version: 66.08
glider: 166
mission: 3
dive: 412
start: 10 30 110 15 54 11
data:
$ID,166
$MISSION,3
$DIVE,412
$N_DIVES,424
$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,-22073.848
$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,37
$R_STBD_OVSHOOT,56
$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
$GPS1,301010,154630,2202.259,12612.249,35,1.6,41,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-64.5
$GPS2,301010,155349,2202.317,12612.232,15,1.5,33,-3.1
$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,166.7,77771,-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,-214.1,0.0,0.0,0,122,0.00,0.00,-102.43,0.000,2,0.000,0.000,151,1775,3312,0,0,0,0,0,0
$GC,125,-1.16,-214.1,5.6,-9.8,14,156,8.95,2.15,-11.75,0.000,4,0.219,0.057,2460,392,3949,0,0,0,0,0,0
$GC,395,-0.91,-214.1,114.9,-32.3,63,404,0.28,2.15,0.00,0.000,6,0.165,0.043,2535,1780,3952,0,0,0,0,0,0
$GC,734,-0.82,-214.1,196.6,-19.0,124,743,0.15,0.00,0.00,0.000,6,0.177,0.000,2576,1780,3955,0,0,0,0,0,0
$GC,1082,-0.80,-214.1,252.1,-17.6,185,1089,0.00,2.15,0.00,0.000,4,0.000,0.049,2576,394,3956,0,0,0,0,0,0
$GC,1132,-0.80,-214.1,260.3,-16.4,193,1139,0.00,2.12,0.00,0.000,6,0.000,0.044,2572,1802,3956,0,0,0,0,0,0
$GC,1474,-0.80,-214.1,311.9,-14.9,248,1478,0.00,2.20,0.00,0.000,4,0.000,0.050,2572,388,3956,0,0,0,0,0,0
$GC,1503,-0.80,-214.1,316.5,-15.2,250,1507,0.00,2.17,0.00,0.000,6,0.000,0.044,2562,1810,3955,0,0,0,0,0,0
$GC,1830,-0.80,-214.1,364.6,-14.8,280,1834,0.00,2.12,0.00,0.000,4,0.000,0.050,2559,3215,3955,0,0,0,0,0,0
$GC,1853,-0.82,-214.1,368.0,-13.5,281,1860,0.00,2.10,0.00,0.000,6,0.000,0.034,2559,1798,3955,0,0,0,0,0,0
$GC,2180,-0.82,-214.1,413.6,-13.5,312,2184,0.00,2.17,0.00,0.000,4,0.000,0.050,2559,392,3953,0,0,0,0,0,0
$GC,2237,-0.83,-214.1,421.6,-13.6,316,2246,0.00,2.20,0.00,0.000,6,0.000,0.045,2558,1805,3953,0,0,0,0,0,0
$GC,2564,-0.85,-214.1,464.0,-12.7,347,2568,0.00,2.15,0.00,0.000,4,0.000,0.050,2548,3208,3951,0,0,0,0,0,0
$GC,2583,-0.87,-214.1,466.5,-12.7,348,2592,0.00,2.15,0.00,0.000,6,0.000,0.036,2548,1797,3950,0,0,0,0,0,0
$GC,2908,-0.87,-214.1,509.5,-13.8,379,2912,0.00,2.17,0.00,0.000,4,0.000,0.050,2548,390,3948,0,0,0,0,0,0
$GC,2977,-0.87,-214.1,519.4,-13.8,384,2985,0.00,2.15,0.00,0.000,6,0.000,0.047,2548,1796,3948,0,0,0,0,0,0
$GC,3302,-0.87,-214.1,565.1,-13.9,415,3306,0.00,2.17,0.00,0.000,4,0.000,0.052,2538,3212,3945,0,0,0,0,0,0
$GC,3361,-0.92,-214.1,572.6,-13.0,419,3368,0.00,2.12,0.00,0.000,6,0.000,0.037,2538,1791,3944,0,0,0,0,0,0
$GC,3686,-0.92,-214.1,616.4,-13.0,444,3690,0.00,2.15,0.00,0.000,4,0.000,0.054,2538,390,3943,0,0,0,0,0,0
$GC,3718,-0.92,-214.1,621.6,-13.9,445,3722,0.00,2.15,0.00,0.000,6,0.000,0.047,2536,1802,3942,0,0,0,0,0,0
$GC,4043,-0.92,-214.1,664.1,-13.2,461,4047,0.00,2.17,0.00,0.000,4,0.000,0.057,2527,3212,3940,0,0,0,0,0,0
$GC,4082,-0.96,-214.1,669.6,-12.9,462,4089,0.00,2.15,0.00,0.000,6,0.000,0.042,2527,1790,3939,0,0,0,0,0,0
