version: 66.08
glider: 166
mission: 3
dive: 510
start: 11 13 110 5 40 51
data:
$ID,166
$MISSION,3
$DIVE,510
$N_DIVES,522
$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,-22226.896
$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,36
$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
$GPS1,131110,053549,2118.406,12600.060,9,1.7,14,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-75.3
$GPS2,131110,054028,2118.370,12600.021,13,2.1,32,-2.9
$SPEED_LIMITS,0.241,0.344
$TGT_NAME,PICKUP
$TGT_LATLONG,2118.600,12601.200
$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,36.1,2080,-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,-214.1,0.0,0.0,0,90,0.00,0.00,-72.50,0.000,2,0.000,0.000,141,1756,3288,0,0,0,0,0,0
$GC,93,-1.16,-214.1,5.2,-10.2,10,124,8.85,2.22,-13.20,0.000,4,0.213,0.054,2447,3220,3948,0,0,0,0,0,0
$GC,287,-0.95,-214.1,74.4,-31.7,44,296,0.22,2.15,0.00,0.000,6,0.156,0.033,2527,1795,3949,0,0,0,0,0,0
$GC,616,-0.83,-214.1,160.1,-22.4,105,624,0.15,2.15,0.00,0.000,4,0.172,0.047,2569,393,3950,0,0,0,0,0,0
$GC,737,-0.81,-214.1,183.5,-16.8,125,743,0.00,2.15,0.00,0.000,6,0.000,0.044,2566,1807,3951,0,0,0,0,0,0
$GC,1076,-0.77,-214.1,239.6,-16.9,186,1084,0.00,2.22,0.00,0.000,4,0.000,0.049,2566,393,3951,0,0,0,0,0,0
$GC,1102,-0.74,-214.1,244.0,-16.4,190,1111,0.12,2.17,0.00,0.000,6,0.141,0.044,2596,1801,3951,0,0,0,0,0,0
$GC,1451,-0.77,-214.1,287.0,-11.7,251,1456,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,1802,3950,0,0,0,0,0,0
$GC,1785,-0.82,-214.1,325.4,-11.3,292,1786,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,1802,3949,0,0,0,0,0,0
$GC,2109,-0.88,-214.1,361.1,-11.2,322,2113,0.12,2.17,0.00,0.000,4,0.083,0.050,2532,3214,3947,0,0,0,0,0,0
$GC,2130,-0.91,-214.1,363.8,-11.5,323,2134,0.00,2.10,0.00,0.000,6,0.000,0.034,2531,1801,3947,0,0,0,0,0,0
$GC,2457,-0.87,-214.1,415.3,-15.6,353,2461,0.00,2.17,0.00,0.000,4,0.000,0.050,2531,387,3945,0,0,0,0,0,0
$GC,2532,-0.84,-214.1,427.1,-14.8,359,2537,0.12,2.15,0.00,0.000,6,0.171,0.045,2569,1806,3945,0,0,0,0,0,0
$GC,2860,-0.87,-214.1,469.1,-12.3,389,2864,0.00,2.15,0.00,0.000,4,0.000,0.050,2567,3214,3942,0,0,0,0,0,0
$GC,2892,-0.91,-214.1,473.3,-12.2,391,2901,0.00,2.12,0.00,0.000,6,0.000,0.036,2568,1800,3942,0,0,0,0,0,0
$STATE,3121,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3121,begin apogee
$GC,3129,-0.23,0.0,500.2,11.6,413,3307,0.60,0.00,168.73,1.013,6,0.126,0.000,2760,1746,3072,0,0,0,0,0,0
$STATE,3307,end apogee,CONTROL_FINISHED_OK
$STATE,3307,begin climb
$GC,3311,1.16,214.1,508.0,0.0,429,3495,1.23,2.25,170.35,0.978,4,0.058,0.054,3228,355,2198,0,0,0,0,0,0
$GC,3635,0.85,214.1,446.5,24.8,457,3644,0.38,2.15,0.00,0.000,6,0.191,0.044,3119,1756,2194,0,0,0,0,0,0
$GC,3962,0.70,214.1,393.1,15.2,488,3964,0.17,0.00,0.00,0.000,6,0.176,0.000,3071,1760,2190,0,0,0,0,0,0
$GC,4280,0.64,235.6,351.1,13.0,518,4305,0.00,2.33,18.40,0.881,4,0.000,0.050,3080,341,2110,0,0,0,0,0,0
$GC,4345,0.57,235.6,341.8,15.0,523,4352,0.17,2.17,0.00,0.000,6,0.161,0.041,3025,1756,2109,0,0,0,0,0,0
$GC,4671,0.66,307.6,305.2,10.8,554,4743,0.00,2.22,62.05,0.887,4,0.000,0.046,3023,3157,1816,0,0,0,0,0,0
$GC,4776,0.75,352.4,294.3,11.9,566,4824,0.10,2.17,40.17,0.851,6,0.044,0.037,3103,1743,1634,0,0,0,0,0,0
$GC,5150,0.68,352.4,229.1,17.3,633,5158,0.17,2.15,0.00,0.000,4,0.165,0.050,3064,347,1628,0,0,0,0,0,0
$GC,5201,0.69,352.7,221.5,13.9,641,5209,0.00,2.10,0.00,0.000,6,0.000,0.038,3061,1753,1627,0,0,0,0,0,0
$GC,5533,0.75,397.4,178.1,11.9,702,5580,0.00,2.20,38.20,0.775,4,0.000,0.045,3061,3160,1451,0,0,0,0,0,0
$GC,5631,0.88,452.6,166.2,11.5,717,5686,0.15,2.12,48.12,0.754,6,0.068,0.036,3161,1748,1226,0,0,0,0,0,0
$GC,6008,0.81,452.6,91.5,18.9,785,6018,0.20,2.17,0.00,0.000,4,0.158,0.047,3112,354,1221,0,0,0,0,0,0
$GC,6117,1.00,536.4,78.1,10.2,804,6192,0.12,2.12,68.22,0.682,6,0.041,0.034,3192,1761,884,0,0,0,0,0,0
$STATE,6463,end climb,SURFACE_DEPTH_REACHED
$STATE,6463,begin surface coast
$FINISH,0.9,1.012027
$STATE,6475,end surface coast,CONTROL_FINISHED_OK
$STATE,6475,begin surface
$SM_CCo,6552,0.00,0.000,0,0,878,538.19
$SM_GC,1.73,7.93,0.00,0.00,0.035,0.000,0.000,167,1766,878,-8.34,-0.96,538.19
$IRIDIUM_FIX,2108.69,12558.07,131110,050558
$TT8_MAMPS,0.026215
$HUMID,48.74
$INTERNAL_PRESSURE,8.76469
$TCM_TEMP,23.60
$XPDR_PINGS,64
$24V_AH,24.1,97.800
$10V_AH,10.2,61.392
$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,20.825,52.175,614.250,0.000,0.000,30.980,24.052,84.751,16.000,0.000,33.809,1996.469,1807.510,585.831,2195.727,252.309,0.000,1408.979,0.000,2033.701,0.000,0.849,0.000
$DEVICE_MAMPS,213.435,158.355,1012.860,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,584.153,871.866,1364.427,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333908
$DATA_FILE_SIZE,50306,867
$CAP_FILE_SIZE,88093,0
$CFSIZE,260165632,148287488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.163,247.1,1
$GPS,131110,073106,2118.890,12600.004,10,0.9,26,-2.9