version: 66.09
glider: 166
mission: 6
dive: 323
start: 10 4 111 22 19 44
data:
$ID,166
$MISSION,6
$DIVE,323
$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,-24805.824
$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,76
$R_STBD_OVSHOOT,67
$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,300
$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,4
$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
$GPS1,041011,220107,2303.717,12127.043,30,1.0,30,-3.0
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-67.3
$GPS2,041011,221920,2303.686,12127.034,13,1.3,13,-3.0
$SPEED_LIMITS,0.238,0.395
$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,103.6,264933,-16.7,-13.750
$D_GRID,471
$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,15,begin dive
$GC,18,-0.73,-292.0,0.0,0.0,0,122,0.00,0.00,-100.85,0.000,2,0.000,0.000,120,1574,2952,0,0,0,0,0,0
$GC,127,-0.73,-292.0,6.6,-10.7,14,159,9.30,1.00,-16.88,0.000,4,0.226,0.071,2504,926,3963,0,0,0,0,0,0
$GC,277,-0.64,-292.0,61.8,-28.2,40,287,0.10,1.00,0.00,0.000,6,0.148,0.043,2533,1580,3965,0,0,0,0,0,0
$GC,604,-0.64,-292.0,123.1,-12.5,101,612,0.00,1.08,0.00,0.000,4,0.000,0.045,2530,2309,3966,0,0,0,0,0,0
$GC,857,-0.66,-292.0,156.5,-12.5,147,865,0.00,1.00,0.00,0.000,6,0.000,0.041,2529,1647,3966,0,0,0,0,0,0
$GC,1184,-0.66,-292.0,202.9,-13.6,208,1192,0.00,1.02,0.00,0.000,4,0.000,0.047,2524,2318,3966,0,0,0,0,0,0
$GC,1228,-0.67,-292.0,208.8,-13.3,215,1236,0.00,1.08,0.00,0.000,6,0.000,0.041,2524,1603,3966,0,0,0,0,0,0
$GC,1558,-0.67,-292.0,254.9,-13.2,273,1562,0.00,1.08,0.00,0.000,4,0.000,0.047,2519,2311,3965,0,0,0,0,0,0
$GC,1630,-0.69,-292.0,263.2,-11.2,279,1634,0.00,1.05,0.00,0.000,6,0.000,0.042,2519,1612,3965,0,0,0,0,0,0
$GC,1961,-0.69,-292.0,302.4,-12.1,310,1965,0.00,1.05,0.00,0.000,4,0.000,0.050,2519,2306,3962,0,0,0,0,0,0
$GC,2055,-0.72,-292.0,313.2,-11.6,318,2059,0.00,1.05,0.00,0.000,6,0.000,0.044,2524,1609,3962,0,0,0,0,0,0
$GC,2387,-0.73,-292.0,349.2,-10.0,349,2391,0.00,1.08,0.00,0.000,4,0.000,0.050,2531,2305,3959,0,0,0,0,0,0
$GC,2441,-0.75,-292.0,355.3,-11.3,353,2448,0.00,1.05,0.00,0.000,6,0.000,0.044,2531,1614,3958,0,0,0,0,0,0
$GC,2767,-0.77,-292.0,392.7,-10.5,384,2771,0.00,1.05,0.00,0.000,4,0.000,0.048,2531,916,3955,0,0,0,0,0,0
$GC,2827,-0.79,-292.0,398.4,-10.0,389,2832,0.08,1.05,0.00,0.000,6,0.054,0.044,2468,1608,3955,0,0,0,0,0,0
$GC,3160,-0.74,-292.0,457.2,-19.0,420,3165,0.12,1.08,0.00,0.000,4,0.171,0.052,2499,2312,3951,0,0,0,0,0,0
$GC,3209,-0.74,-292.0,466.3,-15.5,424,3217,0.00,1.08,0.00,0.000,6,0.000,0.044,2499,1603,3951,0,0,0,0,0,0
$STATE,3246,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3246,begin apogee