$GC,4400,-0.96,-214.1,711.9,-13.6,478,4404,0.00,2.17,0.00,0.000,4,0.000,0.054,2527,391,3935,0,0,0,0,0,0
$GC,4421,-0.96,-214.1,715.5,-14.0,479,4425,0.00,2.20,0.00,0.000,6,0.000,0.049,2524,1797,3934,0,0,0,0,0,0
$GC,4749,-0.96,-214.1,760.1,-13.4,495,4753,0.00,2.20,0.00,0.000,4,0.000,0.055,2516,3218,3933,0,0,0,0,0,0
$GC,4777,-0.96,-214.1,763.8,-12.7,496,4781,0.00,2.12,0.00,0.000,6,0.000,0.038,2515,1801,3932,0,0,0,0,0,0
$GC,5099,-0.96,-214.1,807.8,-13.7,512,5103,0.00,2.20,0.00,0.000,4,0.000,0.056,2515,390,3929,0,0,0,0,0,0
$GC,5177,-0.96,-214.1,819.0,-14.5,515,5184,0.00,2.17,0.00,0.000,6,0.000,0.048,2508,1810,3928,0,0,0,0,0,0
$GC,5495,-0.93,-214.1,864.6,-14.7,531,5497,0.12,0.00,0.00,0.000,6,0.182,0.000,2540,1811,3925,0,0,0,0,0,0
$GC,5803,-0.95,-214.1,901.7,-11.9,546,5807,0.00,2.17,0.00,0.000,4,0.000,0.058,2537,3210,3923,0,0,0,0,0,0
$GC,5824,-0.98,-214.1,903.8,-11.6,547,5828,0.00,2.15,0.00,0.000,6,0.000,0.041,2537,1793,3923,0,0,0,0,0,0
$GC,6151,-0.98,-214.1,943.9,-12.3,563,6155,0.00,2.20,0.00,0.000,4,0.000,0.058,2537,389,3920,0,0,0,0,0,0
$GC,6237,-0.99,-214.1,955.1,-13.2,567,6241,0.00,2.20,0.00,0.000,6,0.000,0.050,2528,1799,3919,0,0,0,0,0,0
$GC,6565,-0.99,-214.1,999.5,-13.4,583,6569,0.00,2.10,0.00,0.000,3,0.000,0.058,2520,3151,3917,0,0,0,0,0,0
$STATE,6570,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6570,begin apogee
$GC,6577,-0.23,0.0,1000.3,13.5,583,6770,0.75,0.00,186.62,1.448,6,0.133,0.000,2759,1743,3072,0,0,0,0,0,0
$STATE,6771,end apogee,CONTROL_FINISHED_OK
$STATE,6771,begin climb
$GC,6773,1.16,214.1,1010.7,0.0,592,6985,1.30,2.42,202.88,1.387,4,0.054,0.056,3225,353,2198,0,0,0,0,0,0
$GC,7008,0.83,214.1,968.8,30.7,603,7013,0.47,2.35,0.00,0.000,6,0.204,0.050,3111,1749,2195,0,0,0,0,0,0
$GC,7324,0.64,214.1,895.4,22.6,618,7329,0.22,2.17,0.00,0.000,4,0.182,0.053,3040,3162,2191,0,0,0,0,0,0
$GC,7357,0.52,214.1,888.3,19.4,619,7364,0.15,2.15,0.00,0.000,6,0.183,0.041,3010,1751,2189,0,0,0,0,0,0
$GC,7675,0.48,214.1,841.2,14.9,635,7679,0.00,2.20,0.00,0.000,4,0.000,0.054,3008,3165,2188,0,0,0,0,0,0
$GC,7713,0.43,214.1,834.6,15.8,636,7722,0.15,2.15,0.00,0.000,6,0.177,0.042,2979,1742,2187,0,0,0,0,0,0
$GC,8031,0.47,247.8,795.0,12.4,652,8067,0.00,2.25,30.75,1.289,4,0.000,0.057,2987,347,2060,0,0,0,0,0,0
$GC,8127,0.52,263.7,782.2,13.2,656,8148,0.00,2.17,15.65,1.209,6,0.000,0.040,2986,1758,1998,0,0,0,0,0,0
$GC,8480,0.55,294.0,736.5,12.6,673,8515,0.00,2.28,28.35,1.250,4,0.000,0.053,2986,3162,1873,0,0,0,0,0,0
$GC,8563,0.62,323.4,725.8,12.6,676,8597,0.12,2.17,28.48,1.227,6,0.084,0.041,3058,1754,1753,0,0,0,0,0,0
$GC,8919,0.56,323.4,659.6,19.2,694,8921,0.15,0.00,0.00,0.000,6,0.176,0.000,3019,1754,1749,0,0,0,0,0,0
$GC,9229,0.56,323.4,611.0,15.4,709,9233,0.00,2.17,0.00,0.000,4,0.000,0.057,3028,346,1747,0,0,0,0,0,0
$GC,9256,0.56,323.4,606.1,17.2,710,9261,0.00,2.17,0.00,0.000,6,0.000,0.041,3027,1750,1745,0,0,0,0,0,0
$GC,9590,0.54,323.4,554.7,15.0,739,9594,0.00,2.15,0.00,0.000,4,0.000,0.051,3027,3162,1745,0,0,0,0,0,0
