version: 66.08
glider: 166
mission: 3
dive: 478
start: 11 9 110 22 43 53
data:
$ID,166
$MISSION,3
$DIVE,478
$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,-22185.934
$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,35
$R_STBD_OVSHOOT,44
$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
$GPS1,091110,223606,2115.269,12601.975,38,0.9,38,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-61.6
$GPS2,091110,224331,2115.104,12601.986,12,1.4,17,-2.9
$SPEED_LIMITS,0.241,0.344
$TGT_NAME,PICKUP_SOUTH
$TGT_LATLONG,2118.900,12601.200
$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,340.3,7160,-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,-214.1,0.0,0.0,0,101,0.00,0.00,-82.12,0.000,2,0.000,0.000,141,1760,3231,0,0,0,0,0,0
$GC,105,-1.16,-214.1,5.2,-9.3,11,136,9.48,2.20,-13.75,0.000,4,0.230,0.055,2448,3206,3946,0,0,0,0,0,0
$GC,214,-0.93,-214.1,52.2,-42.8,29,223,0.28,2.15,0.00,0.000,6,0.168,0.034,2529,1797,3949,0,0,0,0,0,0
$GC,541,-0.79,-214.1,151.2,-23.9,90,549,0.20,2.20,0.00,0.000,4,0.171,0.047,2591,396,3950,0,0,0,0,0,0
$GC,596,-0.79,-214.1,161.7,-16.5,99,602,0.00,2.12,0.00,0.000,6,0.000,0.042,2582,1798,3951,0,0,0,0,0,0
$GC,928,-0.76,-214.1,215.9,-16.2,160,936,0.00,2.22,0.00,0.000,4,0.000,0.047,2581,386,3953,0,0,0,0,0,0
$GC,952,-0.74,-214.1,219.4,-16.3,163,960,0.12,2.15,0.00,0.000,6,0.164,0.041,2603,1807,3953,0,0,0,0,0,0
$GC,1287,-0.77,-214.1,265.2,-14.0,224,1295,0.00,2.15,0.00,0.000,4,0.000,0.047,2597,3202,3953,0,0,0,0,0,0
$GC,1352,-0.85,-214.1,273.7,-11.9,235,1359,0.00,2.12,0.00,0.000,6,0.000,0.034,2596,1789,3954,0,0,0,0,0,0
$GC,1690,-0.89,-214.1,317.6,-13.1,285,1698,0.12,0.00,0.00,0.000,6,0.089,0.000,2531,1789,3953,0,0,0,0,0,0
$GC,2017,-0.82,-214.1,375.3,-16.4,316,2019,0.15,0.00,0.00,0.000,6,0.170,0.000,2570,1788,3953,0,0,0,0,0,0
$GC,2335,-0.82,-214.1,415.9,-13.3,346,2339,0.00,2.20,0.00,0.000,4,0.000,0.054,2572,3202,3952,0,0,0,0,0,0
$GC,2389,-0.89,-214.1,422.7,-11.8,350,2397,0.00,2.17,0.00,0.000,6,0.000,0.037,2571,1799,3951,0,0,0,0,0,0
$GC,2716,-0.91,-214.1,465.6,-13.9,381,2717,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,1799,3950,0,0,0,0,0,0
$GC,3038,-0.94,-214.1,508.8,-12.7,411,3042,0.00,2.22,0.00,0.000,4,0.000,0.053,2568,391,3948,0,0,0,0,0,0
$GC,3090,-0.97,-214.1,516.0,-12.6,415,3095,0.12,2.17,0.00,0.000,6,0.087,0.046,2510,1805,3948,0,0,0,0,0,0
$GC,3415,-0.90,-214.1,573.1,-17.9,445,3417,0.15,0.00,0.00,0.000,6,0.179,0.000,2548,1805,3945,0,0,0,0,0,0
$GC,3730,-0.90,-214.1,619.4,-14.7,469,3734,0.00,2.17,0.00,0.000,4,0.000,0.055,2541,3210,3943,0,0,0,0,0,0
$GC,3776,-0.92,-214.1,625.9,-13.6,471,3780,0.00,2.15,0.00,0.000,6,0.000,0.038,2541,1795,3942,0,0,0,0,0,0
$GC,4097,-0.92,-214.1,673.0,-14.5,487,4101,0.00,2.20,0.00,0.000,4,0.000,0.054,2541,386,3940,0,0,0,0,0,0
$GC,4135,-0.90,-214.1,679.0,-15.7,488,4142,0.00,2.17,0.00,0.000,6,0.000,0.047,2531,1800,3939,0,0,0,0,0,0
$GC,4454,-0.88,-214.1,724.8,-14.7,504,4458,0.00,2.20,0.00,0.000,4,0.000,0.056,2520,3209,3936,0,0,0,0,0,0
