version: 66.09
glider: 166
mission: 6
dive: 4
start: 8 5 111 10 12 35
data:
$ID,166
$MISSION,6
$DIVE,4
$N_DIVES,6
$D_SURF,3
$D_FLARE,5
$D_TGT,360
$D_ABORT,1030
$D_NO_BLEED,200
$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,150
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,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,175
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51906
$NAV_MODE,1
$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,450
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,0
$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,-24376.682
$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,2760
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,42
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,197
$ROLL_MAX,3786
$ROLL_DEG,40
$C_ROLL_DIVE,2000
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,48
$R_STBD_OVSHOOT,43
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,455
$VBD_MAX,3960
$C_VBD,2884
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,147
$AH0_10V,109
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-27.509327
$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,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$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,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004315557
$SEABIRD_T_H,0.00063223497
$SEABIRD_T_I,2.3993638e-05
$SEABIRD_T_J,2.5696888e-06
$SEABIRD_C_G,-9.9842854
$SEABIRD_C_H,1.1210135
$SEABIRD_C_I,-0.0013500623
$SEABIRD_C_J,0.00018873326
$GPS1,050811,100355,2041.238,12118.965,44,1.0,61,-2.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-66.4
$GPS2,050811,101214,2041.449,12118.994,38,1.1,49,-2.5
$SPEED_LIMITS,0.173,0.279
$TGT_NAME,N3
$TGT_LATLONG,2130.000,12400.000
$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,74.5,291642,-16.8,-10.000
$D_GRID,3639
$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,-0.61,-170.3,0.0,0.0,0,112,0.00,0.00,-92.62,0.000,2,0.000,0.000,153,2002,3152,0,0,0,0,0,0
$GC,116,-0.61,-170.3,5.8,-10.7,13,139,8.88,2.10,-7.47,0.000,4,0.216,0.057,2542,3406,3580,0,0,0,0,0,0
$GC,281,-0.50,-170.3,55.3,-17.0,43,289,0.12,2.08,0.00,0.000,6,0.141,0.033,2590,2002,3580,0,0,0,0,0,0
$GC,602,-0.50,-170.3,109.8,-15.4,104,610,0.00,2.10,0.00,0.000,4,0.000,0.042,2590,603,3580,0,0,0,0,0,0
$GC,846,-0.54,-170.3,145.5,-12.4,150,854,0.00,2.08,0.00,0.000,6,0.000,0.040,2582,1994,3580,0,0,0,0,0,0
$GC,1168,-0.60,-170.3,183.1,-7.5,211,1176,0.00,2.08,0.00,0.000,4,0.000,0.042,2581,601,3580,0,0,0,0,0,0
$GC,1412,-0.64,-170.3,203.9,-9.4,257,1419,0.00,2.08,0.00,0.000,6,0.000,0.040,2572,1994,3580,0,0,0,0,0,0
$GC,1733,-0.71,-170.3,238.5,-10.6,318,1741,0.12,2.10,0.00,0.000,4,0.086,0.043,2495,598,3580,0,0,0,0,0,0
$GC,1990,-0.54,-170.3,283.8,-16.7,347,1994,0.32,2.05,0.00,0.000,6,0.142,0.040,2585,2000,3578,0,0,0,0,0,0
$GC,2315,-0.68,-170.3,320.2,-9.8,377,2320,0.17,2.12,0.00,0.000,4,0.071,0.053,2498,3406,3576,0,0,0,0,0,0
$GC,2562,-0.62,-170.3,353.7,-12.6,398,2569,0.20,2.05,0.00,0.000,6,0.145,0.037,2560,1999,3575,0,0,0,0,0,0