$GC,9652,0.54,323.4,544.9,14.8,744,9656,0.00,2.15,0.00,0.000,6,0.000,0.041,3036,1739,1744,0,0,0,0,0,0
$GC,9985,0.51,323.4,493.3,16.3,775,9990,0.12,2.17,0.00,0.000,4,0.177,0.055,3012,349,1743,0,0,0,0,0,0
$GC,10042,0.56,336.6,485.2,13.3,779,10059,0.00,2.12,12.10,1.030,6,0.000,0.039,3012,1754,1698,0,0,0,0,0,0
$GC,10378,0.56,336.6,438.1,14.0,810,10381,0.00,2.12,0.00,0.000,4,0.000,0.048,3012,3163,1697,0,0,0,0,0,0
$GC,10417,0.59,340.4,432.7,13.7,813,10428,0.00,2.12,5.00,0.776,6,0.000,0.041,3021,1750,1684,0,0,0,0,0,0
$GC,10757,0.61,348.6,387.1,13.5,845,10772,0.00,2.22,9.27,0.910,4,0.000,0.056,3032,356,1650,0,0,0,0,0,0
$GC,10818,0.67,360.4,378.4,13.4,850,10838,0.00,2.15,12.18,0.934,6,0.000,0.038,3031,1748,1602,0,0,0,0,0,0
$GC,11157,0.71,374.3,331.6,13.3,882,11181,0.10,2.22,14.23,0.913,4,0.103,0.048,3082,3159,1545,0,0,0,0,0,0
$GC,11207,0.66,374.3,323.4,18.7,886,11212,0.15,2.15,0.00,0.000,6,0.168,0.041,3052,1748,1544,0,0,0,0,0,0
$GC,11541,0.66,374.3,272.8,15.1,932,11550,0.00,2.20,0.00,0.000,4,0.000,0.054,3059,346,1544,0,0,0,0,0,0
$GC,11590,0.66,374.3,265.6,14.3,940,11599,0.00,2.15,0.00,0.000,6,0.000,0.037,3052,1745,1542,0,0,0,0,0,0
$GC,11932,0.66,374.3,220.7,14.4,1001,11939,0.00,2.12,0.00,0.000,4,0.000,0.046,3052,3162,1542,0,0,0,0,0,0
$GC,12018,0.74,403.1,209.4,12.6,1016,12054,0.00,2.17,26.20,0.829,6,0.000,0.037,3051,1738,1427,0,0,0,0,0,0
$GC,12391,0.84,458.1,164.2,11.5,1081,12446,0.17,2.28,48.45,0.789,4,0.068,0.050,3156,344,1203,0,0,0,0,0,0
$GC,12533,0.75,458.1,134.4,20.1,1104,12543,0.20,2.17,0.00,0.000,6,0.148,0.035,3089,1757,1202,0,0,0,0,0,0
$GC,12866,0.80,458.4,86.7,13.9,1165,12874,0.00,2.12,0.00,0.000,4,0.000,0.044,3087,3149,1201,0,0,0,0,0,0
$GC,12910,1.09,605.1,82.2,7.5,1172,13047,0.22,2.12,123.25,0.703,6,0.032,0.037,3227,1757,602,0,0,0,0,0,0
$STATE,13213,end climb,SURFACE_DEPTH_REACHED
$STATE,13213,begin surface coast
$FINISH,1.0,1.022309
$STATE,13225,end surface coast,CONTROL_FINISHED_OK
$STATE,13225,begin surface
$SM_CCo,13302,0.00,0.000,0,0,596,607.36
$SM_GC,1.56,7.97,0.00,0.00,0.037,0.000,0.000,154,1753,596,-8.33,-1.33,607.36
$IRIDIUM_FIX,2155.06,12611.73,301010,121240
$TT8_MAMPS,0.026215
$HUMID,43.30
$INTERNAL_PRESSURE,8.66703
$TCM_TEMP,24.20
$XPDR_PINGS,103
$24V_AH,22.1,76.330
$10V_AH,10.1,48.904
$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,21.775,134.800,743.400,0.000,0.000,31.061,19.483,186.565,25.750,0.000,33.949,2993.484,6558.621,752.625,2990.215,431.439,0.000,2008.980,0.000,2735.777,0.000,0.846,0.000
$DEVICE_MAMPS,218.790,58.140,1448.145,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,832.973,1047.283,1323.821,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333812
$DATA_FILE_SIZE,73572,1223
$CAP_FILE_SIZE,154407,0
$CFSIZE,260165632,155463680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.097,346.7,1
$GPS,301010,193706,2201.184,12612.550,37,1.0,37,-3.1