version: 66.08
glider: 166
mission: 3
dive: 502
start: 11 12 110 22 2 2
data:
$ID,166
$MISSION,3
$DIVE,502
$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,-22216.76
$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,39
$R_STBD_OVSHOOT,54
$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
$GPS1,121110,215602,2121.299,12601.561,13,1.9,13,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-71.6
$GPS2,121110,220138,2121.248,12601.682,13,1.8,13,-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,307.5,1056,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.16,-214.1,0.0,0.0,0,95,0.00,0.00,-78.18,0.000,2,0.000,0.000,144,1823,3469,0,0,0,0,0,0
$GC,98,-1.16,-214.1,6.0,-10.6,11,123,9.18,2.28,-8.88,0.000,4,0.219,0.056,2457,389,3948,0,0,0,0,0,0
$GC,321,-0.93,-214.1,92.2,-34.4,51,330,0.28,2.17,0.00,0.000,6,0.153,0.044,2532,1785,3951,0,0,0,0,0,0
$GC,649,-0.81,-214.1,168.0,-22.0,112,657,0.17,2.20,0.00,0.000,4,0.169,0.046,2582,392,3954,0,0,0,0,0,0
$GC,717,-0.81,-214.1,180.9,-15.9,123,724,0.00,2.15,0.00,0.000,6,0.000,0.041,2574,1804,3954,0,0,0,0,0,0
$GC,1048,-0.78,-214.1,234.3,-15.4,184,1056,0.00,2.17,0.00,0.000,4,0.000,0.047,2566,3214,3955,0,0,0,0,0,0
$GC,1082,-0.78,-214.1,239.0,-14.9,189,1090,0.00,2.12,0.00,0.000,6,0.000,0.034,2565,1799,3955,0,0,0,0,0,0
$GC,1416,-0.77,-214.1,290.5,-16.1,250,1424,0.00,2.17,0.00,0.000,4,0.000,0.050,2566,402,3956,0,0,0,0,0,0
$GC,1470,-0.77,-214.1,299.6,-16.6,259,1477,0.00,2.15,0.00,0.000,6,0.000,0.045,2565,1798,3956,0,0,0,0,0,0
$GC,1798,-0.77,-214.1,346.0,-14.2,290,1802,0.00,2.15,0.00,0.000,4,0.000,0.049,2556,3210,3956,0,0,0,0,0,0
$GC,1827,-0.77,-214.1,350.3,-13.4,292,1831,0.12,2.12,0.00,0.000,6,0.154,0.035,2590,1797,3956,0,0,0,0,0,0
$GC,2153,-0.82,-214.1,391.5,-12.2,322,2157,0.00,2.17,0.00,0.000,4,0.000,0.051,2590,396,3955,0,0,0,0,0,0
$GC,2183,-0.87,-214.1,395.2,-13.2,324,2187,0.00,2.15,0.00,0.000,6,0.000,0.044,2584,1804,3955,0,0,0,0,0,0
$GC,2516,-0.92,-214.1,435.0,-11.9,355,2521,0.12,2.20,0.00,0.000,4,0.087,0.053,2518,3215,3954,0,0,0,0,0,0
$GC,2547,-0.92,-214.1,439.3,-15.1,357,2551,0.00,2.15,0.00,0.000,6,0.000,0.036,2517,1793,3954,0,0,0,0,0,0
$GC,2874,-0.87,-214.1,491.5,-15.3,387,2879,0.15,2.20,0.00,0.000,4,0.166,0.051,2558,393,3952,0,0,0,0,0,0
$GC,2906,-0.87,-214.1,496.0,-14.7,389,2910,0.00,2.17,0.00,0.000,6,0.000,0.047,2561,1804,3952,0,0,0,0,0,0
$STATE,2937,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2937,begin apogee
$GC,2943,-0.23,0.0,500.8,13.1,392,3125,0.62,0.00,173.25,0.998,6,0.130,0.000,2764,1744,3071,0,0,0,0,0,0
$STATE,3126,end apogee,CONTROL_FINISHED_OK
$STATE,3126,begin climb