$STATE,2630,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2630,begin apogee
$GC,2636,-0.12,0.0,360.5,9.6,405,2771,0.45,0.00,126.10,0.890,6,0.125,0.000,2714,1998,2884,0,0,0,0,0,0
$STATE,2772,end apogee,CONTROL_FINISHED_OK
$STATE,2772,begin climb
$GC,2774,0.61,170.3,364.7,0.0,417,2920,0.68,2.28,134.60,0.855,4,0.083,0.051,2953,3392,2188,0,0,0,0,0,0
$GC,3103,0.60,211.4,340.9,8.4,446,3147,0.00,2.10,34.08,0.829,6,0.000,0.037,2961,1992,2021,0,0,0,0,0,0
$GC,3465,0.55,211.4,303.6,12.8,480,3469,0.00,2.10,0.00,0.000,4,0.000,0.046,2972,588,2015,0,0,0,0,0,0
$GC,3540,0.50,211.4,294.0,12.8,486,3545,0.15,2.12,0.00,0.000,6,0.163,0.039,2925,2007,2015,0,0,0,0,0,0
$GC,3865,0.58,211.4,264.2,10.0,516,3869,0.00,2.10,0.00,0.000,4,0.000,0.045,2931,592,2012,0,0,0,0,0,0
$GC,3952,0.64,211.4,254.7,11.5,523,3956,0.10,2.10,0.00,0.000,6,0.104,0.039,2982,2003,2012,0,0,0,0,0,0
$GC,4271,0.55,211.4,211.1,13.0,580,4279,0.15,2.10,0.00,0.000,4,0.181,0.050,2928,3397,2010,0,0,0,0,0,0
$GC,4309,0.58,211.4,206.5,11.7,586,4317,0.00,2.08,0.00,0.000,6,0.000,0.037,2939,2000,2010,0,0,0,0,0,0
$GC,4631,0.72,285.4,178.7,7.1,647,4696,0.15,2.22,59.03,0.784,4,0.080,0.045,3028,588,1719,0,0,0,0,0,0
$GC,4744,0.59,285.4,166.1,12.9,664,4752,0.20,2.17,0.00,0.000,6,0.144,0.037,2954,2009,1717,0,0,0,0,0,0
$GC,5065,0.70,288.3,137.7,9.9,725,5073,0.00,2.15,0.00,0.000,4,0.000,0.045,2967,597,1714,0,0,0,0,0,0
$GC,5122,0.80,288.3,131.5,10.7,735,5131,0.12,2.10,0.00,0.000,6,0.043,0.036,3042,1997,1714,0,0,0,0,0,0
$GC,5448,0.71,288.3,84.5,11.7,796,5456,0.17,2.12,0.00,0.000,4,0.157,0.049,2981,3394,1713,0,0,0,0,0,0
$GC,5542,0.92,392.6,78.1,5.9,813,5636,0.15,2.08,84.72,0.690,6,0.046,0.036,3069,2002,1282,0,0,0,0,0,0
$GC,5954,0.92,392.6,29.1,11.9,886,5962,0.00,2.12,0.00,0.000,4,0.000,0.044,3081,593,1278,0,0,0,0,0,0
$GC,6050,0.92,392.6,17.7,11.5,904,6059,0.00,2.10,0.00,0.000,6,0.000,0.034,3078,1999,1277,0,0,0,0,0,0
$STATE,6169,end climb,SURFACE_DEPTH_REACHED
$STATE,6169,begin surface coast
$FINISH,0.8,1.021438
$STATE,6195,end surface coast,CONTROL_FINISHED_OK
$STATE,6195,begin surface
$SM_CCo,6211,38.75,0.452,1,0,1049,450.13
$SM_GC,1.44,0.00,0.00,38.75,0.000,0.000,0.452,130,2003,1049,-8.22,0.08,450.13,0,0,0,0,1,0
$IRIDIUM_FIX,2031.77,12119.55,050811,101002
$TT8_MAMPS,0.026215,0.026215
$HUMID,36.25
$INTERNAL_PRESSURE,9.54597
$TCM_TEMP,25.80
$XPDR_PINGS,2
$24V_AH,24.6,3.306
$10V_AH,10.4,2.377
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$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,19.775,54.875,438.525,38.750,0.000,0.000,0.000,0.000,0.500,0.000,50.341,2094.414,1103.505,503.882,2472.235,187.896,0.000,1364.749,0.000,2450.109,0.000,0.544,0.000
$DEVICE_MAMPS,216.495,57.375,889.695,452.115,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,626.682,950.731,1958.676,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323912
$DATA_FILE_SIZE,50275,930
$CAP_FILE_SIZE,101746,0
$CFSIZE,260165632,146857984
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,050811,115810,2043.937,12120.161,34,1.9,41,-2.5