version: 66.09
glider: 166
mission: 4
dive: 5
start: 3 24 111 5 12 5
data:
$ID,166
$MISSION,4
$DIVE,5
$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,-23126.949
$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,36
$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,2999
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,110
$ALTIM_PING_DELTA,10
$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
$GPS1,240311,045746,4742.678,-12226.343,14,3.7,33,18.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-75.8
$GPS2,240311,051107,4742.760,-12226.241,35,1.5,35,18.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.197,0.171
$KALMAN_X,-1269.0,-1204.1,-436.8,1809.1,-137.9
$KALMAN_Y,-621.1,-727.3,-371.7,2053.3,57.2
$MHEAD_RNG_PITCHd_Wd,30.8,2772,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.75,-146.0,0.0,0.0,0,141,0.00,0.00,-118.18,0.000,6,0.000,0.000,157,2165,3595,0,0,0,0,0,0
$GC,144,-0.75,-146.0,6.1,-9.7,19,159,9.30,0.00,0.00,0.000,6,0.243,0.000,2521,2165,3596,0,0,0,0,0,0
$GC,225,-0.60,-146.0,31.7,-19.6,33,233,0.20,2.22,0.00,0.000,4,0.187,0.047,2576,748,3597,0,0,0,0,0,0
$GC,351,-0.56,-146.0,50.7,-13.7,56,360,0.00,2.22,0.00,0.000,6,0.000,0.056,2568,2136,3597,0,0,0,0,0,0
$GC,497,-0.50,-146.0,71.8,-15.9,81,503,0.17,0.00,0.00,0.000,6,0.187,0.000,2613,2136,3597,0,0,0,0,0,0
$GC,635,-0.51,-146.0,88.5,-11.1,106,643,0.00,2.17,0.00,0.000,4,0.000,0.050,2614,741,3597,0,0,0,0,0,0
$GC,694,-0.54,-146.0,95.5,-12.8,115,701,0.00,2.22,0.00,0.000,6,0.000,0.057,2606,2148,3597,0,0,0,0,0,0
$GC,831,-0.54,-146.0,114.3,-13.0,140,839,0.00,2.25,0.00,0.000,4,0.000,0.066,2595,3557,3597,0,0,0,0,0,0
$GC,876,-0.56,-146.0,120.1,-13.2,147,882,0.00,2.12,0.00,0.000,6,0.000,0.041,2595,2139,3597,0,0,0,0,0,0
$GC,1018,-0.56,-146.0,138.8,-13.1,172,1031,0.00,2.15,0.00,0.000,4,0.000,0.053,2595,747,3597,0,0,0,0,0,0
$GC,1149,-0.56,-146.0,156.9,-12.8,193,1156,0.00,2.20,0.00,0.000,6,0.000,0.057,2585,2144,3597,0,0,0,0,0,0
$GC,1288,-0.54,-146.0,174.6,-12.7,218,1296,0.00,2.25,0.00,0.000,4,0.000,0.067,2574,3557,3597,0,0,0,0,0,0
$GC,1335,-0.54,-146.0,179.9,-10.9,226,1343,0.00,2.15,0.00,0.000,6,0.000,0.040,2574,2143,3597,0,0,0,0,0,0
$STATE,1347,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1347,begin apogee
$GC,1354,-0.16,0.0,181.4,9.8,228,1471,0.45,0.00,112.32,0.894,4,0.166,0.000,2715,2139,2999,0,0,0,0,0,0
$STATE,1474,end apogee,CONTROL_FINISHED_OK
$STATE,1474,begin climb
$GC,1476,0.75,146.0,187.0,0.0,246,1608,0.95,2.40,119.32,0.858,4,0.129,0.062,3011,3556,2401,0,0,0,0,0,0
$GC,1617,0.59,146.0,176.2,13.9,267,1625,0.22,2.28,0.00,0.000,6,0.207,0.044,2970,2149,2400,0,0,0,0,0,0
$GC,1759,0.52,146.0,157.3,12.7,292,1767,0.00,2.25,0.00,0.000,4,0.000,0.050,2978,734,2397,0,0,0,0,0,0
