version: 66.09
glider: 166
mission: 4
dive: 2
start: 3 24 111 1 24 44
data:
$ID,166
$MISSION,4
$DIVE,2
$N_DIVES,522
$D_SURF,3
$D_FLARE,5
$D_TGT,180
$D_ABORT,1090
$D_NO_BLEED,80
$D_BOOST,4
$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,60
$T_MISSION,70
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51913
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$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,500
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-23049.176
$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,2774
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,32
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,1.1
$ROLL_MIN,197
$ROLL_MAX,3786
$ROLL_DEG,40
$C_ROLL_DIVE,1900
$C_ROLL_CLIMB,2090
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,53
$R_STBD_OVSHOOT,33
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.7
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,455
$VBD_MAX,3960
$C_VBD,3202
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$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,-27.932678
$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,90
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$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,48
$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
$GPS1,240311,011916,4742.428,-12225.812,15,2.2,34,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-68.4
$GPS2,240311,012352,4742.404,-12225.876,17,2.2,36,18.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.188,0.180
$KALMAN_X,-174.0,-174.0,-174.0,-110.3,-584.6
$KALMAN_Y,-134.4,-134.4,-134.4,91.0,-451.4
$MHEAD_RNG_PITCHd_Wd,28.2,3078,-18.2,-10.000
$D_GRID,188
$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,19,-0.75,-146.0,0.0,0.0,0,155,0.00,0.00,-133.65,0.000,2,0.000,0.000,148,1881,3657,0,0,0,0,0,0
$GC,160,-0.75,-146.0,5.5,-9.2,21,177,9.10,2.25,-2.97,0.000,4,0.236,0.067,2516,3310,3798,0,0,0,0,0,0
$GC,270,-0.67,-146.0,35.4,-18.0,40,279,0.10,2.12,0.00,0.000,6,0.157,0.038,2548,1904,3801,0,0,0,0,0,0
$GC,343,-0.61,-146.0,48.1,-16.3,53,352,0.10,2.17,0.00,0.000,4,0.194,0.048,2574,495,3801,0,0,0,0,0,0
$GC,421,-0.61,-146.0,59.7,-14.2,66,429,0.00,2.17,0.00,0.000,6,0.000,0.050,2566,1881,3801,0,0,0,0,0,0
$GC,563,-0.58,-146.0,81.5,-16.2,91,570,0.00,2.20,0.00,0.000,4,0.000,0.058,2555,3310,3801,0,0,0,0,0,0
$GC,618,-0.58,-146.0,90.4,-16.3,100,626,0.00,2.12,0.00,0.000,6,0.000,0.039,2555,1904,3801,0,0,0,0,0,0
$GC,762,-0.55,-146.0,114.3,-16.0,125,768,0.15,0.00,0.00,0.000,6,0.177,0.000,2595,1900,3801,0,0,0,0,0,0
$GC,902,-0.57,-146.0,133.3,-12.8,150,909,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,1900,3801,0,0,0,0,0,0
$GC,1044,-0.59,-146.0,151.0,-10.7,175,1051,0.00,2.22,0.00,0.000,4,0.000,0.061,2586,3312,3801,0,0,0,0,0,0
$GC,1082,-0.62,-146.0,155.6,-12.2,181,1088,0.00,2.05,0.00,0.000,6,0.000,0.037,2586,1912,3801,0,0,0,0,0,0
$GC,1224,-0.64,-146.0,172.7,-10.6,206,1231,0.00,2.15,0.00,0.000,4,0.000,0.049,2586,503,3801,0,0,0,0,0,0
