version: 66.09
glider: 166
mission: 4
dive: 3
start: 3 24 111 2 45 31
data:
$ID,166
$MISSION,4
$DIVE,3
$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,400
$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,-23121.273
$T_RSLEEP,5
$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,2150
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,43
$R_STBD_OVSHOOT,39
$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,110
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$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
$GPS1,240311,024029,4742.304,-12226.157,14,4.0,33,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-71.8
$GPS2,240311,024438,4742.311,-12226.190,15,1.9,15,18.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.185,0.183
$KALMAN_X,-479.2,-587.1,-514.9,548.8,-512.0
$KALMAN_Y,-367.8,-450.2,-395.1,722.9,-392.5
$MHEAD_RNG_PITCHd_Wd,27.2,3415,-18.2,-10.000
$D_GRID,186
$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,17,-0.75,-146.0,0.0,0.0,0,148,0.00,0.00,-128.10,0.000,2,0.000,0.000,149,2164,3609,0,0,0,0,0,0
$GC,155,-0.75,-146.0,5.8,-9.4,20,176,9.07,2.20,-3.83,0.000,4,0.236,0.071,2514,3551,3800,0,0,0,0,0,0
$GC,310,-0.69,-146.0,50.1,-20.5,48,319,0.10,2.12,0.00,0.000,6,0.166,0.040,2544,2158,3800,0,0,0,0,0,0
$GC,453,-0.62,-146.0,77.1,-18.0,73,460,0.00,2.15,0.00,0.000,4,0.000,0.049,2544,740,3801,0,0,0,0,0,0
$GC,590,-0.57,-146.0,100.5,-16.9,97,597,0.17,2.17,0.00,0.000,6,0.176,0.056,2583,2128,3801,0,0,0,0,0,0
$GC,732,-0.57,-146.0,118.0,-10.8,122,739,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2129,3801,0,0,0,0,0,0
$GC,879,-0.57,-146.0,135.0,-10.5,147,886,0.00,2.12,0.00,0.000,4,0.000,0.050,2583,736,3801,0,0,0,0,0,0
$GC,951,-0.57,-146.0,144.7,-13.6,160,961,0.00,2.20,0.00,0.000,6,0.000,0.056,2575,2127,3801,0,0,0,0,0,0
$GC,1096,-0.57,-146.0,162.4,-12.9,185,1102,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2128,3801,0,0,0,0,0,0
$GC,1232,-0.57,-146.0,179.8,-12.5,210,1239,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2128,3801,0,0,0,0,0,0
$STATE,1243,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1244,begin apogee
$GC,1249,-0.16,0.0,181.6,12.5,212,1368,0.45,0.00,111.45,0.900,4,0.153,0.000,2719,2128,3201,0,0,0,0,0,0
$STATE,1371,end apogee,CONTROL_FINISHED_OK
$STATE,1372,begin climb
$GC,1374,0.75,146.0,188.0,0.0,230,1500,0.90,2.40,115.80,0.863,4,0.122,0.065,3006,3554,2605,0,0,0,0,0,0
$GC,1527,0.56,146.0,181.8,11.3,253,1534,0.25,2.22,0.00,0.000,6,0.216,0.043,2959,2154,2603,0,0,0,0,0,0
$GC,1667,0.48,147.9,166.2,9.9,278,1675,0.00,2.22,0.00,0.000,4,0.000,0.051,2968,744,2601,0,0,0,0,0,0
$GC,1712,0.40,153.1,161.9,9.8,285,1728,0.20,2.20,6.70,0.692,6,0.205,0.054,2910,2134,2577,0,0,0,0,0,0
$GC,1862,0.45,189.7,149.7,8.3,311,1901,0.00,2.25,31.33,0.834,4,0.000,0.050,2918,745,2427,0,0,0,0,0,0
$GC,1950,0.50,202.1,141.9,9.4,325,1971,0.00,2.20,11.70,0.763,6,0.000,0.054,2918,2117,2377,0,0,0,0,0,0
$GC,2101,0.51,202.8,129.0,10.0,352,2109,0.00,2.17,0.00,0.000,4,0.000,0.047,2928,734,2375,0,0,0,0,0,0
$GC,2157,0.61,254.1,125.1,7.6,361,2211,0.12,2.12,43.47,0.826,6,0.113,0.051,2986,2080,2166,0,0,0,0,0,0
$GC,2347,0.55,254.1,98.7,14.4,393,2354,0.12,0.00,0.00,0.000,6,0.197,0.000,2958,2080,2162,0,0,0,0,0,0
$GC,2484,0.55,254.1,79.9,13.5,418,2491,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2080,2162,0,0,0,0,0,0
$GC,2624,0.55,254.1,62.9,12.3,443,2631,0.00,2.30,0.00,0.000,4,0.000,0.062,2958,3558,2161,0,0,0,0,0,0
$GC,2652,0.55,254.1,59.5,13.0,447,2659,0.00,2.28,0.00,0.000,6,0.000,0.041,2966,2066,2160,0,0,0,0,0,0
$GC,2789,0.53,254.1,42.5,11.6,472,2798,0.00,2.05,0.00,0.000,4,0.000,0.051,2976,742,2160,0,0,0,0,0,0
$GC,2824,0.53,254.1,38.5,12.0,477,2832,0.00,2.08,0.00,0.000,6,0.000,0.051,2976,2055,2159,0,0,0,0,0,0
$GC,2898,0.51,254.1,29.5,11.4,490,2906,0.15,0.00,0.00,0.000,6,0.212,0.000,2941,2056,2159,0,0,0,0,0,0
$GC,2971,0.61,293.8,23.1,8.2,503,3014,0.00,2.10,33.42,0.782,4,0.000,0.050,2949,742,2002,0,0,0,0,0,0
$GC,3025,0.72,339.2,19.0,7.9,510,3070,0.12,2.08,38.08,0.757,6,0.054,0.050,3014,2033,1818,0,0,0,0,0,0
$GC,3137,0.70,339.2,3.7,14.3,528,3144,0.00,2.47,0.00,0.000,4,0.000,0.061,3014,3558,1815,0,0,0,0,0,0
$STATE,3150,end climb,SURFACE_DEPTH_REACHED
$STATE,3150,begin surface coast
$FINISH,0.7,1.010386
$STATE,3173,end surface coast,CONTROL_FINISHED_OK
$STATE,3173,begin surface
$SM_CCo,3193,54.58,0.620,1,0,1570,400.08
$SM_GC,1.47,0.00,0.00,54.58,0.000,0.000,0.620,151,2142,1570,-8.20,-0.23,400.08,0,0,0,0,1,0
$IRIDIUM_FIX,4722.92,-12227.78,240311,020224
$TT8_MAMPS,0.026964,0.026964
$HUMID,33.73
$INTERNAL_PRESSURE,8.9893
$TCM_TEMP,15.00
$XPDR_PINGS,132
$ALTIM_BOTTOM_PING,125.3,80.0
$24V_AH,24.0,0.595
$10V_AH,10.3,0.306
$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,19.575,48.350,391.950,54.575,0.000,0.000,0.000,0.000,34.250,0.000,16.363,1123.176,335.650,514.669,1209.844,144.914,31.410,1096.053,0.000,1212.761,0.000,10.366,0.000
$DEVICE_MAMPS,236.385,71.145,899.640,620.415,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,361.208,335.929,837.176,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322856
$DATA_FILE_SIZE,30307,534
$CAP_FILE_SIZE,80426,0
$CFSIZE,260165632,145932288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,240311,034055,4742.384,-12226.216,14,2.0,31,18.2