version: 66.09
glider: 166
mission: 4
dive: 9
start: 3 24 111 9 58 2
data:
$ID,166
$MISSION,4
$DIVE,9
$N_DIVES,522
$D_SURF,3
$D_FLARE,5
$D_TGT,216
$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,90
$T_MISSION,95
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$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,2
$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,-23131.986
$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,26
$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
$GPS1,240311,094738,4743.815,-12224.811,10,1.4,10,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-75.7
$GPS2,240311,095704,4743.820,-12224.790,10,2.3,29,18.2
$SPEED_LIMITS,0.139,0.241
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.220,0.099
$KALMAN_X,-3959.7,-731.0,283.1,5110.8,-711.2
$KALMAN_Y,-1631.9,-309.1,488.6,3752.0,-324.6
$MHEAD_RNG_PITCHd_Wd,46.0,1754,-15.0,-8.000
$D_GRID,216
$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,-0.65,-146.0,0.0,0.0,0,138,0.00,0.00,-115.75,0.000,6,0.000,0.000,151,2164,3596,0,0,0,0,0,0
$GC,142,-0.65,-146.0,6.1,-9.5,17,158,9.73,2.20,0.00,0.000,4,0.252,0.042,2558,734,3597,0,0,0,0,0,0
$GC,372,-0.53,-146.0,56.6,-16.4,59,380,0.17,2.25,0.00,0.000,6,0.190,0.054,2595,2150,3597,0,0,0,0,0,0
$GC,513,-0.47,-146.0,74.2,-11.4,84,521,0.00,2.20,0.00,0.000,4,0.000,0.050,2595,746,3597,0,0,0,0,0,0
$GC,589,-0.40,-146.0,83.2,-11.3,97,597,0.20,2.20,0.00,0.000,6,0.168,0.055,2641,2135,3597,0,0,0,0,0,0
$GC,731,-0.40,-146.0,96.1,-8.3,122,739,0.00,2.17,0.00,0.000,4,0.000,0.047,2642,736,3597,0,0,0,0,0,0
$GC,752,-0.40,-146.0,98.1,-8.4,125,758,0.00,2.17,0.00,0.000,6,0.000,0.054,2634,2118,3597,0,0,0,0,0,0
$GC,892,-0.38,-146.0,110.3,-9.2,150,901,0.00,2.30,0.00,0.000,4,0.000,0.065,2623,3558,3597,0,0,0,0,0,0
$GC,951,-0.38,-146.0,116.6,-9.8,160,959,0.00,2.20,0.00,0.000,6,0.000,0.041,2623,2127,3597,0,0,0,0,0,0
$GC,1095,-0.36,-146.0,129.1,-9.4,185,1107,0.12,2.12,0.00,0.000,4,0.187,0.051,2657,735,3597,0,0,0,0,0,0
$GC,1169,-0.41,-146.0,135.7,-8.3,197,1176,0.00,2.20,0.00,0.000,6,0.000,0.055,2649,2133,3597,0,0,0,0,0,0
$GC,1309,-0.44,-146.0,147.4,-7.9,222,1316,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2134,3598,0,0,0,0,0,0
$GC,1450,-0.47,-146.0,158.4,-7.5,247,1457,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2134,3597,0,0,0,0,0,0
$GC,1590,-0.49,-146.0,168.4,-7.1,272,1598,0.00,2.15,0.00,0.000,4,0.000,0.050,2649,747,3597,0,0,0,0,0,0
$GC,1629,-0.53,-146.0,171.3,-6.8,278,1638,0.08,2.17,0.00,0.000,6,0.067,0.056,2598,2116,3597,0,0,0,0,0,0
$STATE,1716,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1716,begin apogee
$GC,1723,-0.16,0.0,180.2,10.1,294,1840,0.38,0.00,112.22,0.896,4,0.162,0.000,2716,2116,2999,0,0,0,0,0,0
$STATE,1842,end apogee,CONTROL_FINISHED_OK
$STATE,1842,begin climb
