version: 66.09
glider: 166
mission: 4
dive: 10
start: 3 24 111 11 13 15
data:
$ID,166
$MISSION,4
$DIVE,10
$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,-23133.34
$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,32
$R_STBD_OVSHOOT,50
$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
$GPS1,240311,110234,4743.922,-12224.302,11,2.6,30,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-74.0
$GPS2,240311,111209,4743.877,-12224.351,12,1.5,12,18.2
$SPEED_LIMITS,0.139,0.241
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.192,0.146
$KALMAN_X,-4869.1,-374.0,195.1,6298.3,-826.3
$KALMAN_Y,-2175.1,-95.6,388.3,4286.9,-669.1
$MHEAD_RNG_PITCHd_Wd,31.8,1217,-15.5,-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,-137.3,0.0,0.0,0,135,0.00,0.00,-115.50,0.000,2,0.000,0.000,152,2171,3523,0,0,0,0,0,0
$GC,140,-0.66,-146.0,5.1,-7.2,18,164,9.40,2.28,-1.62,0.000,4,0.239,0.061,2557,735,3596,0,0,0,0,0,0
$GC,268,-0.55,-146.0,35.9,-15.8,40,277,0.12,2.25,0.00,0.000,6,0.169,0.054,2587,2130,3597,0,0,0,0,0,0
$GC,345,-0.46,-146.0,46.5,-13.1,53,353,0.12,2.33,0.00,0.000,4,0.190,0.065,2611,3557,3597,0,0,0,0,0,0
$GC,407,-0.46,-146.0,54.0,-10.9,63,413,0.00,2.15,0.00,0.000,6,0.000,0.041,2611,2154,3597,0,0,0,0,0,0
$GC,550,-0.42,-146.0,70.6,-11.6,88,559,0.00,2.20,0.00,0.000,4,0.000,0.050,2611,741,3597,0,0,0,0,0,0
$GC,610,-0.40,-146.0,78.3,-12.3,98,619,0.12,2.25,0.00,0.000,6,0.148,0.056,2641,2145,3598,0,0,0,0,0,0
$GC,757,-0.40,-146.0,91.3,-8.4,123,763,0.00,2.25,0.00,0.000,4,0.000,0.064,2631,3567,3598,0,0,0,0,0,0
$GC,805,-0.44,-146.0,95.7,-8.9,131,812,0.00,2.15,0.00,0.000,6,0.000,0.040,2632,2152,3598,0,0,0,0,0,0
$GC,947,-0.44,-146.0,107.7,-8.6,156,955,0.00,2.17,0.00,0.000,4,0.000,0.051,2632,750,3598,0,0,0,0,0,0
$GC,1063,-0.44,-146.0,118.2,-8.5,176,1072,0.00,2.22,0.00,0.000,6,0.000,0.057,2622,2145,3598,0,0,0,0,0,0
$GC,1211,-0.44,-146.0,130.2,-8.5,201,1217,0.00,2.15,0.00,0.000,4,0.000,0.050,2622,747,3598,0,0,0,0,0,0
$GC,1251,-0.44,-146.0,134.0,-8.7,208,1260,0.00,2.22,0.00,0.000,6,0.000,0.058,2613,2139,3598,0,0,0,0,0,0
$GC,1399,-0.42,-146.0,147.4,-9.8,233,1405,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2139,3598,0,0,0,0,0,0
$GC,1541,-0.40,-146.0,162.0,-10.2,258,1550,0.12,2.17,0.00,0.000,4,0.184,0.051,2644,751,3598,0,0,0,0,0,0
$GC,1601,-0.44,-146.0,167.9,-8.9,268,1610,0.00,2.20,0.00,0.000,6,0.000,0.057,2637,2134,3598,0,0,0,0,0,0
$STATE,1747,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1747,begin apogee
$GC,1753,-0.16,0.0,180.0,8.5,293,1875,0.25,0.00,112.75,0.898,4,0.156,0.000,2717,2134,2999,0,0,0,0,0,0
$STATE,1877,end apogee,CONTROL_FINISHED_OK
$STATE,1877,begin climb
$GC,1879,0.66,146.0,184.5,0.0,311,2012,0.90,2.38,119.50,0.855,4,0.123,0.064,2986,3567,2402,0,0,0,0,0,0
$GC,2142,0.53,146.0,154.3,16.2,353,2150,0.20,2.25,0.00,0.000,6,0.208,0.044,2950,2149,2397,0,0,0,0,0,0
