version: 66.09
glider: 166
mission: 4
dive: 17
start: 3 24 111 18 43 4
data:
$ID,166
$MISSION,4
$DIVE,17
$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,40
$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,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$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,250
$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,-23311.59
$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,2100
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$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
$GPS1,240311,182952,4743.514,-12224.149,15,2.3,34,18.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-76.8
$GPS2,240311,184206,4743.620,-12224.073,35,1.9,39,18.2
$SPEED_LIMITS,0.260,0.337
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.121,-0.314
$KALMAN_X,-6443.9,1067.3,59.3,6909.9,149.1
$KALMAN_Y,-1760.0,598.5,18.0,3065.7,477.9
$MHEAD_RNG_PITCHd_Wd,184.7,1929,-21.9,-15.000
$D_GRID,173
$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,-0.92,-194.6,0.0,0.0,0,117,0.00,0.00,-97.43,0.000,2,0.000,0.000,151,2136,3699,0,0,0,0,0,0
$GC,122,-0.92,-194.6,5.8,-8.7,14,139,9.10,2.25,-1.88,0.000,4,0.242,0.068,2454,3524,3796,0,0,0,0,0,0
$GC,257,-0.81,-194.6,50.8,-25.2,38,266,0.17,2.22,0.00,0.000,6,0.185,0.040,2505,2090,3796,0,0,0,0,0,0
$GC,405,-0.74,-194.6,81.9,-21.1,63,412,0.10,2.17,0.00,0.000,4,0.193,0.049,2531,694,3796,0,0,0,0,0,0
$GC,423,-0.67,-194.6,86.6,-22.1,65,431,0.12,2.22,0.00,0.000,6,0.189,0.053,2552,2099,3796,0,0,0,0,0,0
$GC,569,-0.67,-194.6,110.9,-15.6,90,576,0.00,2.20,0.00,0.000,4,0.000,0.050,2552,698,3796,0,0,0,0,0,0
$GC,613,-0.70,-194.6,118.5,-16.8,97,620,0.00,2.22,0.00,0.000,6,0.000,0.056,2544,2102,3796,0,0,0,0,0,0
$GC,754,-0.70,-194.6,142.2,-16.3,122,762,0.00,2.20,0.00,0.000,4,0.000,0.050,2544,698,3796,0,0,0,0,0,0
$GC,843,-0.70,-194.6,156.9,-16.5,137,850,0.00,2.15,0.00,0.000,6,0.000,0.055,2534,2064,3796,0,0,0,0,0,0
$STATE,936,end dive,TARGET_DEPTH_EXCEEDED
$STATE,936,begin apogee
$GC,942,-0.16,0.0,173.5,17.2,154,1107,0.60,0.00,150.23,0.875,4,0.168,0.000,2717,2065,2998,0,0,0,0,0,0
$STATE,1107,end apogee,CONTROL_FINISHED_OK
$STATE,1107,begin climb
$GC,1110,0.92,194.6,180.6,0.0,177,1279,1.05,0.00,159.52,0.834,6,0.109,0.000,3060,2065,2204,0,0,0,0,0,0
$GC,1414,0.81,194.6,129.8,19.8,226,1421,0.00,2.38,0.00,0.000,4,0.000,0.063,3051,3504,2200,0,0,0,0,0,0
$GC,1451,0.70,194.6,121.5,21.9,232,1460,0.20,2.25,0.00,0.000,6,0.206,0.042,3006,2092,2199,0,0,0,0,0,0
$GC,1599,0.68,194.6,96.5,16.3,257,1606,0.00,2.20,0.00,0.000,4,0.000,0.051,3015,690,2199,0,0,0,0,0,0
$GC,1669,0.68,194.6,84.9,15.1,269,1675,0.00,2.20,0.00,0.000,6,0.000,0.052,3015,2070,2198,0,0,0,0,0,0
$GC,1813,0.67,208.2,63.2,14.3,294,1835,0.00,2.35,11.85,0.731,4,0.000,0.063,3015,3507,2149,0,0,0,0,0,0
$GC,1951,0.67,208.2,41.4,15.8,317,1960,0.10,2.20,0.00,0.000,6,0.184,0.041,2995,2099,2149,0,0,0,0,0,0
$GC,2026,0.75,262.6,30.7,12.2,330,2079,0.00,2.33,47.65,0.766,4,0.000,0.050,3004,685,1928,0,0,0,0,0,0
$GC,2113,0.88,306.6,19.7,12.7,343,2160,0.12,2.28,38.22,0.738,6,0.070,0.050,3065,2076,1748,0,0,0,0,0,0
$STATE,2202,end climb,SURFACE_DEPTH_REACHED
$STATE,2205,begin surface coast
$FINISH,0.7,1.009327
$STATE,2217,end surface coast,CONTROL_FINISHED_OK
$STATE,2217,begin surface
$SM_CCo,2295,0.00,0.000,0,0,1741,308.34
$SM_GC,1.62,8.18,0.00,0.00,0.062,0.000,0.000,151,2076,1741,-8.14,-0.68,308.34,0,0,0,0,0,0
$IRIDIUM_FIX,4729.30,-12257.00,240311,181813
$TT8_MAMPS,0.026964,0.026964
$HUMID,30.15
$INTERNAL_PRESSURE,8.97954
$TCM_TEMP,14.90
$XPDR_PINGS,70
$24V_AH,23.8,2.416
$10V_AH,10.2,1.257
$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,19.750,35.825,407.475,0.000,0.000,50.204,88.917,320.527,17.500,0.000,40.347,776.269,319.259,416.995,1320.117,204.942,33.333,846.507,0.000,822.940,0.000,0.535,0.000
$DEVICE_MAMPS,241.740,68.085,875.160,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,240.360,229.333,571.804,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322804
$DATA_FILE_SIZE,20285,359
$CAP_FILE_SIZE,52619,0
$CFSIZE,260165632,145432576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.205, 22.0,1
$GPS,240311,192237,4743.538,-12224.049,37,1.5,43,18.2