$GC,4486,-0.88,-214.1,730.2,-14.8,505,4495,0.12,2.15,0.00,0.000,6,0.167,0.039,2552,1794,3936,0,0,0,0,0,0
$GC,4805,-0.90,-214.1,768.4,-11.7,521,4809,0.00,2.20,0.00,0.000,4,0.000,0.055,2553,389,3933,0,0,0,0,0,0
$GC,4872,-0.93,-214.1,776.7,-11.4,524,4876,0.00,2.20,0.00,0.000,6,0.000,0.049,2545,1798,3933,0,0,0,0,0,0
$GC,5193,-0.93,-214.1,815.3,-12.4,540,5197,0.00,2.20,0.00,0.000,4,0.000,0.060,2534,3209,3929,0,0,0,0,0,0
$GC,5239,-0.95,-214.1,820.7,-11.9,542,5243,0.00,2.15,0.00,0.000,6,0.000,0.040,2534,1800,3928,0,0,0,0,0,0
$GC,5563,-0.95,-214.1,864.3,-14.1,558,5567,0.00,2.22,0.00,0.000,4,0.000,0.057,2534,396,3926,0,0,0,0,0,0
$GC,5603,-0.95,-214.1,870.4,-14.2,560,5607,0.00,2.20,0.00,0.000,6,0.000,0.050,2524,1800,3926,0,0,0,0,0,0
$GC,5932,-0.93,-214.1,921.0,-15.9,576,5936,0.00,2.22,0.00,0.000,4,0.000,0.060,2513,3209,3923,0,0,0,0,0,0
$GC,5964,-0.93,-214.1,926.7,-15.4,577,5972,0.00,2.17,0.00,0.000,6,0.000,0.041,2514,1790,3922,0,0,0,0,0,0
$GC,6282,-0.90,-214.1,979.8,-17.3,593,6287,0.12,2.20,0.00,0.000,4,0.182,0.058,2548,398,3920,0,0,0,0,0,0
$GC,6330,-0.93,-214.1,987.3,-15.2,595,6334,0.00,2.20,0.00,0.000,6,0.000,0.051,2540,1806,3920,0,0,0,0,0,0
$STATE,6428,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6428,begin apogee
$GC,6434,-0.23,0.0,1002.5,14.9,600,6626,0.70,0.00,185.48,1.443,6,0.132,0.000,2760,1738,3072,0,0,0,0,0,0
$STATE,6627,end apogee,CONTROL_FINISHED_OK
$STATE,6627,begin climb
$GC,6629,1.16,214.1,1015.3,0.0,609,6843,1.27,2.45,199.82,1.379,4,0.056,0.058,3224,358,2199,0,0,0,0,0,0
$GC,6861,0.83,214.1,978.6,28.7,619,6868,0.47,2.35,0.00,0.000,6,0.201,0.050,3109,1748,2196,0,0,0,0,0,0
$GC,7179,0.64,214.1,911.2,20.9,635,7183,0.22,2.22,0.00,0.000,4,0.185,0.053,3038,3171,2192,0,0,0,0,0,0
$GC,7223,0.55,214.1,902.2,16.9,637,7227,0.00,2.15,0.00,0.000,6,0.000,0.041,3046,1751,2190,0,0,0,0,0,0
$GC,7546,0.44,214.1,848.1,17.8,653,7551,0.22,2.20,0.00,0.000,4,0.172,0.054,2994,349,2190,0,0,0,0,0,0
$GC,7586,0.42,214.1,841.7,14.4,655,7590,0.00,2.20,0.00,0.000,6,0.000,0.045,2992,1763,2189,0,0,0,0,0,0
$GC,7920,0.45,250.7,798.8,12.3,671,7964,0.00,2.28,33.62,1.287,4,0.000,0.054,2992,3163,2049,0,0,0,0,0,0
$GC,8010,0.49,284.0,787.2,12.4,675,8052,0.00,2.17,32.35,1.259,6,0.000,0.041,3001,1749,1913,0,0,0,0,0,0
$GC,8361,0.53,313.3,742.9,12.6,692,8395,0.00,2.33,27.50,1.235,4,0.000,0.057,3011,343,1794,0,0,0,0,0,0
$GC,8428,0.53,313.3,733.5,14.9,695,8432,0.00,2.22,0.00,0.000,6,0.000,0.043,3011,1759,1793,0,0,0,0,0,0
$GC,8757,0.53,313.3,687.7,14.0,711,8761,0.00,2.17,0.00,0.000,4,0.000,0.054,3011,3162,1790,0,0,0,0,0,0
$GC,8807,0.53,313.3,680.1,14.4,713,8811,0.00,2.15,0.00,0.000,6,0.000,0.042,3021,1745,1788,0,0,0,0,0,0
$GC,9129,0.51,313.3,631.4,15.5,729,9133,0.00,2.17,0.00,0.000,4,0.000,0.056,3032,346,1787,0,0,0,0,0,0
$GC,9163,0.49,313.3,625.6,17.4,730,9171,0.12,2.17,0.00,0.000,6,0.164,0.042,3000,1751,1786,0,0,0,0,0,0
