version: 66.09
glider: 166
mission: 6
dive: 5
start: 8 5 111 12 7 27
data:
$ID,166
$MISSION,6
$DIVE,5
$N_DIVES,10
$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,-24377.936
$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,38
$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,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
$GPS1,050811,115810,2043.937,12120.161,34,1.9,41,-2.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-67.5
$GPS2,050811,120706,2044.087,12120.274,32,2.0,42,-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,75.3,288064,-16.8,-10.000
$D_GRID,3600
$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,-92.55,0.000,2,0.000,0.000,162,2004,3170,0,0,0,0,0,0
$GC,114,-0.61,-170.3,6.2,-10.4,13,138,9.27,2.10,-7.10,0.000,4,0.229,0.055,2544,3408,3581,0,0,0,0,0,0
$GC,311,-0.41,-170.3,71.3,-24.8,49,320,0.30,2.12,0.00,0.000,6,0.135,0.035,2623,1985,3582,0,0,0,0,0,0
$GC,634,-0.41,-170.3,114.6,-9.0,110,641,0.00,2.15,0.00,0.000,4,0.000,0.049,2614,3392,3583,0,0,0,0,0,0
$GC,735,-0.58,-170.3,121.8,-6.6,128,744,0.08,2.08,0.00,0.000,6,0.050,0.035,2549,1990,3583,0,0,0,0,0,0
$GC,1057,-0.52,-170.3,173.4,-13.0,189,1066,0.15,2.10,0.00,0.000,4,0.160,0.045,2597,596,3584,0,0,0,0,0,0
$GC,1298,-0.61,-170.3,196.5,-8.9,235,1306,0.00,2.10,0.00,0.000,6,0.000,0.040,2589,1997,3584,0,0,0,0,0,0
$GC,1618,-0.71,-170.3,223.5,-8.5,296,1626,0.17,2.12,0.00,0.000,4,0.071,0.044,2499,594,3584,0,0,0,0,0,0
$GC,1872,-0.53,-170.3,272.1,-19.6,333,1877,0.32,2.10,0.00,0.000,6,0.145,0.041,2588,2011,3584,0,0,0,0,0,0
$GC,2199,-0.68,-170.3,297.4,-5.7,363,2204,0.20,2.10,0.00,0.000,4,0.065,0.050,2497,3410,3582,0,0,0,0,0,0
$GC,2431,-0.61,-170.3,326.0,-13.8,383,2436,0.20,2.08,0.00,0.000,6,0.149,0.036,2556,1990,3581,0,0,0,0,0,0
$STATE,2711,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2711,begin apogee
$GC,2716,-0.12,0.0,361.1,11.0,409,2853,0.47,0.00,127.88,0.887,6,0.132,0.000,2705,1988,2884,0,0,0,0,0,0
$STATE,2854,end apogee,CONTROL_FINISHED_OK
$STATE,2854,begin climb
$GC,2856,0.61,170.3,365.6,0.0,421,3002,0.70,2.25,135.60,0.858,4,0.085,0.049,2973,579,2188,0,0,0,0,0,0
$GC,3198,0.49,170.3,331.9,10.1,451,3206,0.15,2.15,0.00,0.000,6,0.166,0.040,2922,1998,2182,0,0,0,0,0,0
$GC,3524,0.55,225.0,309.7,7.8,482,3575,0.00,0.00,44.53,0.847,6,0.000,0.000,2924,1999,1965,0,0,0,0,0,0
$GC,3897,0.66,253.7,275.5,8.9,517,3927,0.12,2.17,24.12,0.817,4,0.086,0.044,2997,594,1848,0,0,0,0,0,0
$GC,3997,0.56,253.7,261.0,16.7,525,4002,0.17,2.15,0.00,0.000,6,0.163,0.040,2941,2004,1845,0,0,0,0,0,0
$GC,4319,0.64,274.3,225.3,9.2,578,4342,0.00,2.20,17.65,0.778,4,0.000,0.050,2935,3407,1765,0,0,0,0,0,0
$GC,4371,0.73,288.6,220.9,9.4,585,4394,0.12,2.12,13.93,0.748,6,0.049,0.037,3015,1998,1705,0,0,0,0,0,0
$GC,4708,0.59,288.6,163.7,21.1,648,4716,0.20,0.00,0.00,0.000,6,0.169,0.000,2956,1998,1701,0,0,0,0,0,0
$GC,5030,0.87,419.9,125.3,4.8,709,5145,0.22,2.20,105.20,0.734,4,0.062,0.045,3066,588,1170,0,0,0,0,0,0
$GC,5184,0.78,419.9,104.0,15.9,732,5192,0.15,2.20,0.00,0.000,6,0.140,0.037,3017,2007,1168,0,0,0,0,0,0
$GC,5507,0.84,419.9,62.5,11.4,793,5515,0.00,2.15,0.00,0.000,4,0.000,0.045,3026,600,1166,0,0,0,0,0,0
$GC,5537,0.91,426.6,59.9,9.7,797,5553,0.00,2.10,5.93,0.516,6,0.000,0.034,3025,1997,1144,0,0,0,0,0,0
$GC,5866,1.13,475.2,31.4,8.1,859,5917,0.25,2.17,39.30,0.637,4,0.060,0.044,3158,597,943,0,0,0,0,0,0
$STATE,6012,end climb,SURFACE_DEPTH_REACHED
$STATE,6012,begin surface coast
$FINISH,0.6,1.021392
$STATE,6023,end surface coast,CONTROL_FINISHED_OK
$STATE,6024,begin surface
$SM_CCo,6104,0.00,0.000,0,0,940,476.86
$SM_GC,1.48,7.82,0.00,0.00,0.041,0.000,0.000,152,2021,940,-8.10,0.59,476.86,0,0,0,0,0,0
$IRIDIUM_FIX,2038.68,12120.75,050811,121201
$TT8_MAMPS,0.026215,0.026215
$HUMID,36.13
$INTERNAL_PRESSURE,9.5069
$TCM_TEMP,25.50
$XPDR_PINGS,9
$24V_AH,24.5,3.437
$10V_AH,10.4,2.505
$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,21.100,47.050,514.125,0.000,0.000,57.939,92.950,127.316,2.250,0.000,43.226,1971.918,1293.750,506.592,2625.784,235.588,0.000,1341.031,0.000,2295.138,0.000,0.543,0.000
$DEVICE_MAMPS,228.735,55.080,886.635,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,595.879,906.602,1821.457,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50243,886
$CAP_FILE_SIZE,87292,0
$CFSIZE,260165632,146812928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050811,135036,2045.674,12121.466,39,1.8,50,-2.5