.041,2486,1801,3711,0,0,0,0,0,0
$GC,1058,-1.05,-155.0,282.5,-21.0,182,1067,0.00,2.20,0.00,0.000,4,0.000,0.046,2485,401,3712,0,0,0,0,0,0
$GC,1125,-0.99,-155.0,296.7,-22.1,193,1132,0.15,2.15,0.00,0.000,6,0.187,0.041,2519,1807,3712,0,0,0,0,0,0
$GC,1459,-0.99,-155.0,357.4,-17.8,225,1463,0.00,2.20,0.00,0.000,4,0.000,0.047,2519,392,3712,0,0,0,0,0,0
$GC,1524,-0.99,-155.0,370.7,-20.3,230,1533,0.00,2.17,0.00,0.000,6,0.000,0.043,2511,1798,3712,0,0,0,0,0,0
$GC,1851,-0.99,-155.0,430.1,-17.5,261,1855,0.00,2.17,0.00,0.000,4,0.000,0.048,2511,398,3712,0,0,0,0,0,0
$GC,1927,-0.99,-155.0,444.7,-18.1,267,1935,0.00,2.17,0.00,0.000,6,0.000,0.044,2507,1817,3712,0,0,0,0,0,0
$GC,2253,-0.99,-155.0,497.1,-16.6,298,2254,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,1817,3712,0,0,0,0,0,0
$STATE,2272,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2272,begin apogee
$GC,2278,-0.23,0.0,500.6,16.1,300,2413,0.82,0.00,126.90,0.995,6,0.150,0.000,2758,1741,3072,0,0,0,0,0,0
$STATE,2414,end apogee,CONTROL_FINISHED_OK
$STATE,2414,begin climb
$GC,2416,1.42,155.0,507.5,0.0,312,2553,1.52,2.28,126.72,0.974,4,0.076,0.051,3308,355,2439,0,0,0,0,0,0
$GC,2571,1.14,155.0,490.9,23.8,325,2578,0.35,2.17,0.00,0.000,6,0.224,0.041,3213,1760,2437,0,0,0,0,0,0
$GC,2896,0.96,155.0,425.2,19.4,356,2901,0.22,2.25,0.00,0.000,4,0.201,0.048,3164,342,2433,0,0,0,0,0,0
$GC,2997,0.82,155.0,406.8,18.1,364,3005,0.15,2.17,0.00,0.000,6,0.184,0.041,3111,1747,2431,0,0,0,0,0,0
$GC,3326,0.81,181.5,364.1,11.7,395,3351,0.00,0.00,22.45,0.897,6,0.000,0.000,3111,1747,2331,0,0,0,0,0,0
$GC,3669,0.77,181.5,315.0,14.1,427,3670,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,1747,2327,0,0,0,0,0,0
$GC,3992,0.76,193.7,270.4,12.9,476,4014,0.00,2.25,10.62,0.783,4,0.000,0.049,3120,355,2282,0,0,0,0,0,0
$GC,4028,0.73,193.7,265.2,14.3,481,4036,0.15,2.15,0.00,0.000,6,0.181,0.039,3079,1759,2280,0,0,0,0,0,0
$GC,4374,0.80,223.7,223.4,11.4,542,4410,0.00,2.20,25.80,0.812,4,0.000,0.045,3069,3163,2160,0,0,0,0,0,0
$GC,4472,0.88,242.1,211.9,12.4,557,4500,0.12,2.12,17.50,0.774,6,0.086,0.035,3145,1746,2083,0,0,0,0,0,0
$GC,4833,0.86,242.1,152.9,14.7,621,4839,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,1746,2080,0,0,0,0,0,0
$GC,5160,0.87,250.4,107.4,13.2,682,5177,0.00,2.22,7.70,0.619,4,0.000,0.050,3155,353,2051,0,0,0,0,0,0
$GC,5395,0.96,297.5,74.1,10.0,724,5447,0.00,2.12,39.83,0.693,6,0.000,0.036,3147,1751,1859,0,0,0,0,0,0
$GC,5766,1.05,330.8,32.4,11.1,791,5803,0.00,2.25,29.05,0.643,4,0.000,0.047,3150,347,1722,0,0,0,0,0,0
$GC,5843,1.13,342.6,22.9,12.9,803,5866,0.15,2.15,11.50,0.580,6,0.052,0.035,3220,1753,1675,0,0,0,0,0,0
$STATE,5954,end climb,SURFACE_DEPTH_REACHED
$STATE,5954,begin surface coast
$FINISH,1.1,1.022575
$STATE,5972,end surface coast,CONTROL_FINISHED_OK
$STATE,5972,begin surface
$SM_CCo,5989,52.30,0.509,1,0,1440,400.08
$SM_GC,1.67,0.00,0.00,52.30,0.000,0.000,0.509,144,1757,1440,-8.42,-1.22,400.08
$IRIDIUM_FIX,2113.32,12602.66,121110,070744
$TT8_MAMPS,0.026215
$HUMID,43.85
$INTERNAL_PRESSURE,8.79398
$TCM_TEMP,24.50
$XPDR_PINGS,102
$24V_AH,24.0,95.907
$10V_AH,10.1,60.119
$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,21.025,43.825,418.075,52.300,0.000,28.616,47.300,159.677,25.500,0.000,16.293,1932.026,1542.259,527.639,2176.360,270.402,0.000,1278.358,0.000,1948.976,0.000,0.847,0.000
$DEVICE_MAMPS,228.735,91.800,995.265,509.490,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,556.505,832.328,1374.599,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333960
$DATA_FILE_SIZE,46817,825
$CAP_FILE_SIZE,81857,0
$CFSIZE,260165632,148938752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.046,262.6,1
$GPS,121110,110636,2121.670,12601.289,13,1.4,29,-2.9