$GC,1845,0.65,146.0,185.1,0.0,311,1975,0.90,2.42,119.22,0.853,4,0.134,0.064,2978,3561,2403,0,0,0,0,0,0
$GC,2176,0.52,146.0,143.6,16.0,366,2185,0.15,2.22,0.00,0.000,6,0.197,0.044,2948,2158,2398,0,0,0,0,0,0
$GC,2324,0.45,146.0,125.3,11.8,391,2330,0.00,2.28,0.00,0.000,4,0.000,0.063,2947,3567,2398,0,0,0,0,0,0
$GC,2572,0.35,146.0,94.7,11.0,435,2582,0.25,2.20,0.00,0.000,6,0.196,0.042,2891,2139,2395,0,0,0,0,0,0
$GC,2718,0.43,177.5,83.4,6.8,460,2753,0.00,2.25,26.30,0.804,4,0.000,0.051,2899,738,2273,0,0,0,0,0,0
$GC,2803,0.52,203.9,77.5,7.0,473,2833,0.12,2.20,23.25,0.780,6,0.104,0.050,2950,2134,2166,0,0,0,0,0,0
$GC,2970,0.50,203.9,60.0,10.5,501,2976,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2134,2164,0,0,0,0,0,0
$GC,3110,0.47,203.9,45.3,10.1,526,3118,0.00,2.30,0.00,0.000,4,0.000,0.064,2950,3559,2163,0,0,0,0,0,0
$GC,3154,0.45,203.9,40.8,10.0,533,3162,0.12,2.22,0.00,0.000,6,0.190,0.042,2926,2136,2162,0,0,0,0,0,0
$GC,3234,0.50,220.0,34.7,7.4,546,3258,0.00,2.22,14.60,0.748,4,0.000,0.051,2935,739,2101,0,0,0,0,0,0
$GC,3277,0.53,220.0,30.9,8.1,552,3286,0.00,2.22,0.00,0.000,6,0.000,0.052,2934,2124,2100,0,0,0,0,0,0
$GC,3351,0.53,220.0,24.6,8.5,565,3359,0.00,2.20,0.00,0.000,4,0.000,0.051,2944,737,2100,0,0,0,0,0,0
$GC,3381,0.53,220.0,22.5,8.2,569,3389,0.00,2.15,0.00,0.000,6,0.000,0.050,2944,2084,2099,0,0,0,0,0,0
$GC,3455,0.57,235.6,16.7,7.4,582,3479,0.00,2.12,14.70,0.739,4,0.000,0.050,2954,738,2036,0,0,0,0,0,0
$GC,3493,0.62,249.4,13.9,7.5,587,3516,0.00,2.12,12.82,0.718,6,0.000,0.050,2953,2060,1982,0,0,0,0,0,0
$GC,3583,0.64,249.4,5.9,9.4,602,3592,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2061,1980,0,0,0,0,0,0
$STATE,3615,end climb,SURFACE_DEPTH_REACHED
$STATE,3615,begin surface coast
$FINISH,0.8,0.999863
$STATE,3646,end surface coast,CONTROL_FINISHED_OK
$STATE,3646,begin surface
$SM_CCo,3664,129.88,0.702,1,0,1368,400.08
$SM_GC,1.56,0.00,0.00,129.88,0.000,0.000,0.702,152,2170,1368,-8.20,0.59,400.08,0,0,0,0,1,0
$IRIDIUM_FIX,4726.11,-12229.50,240311,080818
$TT8_MAMPS,0.026964,0.026964
$HUMID,31.13
$INTERNAL_PRESSURE,8.94047
$TCM_TEMP,15.00
$XPDR_PINGS,106
$ALTIM_BOTTOM_PING,130.2,59.7
$24V_AH,23.8,1.389
$10V_AH,10.3,0.772
$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,20.025,57.625,323.125,129.875,0.000,28.035,29.118,327.037,27.500,0.000,30.990,1413.088,351.165,562.022,1776.557,271.560,33.313,1172.139,0.000,1393.323,0.000,8.730,0.000
$DEVICE_MAMPS,251.685,87.975,895.815,702.270,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,418.102,389.495,970.006,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322800
$DATA_FILE_SIZE,36982,613
$CAP_FILE_SIZE,78970,0
$CFSIZE,260165632,145670144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.044,159.9,1
$GPS,240311,110234,4743.922,-12224.302,11,2.6,30,18.2