version: 66.09
glider: 166
mission: 6
dive: 35
start: 8 10 111 12 24 31
data:
$ID,166
$MISSION,6
$DIVE,35
$N_DIVES,0
$D_SURF,3
$D_FLARE,5
$D_TGT,990
$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,260
$T_MISSION,300
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-8
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,275
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51906
$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,595.83368
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$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,-24424.398
$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,2745
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,28
$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,1500
$C_ROLL_CLIMB,1850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,42
$R_STBD_OVSHOOT,38
$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,3
$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,100
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,30
$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,4
$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
$GPS1,100811,121507,2245.235,12125.572,55,1.2,55,-2.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-73.3
$GPS2,100811,122408,2245.617,12125.794,32,1.4,32,-2.9
$SPEED_LIMITS,0.220,0.369
$TGT_NAME,N2
$TGT_LATLONG,2350.000,12355.000
$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,102.4,279478,-16.3,-12.692
$D_GRID,468
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.91,-267.6,0.0,0.0,0,125,0.00,0.00,-104.32,0.000,2,0.000,0.000,148,1479,2974,0,0,0,0,0,0
$GC,129,-0.91,-267.6,5.5,-8.6,15,162,9.07,2.22,-18.00,0.000,4,0.234,0.047,2428,2921,3963,0,0,0,0,0,0
$GC,390,-0.69,-267.6,101.8,-30.4,62,398,0.25,2.20,0.00,0.000,6,0.157,0.037,2512,1492,3966,0,0,0,0,0,0
$GC,717,-0.59,-267.6,176.7,-20.1,123,726,0.15,1.98,0.00,0.000,4,0.165,0.042,2564,201,3967,0,0,0,0,0,0
$GC,754,-0.56,-267.6,182.8,-17.9,128,762,0.00,1.98,0.00,0.000,6,0.000,0.034,2552,1511,3967,0,0,0,0,0,0
$GC,1083,-0.56,-267.6,225.0,-13.3,189,1091,0.00,2.15,0.00,0.000,4,0.000,0.047,2540,2901,3967,0,0,0,0,0,0
$GC,1130,-0.56,-267.6,232.2,-14.3,197,1139,0.00,2.12,0.00,0.000,6,0.000,0.036,2542,1504,3967,0,0,0,0,0,0
$GC,1457,-0.56,-267.6,275.6,-14.6,240,1461,0.00,2.10,0.00,0.000,4,0.000,0.046,2530,2903,3966,0,0,0,0,0,0
$GC,1555,-0.59,-267.6,288.4,-13.9,248,1563,0.00,2.12,0.00,0.000,6,0.000,0.034,2531,1496,3966,0,0,0,0,0,0
$GC,1881,-0.59,-267.6,318.0,-8.6,279,1884,0.00,1.92,0.00,0.000,4,0.000,0.044,2532,205,3964,0,0,0,0,0,0
$GC,1949,-0.59,-267.6,325.2,-10.4,285,1954,0.12,1.92,0.00,0.000,6,0.156,0.034,2556,1502,3963,0,0,0,0,0,0
$GC,2281,-0.64,-267.6,360.2,-8.0,316,2285,0.00,2.12,0.00,0.000,4,0.000,0.050,2549,2905,3962,0,0,0,0,0,0
$GC,2355,-0.72,-267.6,363.9,-5.0,322,2360,0.10,2.10,0.00,0.000,6,0.094,0.035,2483,1494,3961,0,0,0,0,0,0
$STATE,2392,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2393,begin apogee
$GC,2400,-0.18,0.0,368.6,11.8,325,2609,0.62,0.00,201.60,0.930,6,0.140,0.000,2679,1863,2883,0,0,0,0,0,0
$STATE,2609,end apogee,CONTROL_FINISHED_OK
$STATE,2609,begin climb
$GC,2613,0.91,267.6,374.8,0.0,343,2841,1.02,2.22,217.27,0.895,4,0.085,0.047,3031,3240,1791,0,0,0,0,0,0
$GC,2996,0.72,267.6,311.2,19.4,377,3004,0.22,2.15,0.00,0.000,6,0.181,0.037,2983,1851,1786,0,0,0,0,0,0
$GC,3322,0.61,267.6,250.3,19.9,408,3326,0.15,2.17,0.00,0.000,4,0.181,0.047,2938,3242,1782,0,0,0,0,0,0
$GC,3462,0.61,280.3,230.1,12.3,433,3478,0.00,2.15,10.57,0.755,6,0.000,0.036,2946,1840,1741,0,0,0,0,0,0
$GC,3801,0.62,327.6,191.1,11.2,495,3848,0.00,2.25,40.22,0.812,4,0.000,0.046,2957,446,1547,0,0,0,0,0,0
$GC,3884,0.62,330.5,181.6,12.6,507,3895,0.00,2.15,4.10,0.501,6,0.000,0.036,2952,1830,1535,0,0,0,0,0,0
$GC,4218,0.62,342.9,135.5,12.3,568,4235,0.00,2.25,11.20,0.703,4,0.000,0.047,2952,3248,1486,0,0,0,0,0,0
$GC,4289,0.62,342.9,125.8,13.0,580,4298,0.00,2.15,0.00,0.000,6,0.000,0.034,2961,1851,1485,0,0,0,0,0,0
$GC,4619,0.74,427.5,80.5,10.0,641,4699,0.00,2.28,68.85,0.728,4,0.000,0.044,2961,3246,1140,0,0,0,0,0,0
$GC,4732,0.80,427.5,67.4,13.5,657,4740,0.00,2.17,0.00,0.000,6,0.000,0.031,2972,1851,1138,0,0,0,0,0,0
$GC,5058,1.13,608.1,37.3,6.9,718,5202,0.32,2.25,133.73,0.670,4,0.050,0.041,3147,453,450,0,0,0,0,0,0
$GC,5223,1.10,608.1,4.7,21.0,740,5232,0.15,2.17,0.00,0.000,6,0.129,0.032,3099,1835,447,0,0,0,0,0,0
$STATE,5238,end climb,SURFACE_DEPTH_REACHED
$STATE,5238,begin surface coast
$FINISH,1.0,1.000498
$STATE,5258,end surface coast,CONTROL_FINISHED_OK
$STATE,5258,begin surface
$SM_CCo,5335,0.00,0.000,0,0,444,598.29
$SM_GC,1.80,7.90,0.00,0.00,0.040,0.000,0.000,144,1502,444,-8.03,0.06,598.29,0,0,0,0,0,0
$IRIDIUM_FIX,2234.68,12122.67,100811,080838
$TT8_MAMPS,0.026964,0.026964
$HUMID,33.42
$INTERNAL_PRESSURE,9.34088
$TCM_TEMP,23.40
$XPDR_PINGS,76
$ALTIM_BOTTOM_PING,368.6,18.6
$24V_AH,24.1,10.760
$10V_AH,10.3,6.944
$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,20.100,52.375,687.550,0.000,0.000,60.828,65.857,182.308,19.250,0.000,33.124,1690.417,1046.874,634.137,2239.992,249.566,0.000,1422.759,0.000,1925.359,0.000,2.859,0.000
$DEVICE_MAMPS,234.090,50.490,930.240,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,499.432,762.330,1496.647,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324432
$DATA_FILE_SIZE,43577,745
$CAP_FILE_SIZE,81092,0
$CFSIZE,260165632,144306176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.735, 38.9,1
$GPS,100811,135434,2247.242,12128.116,13,99.0,32,-2.9