version: 66.09
glider: 166
mission: 6
dive: 36
start: 8 10 111 14 0 39
data:
$ID,166
$MISSION,6
$DIVE,36
$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,-24425.752
$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,40
$R_STBD_OVSHOOT,36
$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
$GPS1,100811,135434,2247.242,12128.116,13,99.0,32,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-72.9
$GPS2,100811,140013,2247.473,12128.303,15,1.4,15,-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,112.9,274171,-16.3,-12.692
$D_GRID,382
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.91,-267.6,0.0,0.0,0,127,0.00,0.00,-108.75,0.000,2,0.000,0.000,142,1502,3097,0,0,0,0,0,0
$GC,130,-0.91,-267.6,6.1,-10.3,15,162,8.98,2.17,-15.60,0.000,4,0.233,0.052,2432,2923,3962,0,0,0,0,0,0
$GC,198,-0.65,-267.6,36.7,-43.8,25,208,0.30,2.22,0.00,0.000,6,0.155,0.038,2528,1494,3964,0,0,0,0,0,0
$GC,525,-0.53,-267.6,121.8,-25.7,86,534,0.15,1.98,0.00,0.000,4,0.166,0.044,2579,207,3966,0,0,0,0,0,0
$GC,689,-0.57,-267.6,150.8,-14.6,115,697,0.00,1.98,0.00,0.000,6,0.000,0.034,2570,1515,3967,0,0,0,0,0,0
$GC,1017,-0.57,-267.6,193.7,-11.0,176,1025,0.00,2.10,0.00,0.000,4,0.000,0.043,2557,2901,3967,0,0,0,0,0,0
$GC,1061,-0.61,-267.6,198.6,-11.3,183,1069,0.00,2.12,0.00,0.000,6,0.000,0.033,2558,1496,3967,0,0,0,0,0,0
$GC,1390,-0.61,-267.6,240.2,-10.0,244,1398,0.00,2.17,0.00,0.000,4,0.000,0.049,2547,2904,3967,0,0,0,0,0,0
$GC,1490,-0.62,-267.6,249.1,-9.5,262,1498,0.00,2.12,0.00,0.000,6,0.000,0.034,2548,1503,3967,0,0,0,0,0,0
$GC,1818,-0.65,-267.6,289.6,-10.4,293,1822,0.00,2.12,0.00,0.000,4,0.000,0.046,2536,2907,3965,0,0,0,0,0,0
$GC,1983,-0.71,-267.6,306.1,-10.1,307,1990,0.00,2.12,0.00,0.000,6,0.000,0.035,2537,1485,3964,0,0,0,0,0,0
$GC,2309,-0.73,-267.6,345.5,-12.7,338,2313,0.00,2.15,0.00,0.000,4,0.000,0.047,2527,2901,3963,0,0,0,0,0,0
$GC,2350,-0.76,-267.6,350.6,-12.3,341,2353,0.00,2.10,0.00,0.000,6,0.000,0.036,2528,1497,3962,0,0,0,0,0,0
$STATE,2577,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2577,begin apogee
$GC,2585,-0.18,0.0,382.5,11.9,362,2792,0.45,0.00,201.23,0.930,6,0.123,0.000,2682,1850,2883,0,0,0,0,0,0
$STATE,2793,end apogee,CONTROL_FINISHED_OK
$STATE,2793,begin climb
$GC,2795,0.91,267.6,391.9,0.0,380,3022,1.02,2.38,216.68,0.903,4,0.083,0.050,3022,3248,1791,0,0,0,0,0,0
$GC,3141,0.72,267.6,328.1,27.9,411,3149,0.20,2.20,0.00,0.000,6,0.179,0.038,2979,1848,1788,0,0,0,0,0,0
$GC,3466,0.65,267.6,268.0,13.3,442,3470,0.00,2.17,0.00,0.000,4,0.000,0.047,2969,3246,1784,0,0,0,0,0,0
$GC,3543,0.62,290.0,257.9,12.0,448,3568,0.08,2.15,19.05,0.819,6,0.166,0.037,2954,1852,1701,0,0,0,0,0,0
$GC,3888,0.57,290.0,207.7,15.1,505,3895,0.00,2.20,0.00,0.000,4,0.000,0.047,2943,3245,1696,0,0,0,0,0,0
$GC,3959,0.55,290.0,197.1,15.3,517,3968,0.08,2.15,0.00,0.000,6,0.155,0.036,2928,1845,1696,0,0,0,0,0,0
$GC,4291,0.61,323.3,159.3,11.6,578,4328,0.00,2.22,27.83,0.783,4,0.000,0.046,2925,3250,1565,0,0,0,0,0,0
$GC,4396,0.78,392.9,147.0,10.5,595,4465,0.15,2.17,57.85,0.771,6,0.040,0.035,3028,1839,1280,0,0,0,0,0,0
$GC,4788,0.71,392.9,87.5,15.4,664,4796,0.17,0.00,0.00,0.000,6,0.155,0.000,2980,1836,1275,0,0,0,0,0,0
$GC,5113,1.10,648.8,54.2,4.5,725,5279,0.28,0.00,159.52,0.682,6,0.054,0.000,3118,1835,453,0,0,0,0,0,0
$STATE,5379,end climb,SURFACE_DEPTH_REACHED
$STATE,5379,begin surface coast
$FINISH,1.1,1.021549
$STATE,5396,end surface coast,CONTROL_FINISHED_OK
$STATE,5396,begin surface
$SM_CCo,5475,0.00,0.000,0,0,445,598.29
$SM_GC,1.76,7.90,0.00,0.00,0.041,0.000,0.000,140,1497,445,-8.05,-0.08,598.29,0,0,0,0,0,0
$IRIDIUM_FIX,2237.01,12127.88,100811,121220
$TT8_MAMPS,0.026964,0.026964
$HUMID,33.81
$INTERNAL_PRESSURE,9.36041
$TCM_TEMP,23.70
$XPDR_PINGS,53
$ALTIM_BOTTOM_PING,282.0,999.0
$24V_AH,24.3,10.934
$10V_AH,10.4,7.056
$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,19.750,44.050,682.150,0.000,0.000,28.171,26.780,146.214,13.500,0.000,15.950,1745.187,1012.487,630.480,2193.591,233.382,0.000,1428.146,0.000,1992.625,0.000,2.995,0.000
$DEVICE_MAMPS,232.560,52.020,930.240,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,515.510,786.126,1557.432,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324396
$DATA_FILE_SIZE,43604,769
$CAP_FILE_SIZE,79515,0
$CFSIZE,260165632,144261120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.671, 32.4,1
$GPS,100811,153314,2248.924,12130.427,33,1.3,45,-3.0