$GC,1774,0.46,146.0,154.9,12.8,294,1782,0.17,2.30,0.00,0.000,6,0.192,0.055,2931,2139,2395,0,0,0,0,0,0
$GC,1917,0.48,158.0,140.0,9.4,319,1931,0.00,0.00,10.38,0.757,6,0.000,0.000,2931,2140,2354,0,0,0,0,0,0
$GC,2067,0.52,168.2,125.7,9.5,345,2081,0.00,0.00,10.02,0.751,6,0.000,0.000,2931,2140,2313,0,0,0,0,0,0
$GC,2218,0.55,178.2,111.7,9.5,371,2233,0.00,2.28,9.90,0.750,4,0.000,0.051,2939,736,2271,0,0,0,0,0,0
$GC,2262,0.59,187.4,106.9,9.6,378,2276,0.00,2.28,9.48,0.736,6,0.000,0.054,2939,2143,2234,0,0,0,0,0,0
$GC,2409,0.61,187.4,92.1,10.3,404,2416,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2143,2232,0,0,0,0,0,0
$GC,2552,0.64,187.4,77.0,11.5,429,2559,0.12,2.28,0.00,0.000,4,0.103,0.064,2990,3568,2232,0,0,0,0,0,0
$GC,2578,0.61,187.4,72.9,13.9,433,2586,0.12,2.20,0.00,0.000,6,0.207,0.042,2972,2135,2231,0,0,0,0,0,0
$GC,2720,0.57,187.4,53.3,13.7,458,2728,0.00,2.17,0.00,0.000,4,0.000,0.052,2981,739,2230,0,0,0,0,0,0
$GC,2735,0.55,187.4,50.9,13.5,460,2743,0.00,2.22,0.00,0.000,6,0.000,0.053,2980,2137,2230,0,0,0,0,0,0
$GC,2874,0.51,187.4,34.2,12.0,485,2883,0.15,2.20,0.00,0.000,4,0.213,0.051,2952,742,2230,0,0,0,0,0,0
$GC,2907,0.51,187.4,30.6,10.8,490,2915,0.00,2.17,0.00,0.000,6,0.000,0.052,2952,2114,2230,0,0,0,0,0,0
$GC,2980,0.53,203.0,23.8,9.3,503,3002,0.00,2.17,13.95,0.757,4,0.000,0.051,2962,748,2171,0,0,0,0,0,0
$GC,3027,0.60,263.6,20.5,7.2,510,3085,0.00,2.17,51.97,0.776,6,0.000,0.052,2962,2110,1924,0,0,0,0,0,0
$GC,3152,0.66,269.0,9.3,9.8,530,3168,0.00,2.38,5.55,0.587,4,0.000,0.063,2962,3550,1901,0,0,0,0,0,0
$GC,3179,0.71,269.0,6.4,10.6,533,3189,0.00,2.28,0.00,0.000,6,0.000,0.039,2972,2105,1901,0,0,0,0,0,0
$STATE,3205,end climb,SURFACE_DEPTH_REACHED
$STATE,3206,begin surface coast
$FINISH,0.8,0.999860
$STATE,3233,end surface coast,CONTROL_FINISHED_OK
$STATE,3233,begin surface
$SM_CCo,3251,112.88,0.689,1,0,1368,400.08
$SM_GC,1.59,0.00,0.00,112.88,0.000,0.000,0.689,153,2161,1368,-8.19,0.34,400.08,0,0,0,0,1,0
$IRIDIUM_FIX,4726.11,-12225.08,240311,050519
$TT8_MAMPS,0.026964,0.026964
$HUMID,31.84
$INTERNAL_PRESSURE,8.95024
$TCM_TEMP,15.10
$XPDR_PINGS,111
$ALTIM_BOTTOM_PING,150.5,59.3
$24V_AH,23.9,0.876
$10V_AH,10.2,0.458
$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,19.725,58.075,342.900,112.875,0.000,59.710,64.323,393.556,29.500,0.000,39.971,1174.135,401.736,540.593,1790.720,273.577,33.305,1123.492,0.000,1233.769,0.000,14.775,0.000
$DEVICE_MAMPS,242.505,115.515,893.520,689.265,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,367.840,346.153,862.685,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322828
$DATA_FILE_SIZE,33612,542
$CAP_FILE_SIZE,78611,0
$CFSIZE,260165632,145842176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,240311,060928,4743.084,-12225.987,12,2.1,31,18.2