$GC,3129,1.16,214.1,510.2,0.0,408,3312,1.23,2.22,172.77,0.973,4,0.060,0.055,3228,350,2199,0,0,0,0,0,0
$GC,3348,0.86,214.1,479.2,26.4,427,3353,0.40,2.20,0.00,0.000,6,0.190,0.044,3117,1757,2197,0,0,0,0,0,0
$GC,3675,0.71,214.1,417.1,17.5,457,3680,0.17,2.22,0.00,0.000,4,0.179,0.051,3078,347,2193,0,0,0,0,0,0
$GC,3707,0.60,214.1,411.3,16.1,459,3715,0.15,2.17,0.00,0.000,6,0.171,0.043,3038,1759,2193,0,0,0,0,0,0
$GC,4033,0.62,252.5,371.7,12.2,490,4073,0.00,0.00,33.22,0.914,6,0.000,0.000,3038,1759,2042,0,0,0,0,0,0
$GC,4392,0.69,326.9,328.7,10.7,524,4467,0.00,2.25,64.38,0.897,4,0.000,0.046,3037,3166,1738,0,0,0,0,0,0
$GC,4482,0.77,387.4,319.0,11.3,532,4543,0.12,2.17,53.40,0.868,6,0.081,0.037,3119,1746,1492,0,0,0,0,0,0
$GC,4865,0.68,387.4,244.7,20.3,592,4873,0.22,2.20,0.00,0.000,4,0.161,0.048,3065,345,1485,0,0,0,0,0,0
$GC,4898,0.68,387.4,239.4,15.8,597,4906,0.00,2.15,0.00,0.000,6,0.000,0.038,3065,1762,1484,0,0,0,0,0,0
$GC,5233,0.69,397.5,193.9,13.4,658,5248,0.00,2.20,8.75,0.685,4,0.000,0.044,3065,3169,1451,0,0,0,0,0,0
$GC,5310,0.79,427.3,184.0,12.6,671,5344,0.00,2.15,27.38,0.762,6,0.000,0.037,3075,1741,1328,0,0,0,0,0,0
$GC,5672,0.89,477.1,136.1,11.7,736,5727,0.15,2.22,42.70,0.730,4,0.071,0.050,3176,348,1126,0,0,0,0,0,0
$GC,5757,0.79,477.1,120.2,22.3,748,5766,0.22,2.17,0.00,0.000,6,0.138,0.041,3100,1744,1125,0,0,0,0,0,0
$GC,6090,0.93,538.4,77.3,11.2,809,6149,0.12,2.17,51.47,0.675,4,0.083,0.041,3173,3176,875,0,0,0,0,0,0
$GC,6190,0.93,538.4,59.7,18.5,824,6199,0.10,2.17,0.00,0.000,6,0.138,0.036,3144,1756,873,0,0,0,0,0,0
$GC,6518,0.93,538.4,4.9,14.9,885,6527,0.00,2.20,0.00,0.000,4,0.000,0.050,3151,344,872,0,0,0,0,0,0
$STATE,6534,end climb,SURFACE_DEPTH_REACHED
$STATE,6534,begin surface coast
$FINISH,1.0,1.022546
$STATE,6553,end surface coast,CONTROL_FINISHED_OK
$STATE,6553,begin surface
$SM_CCo,6635,0.00,0.000,0,0,870,539.91
$SM_GC,1.71,7.75,0.00,0.00,0.033,0.000,0.000,141,1824,870,-8.36,0.71,539.91
$IRIDIUM_FIX,2113.32,12559.43,121110,202027
$TT8_MAMPS,0.026964
$HUMID,45.47
$INTERNAL_PRESSURE,8.75492
$TCM_TEMP,24.40
$XPDR_PINGS,96
$24V_AH,24.0,96.890
$10V_AH,10.2,60.868
$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,21.300,69.975,627.325,0.000,0.000,27.362,16.680,141.819,24.000,0.000,14.526,2072.229,1712.491,614.082,2270.727,300.020,0.000,1467.317,0.000,2099.471,0.000,0.847,0.000
$DEVICE_MAMPS,218.790,109.395,997.560,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,599.523,896.106,1443.159,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333928
$DATA_FILE_SIZE,53671,890
$CAP_FILE_SIZE,94812,0
$CFSIZE,260165632,148545536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.291,131.7,1
$GPS,121110,235355,2121.104,12601.630,41,1.7,41,-2.9