version: 66.09
glider: 166
mission: 6
dive: 321
start: 10 4 111 19 17 32
data:
$ID,166
$MISSION,6
$DIVE,321
$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,240
$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,300
$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,450
$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,-24803.314
$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,45
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,197
$ROLL_MAX,3786
$ROLL_DEG,20
$C_ROLL_DIVE,1610
$C_ROLL_CLIMB,1780
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,48
$R_STBD_OVSHOOT,64
$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,500
$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
$GPS1,041011,191024,2302.776,12128.262,24,1.3,41,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.92
$_SM_ANGLEo,-63.4
$GPS2,041011,191708,2302.731,12128.188,12,1.3,12,-3.0
$SPEED_LIMITS,0.238,0.395
$TGT_NAME,N1
$TGT_LATLONG,2303.600,12125.840
$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,278.7,4314,-16.7,-13.750
$D_GRID,297
$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,-0.73,-292.0,0.0,0.0,0,121,0.00,0.00,-101.68,0.000,2,0.000,0.000,158,1603,2872,0,0,0,0,0,0
$GC,125,-0.73,-292.0,5.7,-7.8,14,163,9.40,1.05,-20.38,0.000,4,0.226,0.067,2496,2297,3962,0,0,0,0,0,0
$GC,309,-0.60,-292.0,73.6,-33.3,46,317,0.20,1.02,0.00,0.000,6,0.153,0.036,2542,1593,3963,0,0,0,0,0,0
$GC,635,-0.60,-292.0,127.0,-12.9,107,643,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,1593,3965,0,0,0,0,0,0
$GC,966,-0.62,-292.0,166.5,-11.2,168,974,0.00,1.02,0.00,0.000,4,0.000,0.040,2539,2294,3966,0,0,0,0,0,0
$GC,1113,-0.65,-292.0,181.9,-10.2,194,1122,0.00,0.98,0.00,0.000,6,0.000,0.034,2539,1615,3966,0,0,0,0,0,0
$GC,1444,-0.66,-292.0,221.4,-12.4,255,1452,0.00,1.00,0.00,0.000,4,0.000,0.041,2534,2295,3965,0,0,0,0,0,0
$GC,1477,-0.68,-292.0,225.7,-11.7,260,1485,0.00,1.00,0.00,0.000,6,0.000,0.036,2534,1607,3965,0,0,0,0,0,0
$GC,1813,-0.69,-292.0,261.6,-11.0,312,1817,0.00,1.00,0.00,0.000,4,0.000,0.041,2531,2288,3965,0,0,0,0,0,0
$GC,1906,-0.72,-292.0,272.7,-11.0,320,1914,0.00,1.00,0.00,0.000,6,0.000,0.037,2531,1603,3964,0,0,0,0,0,0
$STATE,2113,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2113,begin apogee
$GC,2121,-0.11,0.0,298.1,12.3,340,2337,0.50,0.00,205.93,0.864,6,0.116,0.000,2716,1785,2883,0,0,0,0,0,0
$STATE,2338,end apogee,CONTROL_FINISHED_OK
$STATE,2338,begin climb
$GC,2342,0.73,292.0,311.4,0.0,359,2586,0.70,1.08,237.20,0.842,4,0.057,0.044,2983,2456,1693,0,0,0,0,0,0
$GC,2636,0.70,292.0,282.1,15.8,385,2643,0.00,1.02,0.00,0.000,6,0.000,0.037,2986,1786,1691,0,0,0,0,0,0
$GC,2965,0.68,292.0,235.5,14.1,425,2973,0.00,1.05,0.00,0.000,4,0.000,0.041,2992,1078,1687,0,0,0,0,0,0
$GC,3003,0.65,292.0,229.9,14.4,431,3011,0.10,1.02,0.00,0.000,6,0.136,0.037,2957,1771,1687,0,0,0,0,0,0
$GC,3332,0.78,383.6,191.8,10.9,492,3414,0.12,0.00,77.22,0.789,6,0.086,0.000,3032,1771,1319,0,0,0,0,0,0
$GC,3736,0.74,383.6,116.8,18.0,563,3744,0.17,1.05,0.00,0.000,4,0.151,0.044,2979,2469,1314,0,0,0,0,0,0
$GC,3821,0.96,519.1,107.5,9.5,577,3941,0.17,1.02,110.62,0.726,6,0.037,0.037,3083,1777,766,0,0,0,0,0,0
$GC,4258,1.08,582.4,49.1,11.8,653,4318,0.00,1.10,53.70,0.671,4,0.000,0.040,3083,2479,507,0,0,0,0,0,0
$GC,4475,1.33,723.4,28.0,9.3,689,4498,0.20,1.05,13.18,0.592,6,0.034,0.037,3211,1775,453,0,0,0,0,0,0
$STATE,4604,end climb,SURFACE_DEPTH_REACHED
$STATE,4604,begin surface coast
$FINISH,1.2,0.998818
$STATE,4617,end surface coast,CONTROL_FINISHED_OK
$STATE,4617,begin surface
$SM_CCo,4697,0.00,0.000,0,0,443,598.78
$SM_GC,2.04,8.00,0.00,0.00,0.037,0.000,0.000,157,1586,443,-8.04,-0.68,598.78,0,0,0,0,0,0
$IRIDIUM_FIX,2251.04,12126.33,041011,161609
$TT8_MAMPS,0.026215,0.026215
$HUMID,39.28
$INTERNAL_PRESSURE,9.37018
$TCM_TEMP,23.60
$XPDR_PINGS,22
$ALTIM_BOTTOM_PING,178.6,999.0
$24V_AH,24.1,77.137
$10V_AH,9.8,54.570
$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,19.575,16.925,697.850,0.000,0.000,31.011,40.276,180.090,5.750,0.000,13.588,1592.308,462.407,642.270,2130.915,261.392,0.000,1375.636,0.000,1914.028,0.000,2.730,0.000
$DEVICE_MAMPS,226.440,66.555,864.450,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,478.319,730.916,1645.202,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324620
$DATA_FILE_SIZE,40199,714
$CAP_FILE_SIZE,71469,0
$CFSIZE,260165632,118648832
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.249, 14.0,1
$GPS,041011,203638,2303.466,12127.621,13,1.6,13,-3.0