$GC,3252,-0.11,0.0,472.1,15.8,428,3470,0.62,0.00,207.52,1.016,6,0.122,0.000,2705,1788,2884,0,0,0,0,0,0
$STATE,3471,end apogee,CONTROL_FINISHED_OK
$STATE,3471,begin climb
$GC,3473,0.73,292.0,489.6,0.0,447,3722,0.73,1.12,240.18,0.985,4,0.052,0.054,2986,2484,1692,0,0,0,0,0,0
$GC,3827,0.69,292.0,449.2,17.4,477,3830,0.00,1.08,0.00,0.000,6,0.000,0.044,2990,1785,1689,0,0,0,0,0,0
$GC,4158,0.64,292.0,396.8,16.2,508,4163,0.15,1.08,0.00,0.000,4,0.165,0.052,2946,2478,1686,0,0,0,0,0,0
$GC,4207,0.64,292.0,389.8,14.0,512,4211,0.00,1.05,0.00,0.000,6,0.000,0.043,2949,1782,1685,0,0,0,0,0,0
$GC,4538,0.67,311.3,344.5,13.1,543,4562,0.00,1.05,17.35,0.891,4,0.000,0.043,2954,1071,1613,0,0,0,0,0,0
$GC,4639,0.78,389.7,333.3,11.3,551,4713,0.10,1.08,67.80,0.927,6,0.053,0.041,3020,1779,1294,0,0,0,0,0,0
$GC,5033,0.73,389.7,255.3,19.4,588,5037,0.15,1.05,0.00,0.000,4,0.159,0.050,2976,2480,1289,0,0,0,0,0,0
$GC,5179,0.82,447.7,236.1,11.9,612,5238,0.00,1.05,48.83,0.859,6,0.000,0.041,2979,1779,1056,0,0,0,0,0,0
$GC,5559,0.91,502.1,190.2,12.0,680,5611,0.17,1.10,45.35,0.816,4,0.067,0.045,3074,1072,836,0,0,0,0,0,0
$GC,5702,0.85,502.1,157.0,23.5,703,5711,0.17,1.08,0.00,0.000,6,0.141,0.039,3019,1787,832,0,0,0,0,0,0
$GC,6034,0.94,556.9,106.3,12.0,764,6087,0.00,1.08,46.95,0.749,4,0.000,0.043,3018,2489,611,0,0,0,0,0,0
$GC,6136,1.24,731.4,96.6,8.2,779,6182,0.28,1.08,38.25,0.723,6,0.031,0.038,3173,1773,453,0,0,0,0,0,0
$GC,6505,1.21,731.4,18.0,17.7,845,6513,0.15,1.02,0.00,0.000,4,0.161,0.045,3136,1086,437,0,0,0,0,0,0
$GC,6614,1.33,804.5,4.1,11.4,864,6623,0.08,1.02,0.00,0.000,6,0.057,0.035,3201,1795,436,0,0,0,0,0,0
$STATE,6629,end climb,SURFACE_DEPTH_REACHED
$STATE,6629,begin surface coast
$FINISH,1.2,1.009971
$STATE,6652,end surface coast,CONTROL_FINISHED_OK
$STATE,6652,begin surface
$SM_CCo,6732,0.00,0.000,0,0,435,600.74
$SM_GC,1.89,7.93,0.00,0.00,0.035,0.000,0.000,159,1604,435,-8.05,-0.17,600.74,0,0,0,0,0,0
$IRIDIUM_FIX,2253.38,12126.33,041011,222212
$TT8_MAMPS,0.026215,0.026215
$HUMID,42.51
$INTERNAL_PRESSURE,9.35065
$TCM_TEMP,22.70
$XPDR_PINGS,99
$ALTIM_BOTTOM_PING,283.7,999.0
$24V_AH,24.1,77.531
$10V_AH,9.9,54.802
$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,20.125,32.250,712.225,0.000,0.000,158.545,118.823,418.209,25.000,0.000,14.270,2017.240,2002.734,661.005,2789.498,351.906,0.000,1546.254,0.000,2137.338,0.000,2.850,0.000
$DEVICE_MAMPS,226.440,71.145,1015.920,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,588.118,890.785,1482.302,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324680
$DATA_FILE_SIZE,50231,870
$CAP_FILE_SIZE,100480,0
$CFSIZE,260165632,118509568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.131, 11.1,1
$GPS,051011,001307,2303.851,12128.185,33,1.7,33,-3.0