$GC,2288,0.47,146.0,136.4,10.9,378,2296,0.00,2.30,0.00,0.000,4,0.000,0.064,2948,3552,2397,0,0,0,0,0,0
$GC,2523,0.40,146.0,109.3,13.1,419,2530,0.20,2.20,0.00,0.000,6,0.210,0.043,2908,2130,2395,0,0,0,0,0,0
$GC,2665,0.43,176.6,98.3,6.8,444,2701,0.00,2.25,25.40,0.809,4,0.000,0.054,2916,739,2278,0,0,0,0,0,0
$GC,2751,0.48,183.7,91.8,7.7,457,2766,0.00,2.20,7.45,0.686,6,0.000,0.054,2916,2130,2249,0,0,0,0,0,0
$GC,2901,0.48,183.7,78.9,8.4,483,2908,0.00,2.28,0.00,0.000,4,0.000,0.063,2916,3567,2249,0,0,0,0,0,0
$GC,2940,0.48,183.7,75.5,9.1,489,2947,0.00,2.25,0.00,0.000,6,0.000,0.042,2926,2113,2248,0,0,0,0,0,0
$GC,3081,0.48,183.7,63.6,8.1,514,3089,0.00,2.15,0.00,0.000,4,0.000,0.054,2937,745,2248,0,0,0,0,0,0
$GC,3139,0.51,183.7,58.9,8.5,523,3145,0.00,2.17,0.00,0.000,6,0.000,0.053,2937,2118,2247,0,0,0,0,0,0
$GC,3281,0.51,183.7,45.7,9.3,548,3290,0.00,2.30,0.00,0.000,4,0.000,0.064,2937,3558,2246,0,0,0,0,0,0
$GC,3324,0.51,183.7,40.8,11.2,555,3332,0.00,2.22,0.00,0.000,6,0.000,0.041,2946,2121,2246,0,0,0,0,0,0
$GC,3400,0.49,183.7,34.1,8.9,568,3409,0.00,2.15,0.00,0.000,4,0.000,0.050,2957,738,2246,0,0,0,0,0,0
$GC,3422,0.49,183.7,31.9,8.9,571,3430,0.00,2.17,0.00,0.000,6,0.000,0.051,2957,2109,2246,0,0,0,0,0,0
$GC,3496,0.46,183.7,25.5,8.7,584,3505,0.12,0.00,0.00,0.000,6,0.213,0.000,2929,2110,2246,0,0,0,0,0,0
$GC,3572,0.48,199.5,19.6,7.4,597,3595,0.00,2.17,14.20,0.753,4,0.000,0.050,2937,742,2184,0,0,0,0,0,0
$GC,3604,0.52,208.3,17.1,7.7,601,3622,0.00,2.15,8.95,0.690,6,0.000,0.050,2937,2088,2149,0,0,0,0,0,0
$GC,3689,0.55,211.2,10.4,7.9,615,3699,0.00,2.17,4.03,0.519,4,0.000,0.051,2946,738,2138,0,0,0,0,0,0
$GC,3717,0.60,211.2,8.0,8.1,619,3725,0.00,2.20,0.00,0.000,6,0.000,0.051,2946,2109,2137,0,0,0,0,0,0
$STATE,3777,end climb,SURFACE_DEPTH_REACHED
$STATE,3777,begin surface coast
$FINISH,0.8,0.999866
$STATE,3817,end surface coast,CONTROL_FINISHED_OK
$STATE,3817,begin surface
$SM_CCo,3836,162.43,0.712,1,0,1367,400.08
$SM_GC,1.57,0.00,0.00,162.43,0.000,0.000,0.712,153,2159,1367,-8.20,0.25,400.08,0,0,0,0,1,0
$IRIDIUM_FIX,4726.11,-12227.78,240311,090910
$TT8_MAMPS,0.026964,0.026964
$HUMID,30.74
$INTERNAL_PRESSURE,8.94047
$TCM_TEMP,15.00
$XPDR_PINGS,109
$ALTIM_BOTTOM_PING,120.4,69.1
$24V_AH,23.8,1.518
$10V_AH,10.3,0.856
$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,19.275,71.025,292.275,162.425,0.000,29.498,32.506,343.710,28.000,0.000,12.923,1480.499,402.583,593.045,1831.868,287.454,33.319,1221.040,0.000,1445.824,0.000,7.187,0.000
$DEVICE_MAMPS,239.445,160.650,898.110,712.215,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,434.742,404.728,1008.295,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,36945,637
$CAP_FILE_SIZE,83978,0
$CFSIZE,260165632,145620992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.116,183.5,1
$GPS,240311,122106,4743.894,-12223.982,11,1.1,27,18.2