$GC,9485,0.55,339.9,580.7,12.7,752,9520,0.00,2.30,24.85,1.156,4,0.000,0.052,2998,3171,1686,0,0,0,0,0,0
$GC,9568,0.69,398.2,570.4,11.4,759,9629,0.15,2.20,54.92,1.160,6,0.074,0.043,3080,1744,1448,0,0,0,0,0,0
$GC,9950,0.62,398.2,491.1,21.1,794,9955,0.15,2.22,0.00,0.000,4,0.177,0.056,3050,341,1442,0,0,0,0,0,0
$GC,10001,0.62,398.2,481.3,15.8,798,10005,0.00,2.17,0.00,0.000,6,0.000,0.041,3050,1753,1440,0,0,0,0,0,0
$GC,10327,0.60,398.2,427.4,16.3,828,10331,0.00,2.17,0.00,0.000,4,0.000,0.052,3050,3160,1439,0,0,0,0,0,0
$GC,10373,0.62,398.2,420.0,14.9,832,10377,0.00,2.15,0.00,0.000,6,0.000,0.042,3058,1742,1439,0,0,0,0,0,0
$GC,10699,0.60,398.2,367.3,15.6,862,10703,0.00,2.20,0.00,0.000,4,0.000,0.056,3069,343,1439,0,0,0,0,0,0
$GC,10735,0.60,398.2,360.7,17.0,865,10744,0.12,2.17,0.00,0.000,6,0.155,0.040,3035,1761,1437,0,0,0,0,0,0
$GC,11063,0.67,425.8,316.9,12.7,896,11092,0.00,0.00,24.30,0.928,6,0.000,0.000,3035,1766,1335,0,0,0,0,0,0
$GC,11415,0.75,452.8,268.9,12.7,949,11451,0.15,2.20,25.27,0.874,4,0.076,0.049,3113,3160,1225,0,0,0,0,0,0
$GC,11475,0.70,452.8,257.8,20.6,958,11483,0.17,2.20,0.00,0.000,6,0.147,0.041,3069,1752,1225,0,0,0,0,0,0
$GC,11810,0.76,478.5,211.0,12.8,1019,11838,0.00,2.30,23.55,0.814,4,0.000,0.055,3078,339,1121,0,0,0,0,0,0
$GC,11912,0.83,478.5,196.5,14.7,1036,11920,0.00,2.20,0.00,0.000,6,0.000,0.037,3073,1759,1119,0,0,0,0,0,0
$GC,12249,0.98,550.0,151.8,10.8,1097,12319,0.22,2.25,61.62,0.767,4,0.058,0.044,3173,3165,828,0,0,0,0,0,0
$GC,12350,0.94,550.0,130.5,19.6,1111,12359,0.12,2.20,0.00,0.000,6,0.156,0.040,3144,1759,827,0,0,0,0,0,0
$GC,12683,0.95,550.0,74.7,16.6,1172,12691,0.00,2.22,0.00,0.000,4,0.000,0.053,3151,347,825,0,0,0,0,0,0
$GC,12754,1.01,564.1,63.7,13.3,1184,12777,0.00,2.15,13.12,0.633,6,0.000,0.036,3151,1754,770,0,0,0,0,0,0
$GC,13096,1.01,564.1,6.4,17.0,1247,13104,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,1754,770,0,0,0,0,0,0
$STATE,13115,end climb,SURFACE_DEPTH_REACHED
$STATE,13115,begin surface coast
$FINISH,1.2,1.022448
$STATE,13134,end surface coast,CONTROL_FINISHED_OK
$STATE,13134,begin surface
$SM_CCo,13211,0.00,0.000,0,0,768,564.93
$SM_GC,1.86,7.80,0.00,0.00,0.033,0.000,0.000,160,1757,768,-8.35,-1.22,564.93
$IRIDIUM_FIX,2106.38,12608.27,091110,181813
$TT8_MAMPS,0.026215
$HUMID,43.89
$INTERNAL_PRESSURE,8.68656
$TCM_TEMP,24.70
$XPDR_PINGS,102
$24V_AH,22.1,92.193
$10V_AH,10.0,57.901
$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,22.800,127.800,706.425,0.000,0.000,22.658,44.481,189.314,25.500,0.000,18.188,3080.618,6327.900,732.616,3058.017,439.065,0.000,1982.002,0.000,2807.682,0.000,0.845,0.000
$DEVICE_MAMPS,229.500,98.685,1442.790,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,854.230,1084.865,1412.745,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,73609,1253
$CAP_FILE_SIZE,155191,0
$CFSIZE,260165632,150130688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.211,214.6,1
$GPS,101110,022506,2115.996,12600.157,26,1.2,26,-2.9