version: 66.09
glider: 166
mission: 4
dive: 4
start: 3 24 111 4 1 20
data:
$ID,166
$MISSION,4
$DIVE,4
$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,-23122.529
$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,27
$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,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
$GPS1,240311,034055,4742.384,-12226.216,14,2.0,31,18.2
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-74.1
$GPS2,240311,040026,4742.471,-12226.349,33,1.7,33,18.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.183,0.185
$KALMAN_X,-858.6,-954.2,-600.0,1181.8,-286.7
$KALMAN_Y,-518.2,-615.2,-451.3,1382.4,-157.7
$MHEAD_RNG_PITCHd_Wd,26.3,3275,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.75,-146.0,0.0,0.0,0,128,0.00,0.00,-105.15,0.000,6,0.000,0.000,151,2142,3594,0,0,0,0,0,0
$GC,131,-0.75,-146.0,6.3,-10.7,17,146,9.25,2.25,0.00,0.000,4,0.239,0.057,2515,3567,3595,0,0,0,0,0,0
$GC,275,-0.64,-146.0,43.3,-19.5,43,283,0.15,2.20,0.00,0.000,6,0.172,0.041,2559,2148,3596,0,0,0,0,0,0
$GC,349,-0.56,-146.0,56.8,-16.7,56,357,0.10,2.20,0.00,0.000,4,0.198,0.050,2585,744,3597,0,0,0,0,0,0
$GC,451,-0.54,-146.0,71.6,-14.9,73,458,0.00,2.20,0.00,0.000,6,0.000,0.058,2577,2130,3597,0,0,0,0,0,0
$GC,591,-0.49,-146.0,94.2,-14.3,98,600,0.12,2.17,0.00,0.000,4,0.206,0.050,2607,742,3597,0,0,0,0,0,0
$GC,648,-0.52,-146.0,102.3,-13.8,107,654,0.00,2.17,0.00,0.000,6,0.000,0.055,2599,2124,3596,0,0,0,0,0,0
$GC,787,-0.52,-146.0,120.6,-13.3,132,795,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2124,3596,0,0,0,0,0,0
$GC,936,-0.48,-146.0,138.8,-13.6,157,943,0.00,2.10,0.00,0.000,4,0.000,0.050,2599,739,3597,0,0,0,0,0,0
$GC,973,-0.48,-146.0,144.8,-15.1,163,979,0.00,2.17,0.00,0.000,6,0.000,0.059,2590,2114,3597,0,0,0,0,0,0
$GC,1114,-0.48,-146.0,160.8,-12.6,188,1121,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2114,3596,0,0,0,0,0,0
$GC,1254,-0.48,-146.0,177.3,-11.8,213,1260,0.00,2.28,0.00,0.000,4,0.000,0.066,2579,3561,3596,0,0,0,0,0,0
$STATE,1279,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1279,begin apogee
$GC,1289,-0.16,0.0,180.6,11.8,217,1406,0.45,0.00,111.68,0.900,4,0.164,0.000,2719,2140,2999,0,0,0,0,0,0
$STATE,1408,end apogee,CONTROL_FINISHED_OK
$STATE,1408,begin climb
$GC,1410,0.75,146.0,187.2,0.0,235,1541,0.90,0.00,119.15,0.861,6,0.122,0.000,3007,2139,2402,0,0,0,0,0,0
$GC,1675,0.63,146.0,157.8,14.2,279,1681,0.00,2.33,0.00,0.000,4,0.000,0.064,3007,3568,2398,0,0,0,0,0,0
$GC,1841,0.49,146.0,130.1,17.5,309,1849,0.32,2.20,0.00,0.000,6,0.212,0.044,2936,2151,2396,0,0,0,0,0,0
$GC,1981,0.50,147.0,115.9,10.0,334,1989,0.00,2.20,0.00,0.000,4,0.000,0.053,2944,747,2396,0,0,0,0,0,0
$GC,2058,0.52,166.1,109.1,9.1,347,2085,0.00,2.15,16.77,0.799,6,0.000,0.055,2944,2119,2322,0,0,0,0,0,0
$GC,2219,0.55,191.4,94.3,8.8,375,2246,0.00,0.00,22.50,0.804,6,0.000,0.000,2944,2119,2218,0,0,0,0,0,0
$GC,2382,0.55,191.4,78.6,10.2,403,2388,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2119,2215,0,0,0,0,0,0
$GC,2518,0.55,193.2,64.4,9.9,428,2525,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2119,2215,0,0,0,0,0,0
$GC,2660,0.57,193.2,50.8,10.0,453,2666,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2119,2215,0,0,0,0,0,0
$GC,2792,0.62,213.5,38.2,9.1,478,2819,0.00,2.20,19.23,0.780,4,0.000,0.052,2953,742,2127,0,0,0,0,0,0
$GC,2844,0.67,213.5,33.1,10.4,486,2852,0.08,2.22,0.00,0.000,6,0.076,0.053,3002,2128,2126,0,0,0,0,0,0
$GC,2916,0.62,213.5,23.8,12.7,499,2923,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2128,2126,0,0,0,0,0,0
$GC,2989,0.58,213.5,15.2,12.0,512,2997,0.15,0.00,0.00,0.000,6,0.188,0.000,2966,2128,2126,0,0,0,0,0,0
$GC,3061,0.61,213.5,6.9,10.3,525,3069,0.00,2.28,0.00,0.000,4,0.000,0.063,2965,3556,2125,0,0,0,0,0,0
$GC,3077,0.64,213.7,5.3,10.0,527,3085,0.00,2.22,0.00,0.000,6,0.000,0.041,2973,2113,2125,0,0,0,0,0,0
$STATE,3101,end climb,SURFACE_DEPTH_REACHED
$STATE,3101,begin surface coast
$FINISH,0.8,0.999854
$STATE,3130,end surface coast,CONTROL_FINISHED_OK
$STATE,3130,begin surface
$SM_CCo,3149,157.60,0.716,1,0,1368,400.08
$SM_GC,1.59,0.00,0.00,157.60,0.000,0.000,0.716,157,2165,1368,-8.18,0.40,400.08,0,0,0,0,1,0
$IRIDIUM_FIX,4722.92,-12227.78,240311,030340
$TT8_MAMPS,0.026964,0.026964
$HUMID,33.34
$INTERNAL_PRESSURE,8.96001
$TCM_TEMP,15.20
$XPDR_PINGS,124
$ALTIM_BOTTOM_PING,135.2,70.2
$24V_AH,23.9,0.740
$10V_AH,10.2,0.383
$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,19.275,39.800,289.325,157.600,0.000,107.517,153.400,476.350,33.000,0.000,34.220,1140.721,536.310,530.350,2002.398,277.450,32.334,1067.490,0.000,1221.184,0.000,17.751,0.000
$DEVICE_MAMPS,239.445,126.225,899.640,716.040,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,366.187,340.993,849.938,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,33570,536
$CAP_FILE_SIZE,76393,0
$CFSIZE,260165632,145887232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,240311,045746,4742.678,-12226.343,14,3.7,33,18.2