$GC,1260,-0.67,-146.0,177.8,-12.3,212,1270,0.00,2.22,0.00,0.000,6,0.000,0.054,2576,1922,3801,0,0,0,0,0,0
$STATE,1281,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1281,begin apogee
$GC,1289,-0.16,0.0,180.6,12.5,215,1405,0.43,0.00,110.88,0.897,4,0.150,0.000,2713,2100,3202,0,0,0,0,0,0
$STATE,1408,end apogee,CONTROL_FINISHED_OK
$STATE,1408,begin climb
$GC,1410,0.75,146.0,187.7,0.0,233,1537,0.93,2.28,115.55,0.858,4,0.109,0.047,3012,681,2606,0,0,0,0,0,0
$GC,1755,0.61,146.0,159.0,12.8,291,1762,0.15,2.20,0.00,0.000,6,0.199,0.053,2977,2085,2599,0,0,0,0,0,0
$GC,1898,0.51,146.0,143.2,10.2,316,1906,0.15,2.17,0.00,0.000,4,0.217,0.048,2949,684,2598,0,0,0,0,0,0
$GC,2154,0.56,225.5,121.9,6.3,362,2228,0.00,2.22,64.75,0.832,6,0.000,0.051,2947,2096,2280,0,0,0,0,0,0
$GC,2361,0.56,225.5,102.0,11.0,397,2367,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2096,2277,0,0,0,0,0,0
$GC,2498,0.56,225.5,86.1,11.2,422,2505,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2096,2276,0,0,0,0,0,0
$GC,2642,0.59,252.3,72.8,8.8,447,2668,0.00,0.00,21.90,0.788,6,0.000,0.000,2947,2096,2173,0,0,0,0,0,0
$GC,2803,0.64,271.4,58.3,9.1,475,2822,0.00,0.00,17.23,0.767,6,0.000,0.000,2947,2096,2094,0,0,0,0,0,0
$GC,2955,0.68,271.4,42.8,10.4,502,2964,0.12,2.22,0.00,0.000,4,0.103,0.049,3012,689,2092,0,0,0,0,0,0
$GC,2973,0.70,271.4,40.6,10.8,504,2981,0.00,2.25,0.00,0.000,6,0.000,0.050,3011,2101,2091,0,0,0,0,0,0
$GC,3045,0.64,271.4,29.8,15.8,517,3053,0.12,0.00,0.00,0.000,6,0.201,0.000,2982,2102,2091,0,0,0,0,0,0
$GC,3118,0.64,271.4,20.6,12.2,530,3125,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2102,2091,0,0,0,0,0,0
$GC,3190,0.64,271.4,12.2,11.8,543,3198,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2102,2091,0,0,0,0,0,0
$GC,3261,0.64,271.4,4.5,10.4,556,3269,0.00,2.20,0.00,0.000,4,0.000,0.057,2981,3507,2091,0,0,0,0,0,0
$STATE,3275,end climb,SURFACE_DEPTH_REACHED
$STATE,3275,begin surface coast
$FINISH,0.8,1.010339
$STATE,3302,end surface coast,CONTROL_FINISHED_OK
$STATE,3303,begin surface
$SM_CCo,3324,143.50,0.703,1,0,1162,500.17
$SM_GC,1.48,0.00,0.00,143.50,0.000,0.000,0.703,151,1895,1162,-8.20,-0.14,500.17,0,0,0,0,1,0
$IRIDIUM_FIX,4726.11,-12225.08,240311,010138
$TT8_MAMPS,0.026964,0.026964
$HUMID,33.85
$INTERNAL_PRESSURE,8.97954
$TCM_TEMP,15.30
$XPDR_PINGS,159
$ALTIM_BOTTOM_PING,90.4,10.2
$24V_AH,24.2,0.458
$10V_AH,10.3,0.230
$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,19.025,39.950,330.300,143.500,0.000,0.000,0.000,0.000,40.250,0.000,38.306,1202.298,367.387,559.718,1294.569,144.914,30.180,1132.701,0.000,1275.824,0.000,5.450,0.000
$DEVICE_MAMPS,235.620,71.910,897.345,703.035,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,382.660,353.888,883.242,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322880
$DATA_FILE_SIZE,33668,563
$CAP_FILE_SIZE,81041,0
$CFSIZE,260165632,145973248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,240311,022346,4742.284,-12225.982,9,99.0,28,18.2