version: 66.09
glider: 166
mission: 4
dive: 6
start: 3 24 111 6 19 44
data:
$ID,166
$MISSION,4
$DIVE,6
$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,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,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,90
$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,-23128.207
$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,36
$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
$GPS1,240311,060928,4743.084,-12225.987,12,2.1,31,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-75.9
$GPS2,240311,061850,4743.119,-12225.903,15,1.9,15,18.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,4743.119,-12209.852
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.255,-0.052
$KALMAN_X,-1654.1,-1310.5,-216.1,2499.1,-30.3
$KALMAN_Y,-719.9,-774.4,-173.3,2666.8,188.8
$MHEAD_RNG_PITCHd_Wd,83.4,20000,-18.2,-10.000
$D_GRID,180
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.75,-146.0,0.0,0.0,0,137,0.00,0.00,-115.35,0.000,2,0.000,0.000,153,2162,3574,0,0,0,0,0,0
$GC,142,-0.75,-146.0,5.3,-6.9,18,159,9.57,2.25,-0.40,0.000,4,0.252,0.066,2514,3561,3596,0,0,0,0,0,0
$GC,396,-0.63,-146.0,64.0,-19.6,65,404,0.20,2.15,0.00,0.000,6,0.186,0.038,2565,2146,3597,0,0,0,0,0,0
$GC,539,-0.56,-146.0,86.9,-15.5,90,547,0.00,2.25,0.00,0.000,4,0.000,0.062,2557,3546,3597,0,0,0,0,0,0
$GC,626,-0.52,-146.0,99.7,-13.8,105,633,0.17,2.12,0.00,0.000,6,0.175,0.038,2603,2140,3598,0,0,0,0,0,0
$GC,769,-0.52,-146.0,115.0,-11.8,130,777,0.00,2.15,0.00,0.000,4,0.000,0.049,2604,747,3598,0,0,0,0,0,0
$GC,844,-0.52,-146.0,123.2,-11.2,143,851,0.00,2.17,0.00,0.000,6,0.000,0.054,2596,2143,3598,0,0,0,0,0,0
$GC,986,-0.52,-146.0,141.8,-13.8,168,994,0.00,2.17,0.00,0.000,4,0.000,0.050,2596,743,3598,0,0,0,0,0,0
$GC,1052,-0.52,-146.0,151.4,-14.3,179,1058,0.00,2.17,0.00,0.000,6,0.000,0.055,2586,2143,3597,0,0,0,0,0,0
$GC,1192,-0.50,-146.0,171.2,-14.1,204,1200,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2143,3597,0,0,0,0,0,0
$STATE,1254,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1255,begin apogee
$GC,1260,-0.16,0.0,180.3,13.9,215,1378,0.43,0.00,112.32,0.895,4,0.158,0.000,2719,2143,2999,0,0,0,0,0,0
$STATE,1382,end apogee,CONTROL_FINISHED_OK
$STATE,1382,begin climb
$GC,1385,0.75,146.0,188.0,0.0,233,1515,0.98,2.38,119.40,0.862,4,0.132,0.065,3006,3561,2403,0,0,0,0,0,0
$GC,1716,0.62,146.0,147.9,15.4,289,1724,0.15,2.20,0.00,0.000,6,0.210,0.044,2981,2158,2398,0,0,0,0,0,0
$GC,1858,0.54,146.0,128.4,14.7,314,1866,0.12,2.30,0.00,0.000,4,0.225,0.063,2943,3559,2397,0,0,0,0,0,0
$GC,2043,0.55,170.7,107.4,8.9,347,2071,0.00,2.20,21.08,0.807,6,0.000,0.041,2951,2128,2303,0,0,0,0,0,0
$GC,2205,0.57,187.2,90.6,9.2,375,2225,0.00,2.25,14.98,0.776,4,0.000,0.050,2962,736,2234,0,0,0,0,0,0
$GC,2270,0.57,187.2,83.9,10.1,386,2277,0.00,2.22,0.00,0.000,6,0.000,0.053,2962,2111,2234,0,0,0,0,0,0
$GC,2412,0.57,187.2,69.1,10.6,411,2419,0.00,2.30,0.00,0.000,4,0.000,0.063,2962,3558,2232,0,0,0,0,0,0
$GC,2463,0.55,187.2,62.5,12.3,420,2471,0.00,2.22,0.00,0.000,6,0.000,0.041,2970,2122,2232,0,0,0,0,0,0
$GC,2608,0.53,187.2,46.9,10.1,445,2616,0.00,2.15,0.00,0.000,4,0.000,0.052,2981,741,2232,0,0,0,0,0,0
$GC,2625,0.51,192.4,45.0,9.8,447,2642,0.12,2.20,5.57,0.630,6,0.199,0.053,2947,2119,2213,0,0,0,0,0,0
$GC,2709,0.60,239.8,37.9,7.8,461,2755,0.00,0.00,40.97,0.792,6,0.000,0.000,2947,2120,2021,0,0,0,0,0,0
$GC,2821,0.67,242.6,27.2,9.9,480,2829,0.12,0.00,3.85,0.494,6,0.112,0.000,2996,2120,2009,0,0,0,0,0,0
$GC,2895,0.65,242.6,17.1,14.5,493,2903,0.00,2.33,0.00,0.000,4,0.000,0.064,2996,3552,2009,0,0,0,0,0,0
$GC,2917,0.63,242.6,13.8,15.0,496,2926,0.08,2.28,0.00,0.000,6,0.180,0.041,2985,2101,2008,0,0,0,0,0,0
$GC,2990,0.64,242.6,3.8,12.4,509,2997,0.00,2.15,0.00,0.000,4,0.000,0.052,2993,736,2007,0,0,0,0,0,0
$STATE,3003,end climb,SURFACE_DEPTH_REACHED
$STATE,3004,begin surface coast
$FINISH,0.8,0.999861
$STATE,3025,end surface coast,CONTROL_FINISHED_OK
$STATE,3025,begin surface
$SM_CCo,3047,134.55,0.707,1,0,1367,400.08
$SM_GC,1.54,0.00,0.00,134.55,0.000,0.000,0.707,152,2155,1367,-8.20,0.14,400.08,0,0,0,0,1,0
$IRIDIUM_FIX,4722.92,-12230.48,240311,050534
$TT8_MAMPS,0.026964,0.026964
$HUMID,31.80
$INTERNAL_PRESSURE,8.95024
$TCM_TEMP,15.10
$XPDR_PINGS,98
$ALTIM_BOTTOM_PING,150.5,64.6
$24V_AH,23.9,1.005
$10V_AH,10.3,0.528
$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,19.800,48.900,318.175,134.550,0.000,29.252,34.862,332.442,26.000,0.000,16.530,1094.438,334.073,518.984,1556.910,249.084,33.327,1049.322,0.000,1174.673,0.000,11.909,0.000
$DEVICE_MAMPS,251.685,65.790,895.050,706.860,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,350.875,329.166,819.303,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323000
$DATA_FILE_SIZE,30339,515
$CAP_FILE_SIZE,67950,0
$CFSIZE,260165632,145821696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,240311,071404,4743.098,-12225.632,15,99.0,34,18.2