version: 66.09
glider: 166
mission: 4
dive: 7
start: 3 24 111 7 27 35
data:
$ID,166
$MISSION,4
$DIVE,7
$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,-23129.467
$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,35
$R_STBD_OVSHOOT,29
$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
$GPS1,240311,071404,4743.098,-12225.632,15,99.0,34,18.2
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-75.9
$GPS2,240311,072638,4743.202,-12225.495,11,1.4,11,18.2
$SPEED_LIMITS,0.139,0.241
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.171,0.170
$KALMAN_X,-2216.7,-1312.2,-20.8,3380.8,-65.7
$KALMAN_Y,-690.9,-739.5,87.7,2492.4,372.5
$MHEAD_RNG_PITCHd_Wd,15.6,1557,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.65,-146.0,0.0,0.0,0,142,0.00,0.00,-118.70,0.000,6,0.000,0.000,152,2155,3595,0,0,0,0,0,0
$GC,145,-0.65,-146.0,6.2,-9.9,19,160,9.80,2.28,0.00,0.000,4,0.256,0.047,2566,724,3596,0,0,0,0,0,0
$GC,400,-0.54,-146.0,59.3,-17.1,66,408,0.12,2.30,0.00,0.000,6,0.167,0.057,2595,2148,3597,0,0,0,0,0,0
$GC,547,-0.48,-146.0,78.8,-13.6,91,554,0.00,2.17,0.00,0.000,4,0.000,0.049,2595,739,3597,0,0,0,0,0,0
$GC,620,-0.43,-146.0,89.9,-15.1,103,628,0.17,2.22,0.00,0.000,6,0.167,0.056,2634,2142,3597,0,0,0,0,0,0
$GC,767,-0.43,-146.0,107.7,-11.4,128,775,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2143,3597,0,0,0,0,0,0
$GC,914,-0.40,-146.0,124.6,-10.5,153,921,0.00,2.15,0.00,0.000,4,0.000,0.050,2635,738,3597,0,0,0,0,0,0
$GC,972,-0.40,-146.0,131.2,-10.6,162,979,0.00,2.22,0.00,0.000,6,0.000,0.057,2627,2131,3597,0,0,0,0,0,0
$GC,1120,-0.40,-146.0,147.3,-11.5,187,1126,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2131,3597,0,0,0,0,0,0
$GC,1261,-0.40,-146.0,164.0,-12.4,212,1269,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2132,3597,0,0,0,0,0,0
$GC,1405,-0.38,-146.0,181.2,-11.5,237,1412,0.00,2.12,0.00,0.000,4,0.000,0.050,2627,729,3598,0,0,0,0,0,0
$GC,1442,-0.38,-146.0,185.5,-11.4,243,1450,0.12,2.17,0.00,0.000,6,0.175,0.059,2649,2124,3597,0,0,0,0,0,0
$GC,1589,-0.41,-146.0,195.9,-6.3,268,1598,0.00,2.28,0.00,0.000,4,0.000,0.067,2641,3552,3598,0,0,0,0,0,0
$GC,1624,-0.46,-146.0,198.2,-6.2,273,1631,0.00,2.15,0.00,0.000,6,0.000,0.042,2640,2114,3597,0,0,0,0,0,0
$STATE,1703,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1704,begin apogee
$GC,1711,-0.16,0.0,203.3,6.1,287,1835,0.25,0.00,112.82,0.910,4,0.157,0.000,2721,2156,2998,0,0,0,0,0,0
$STATE,1837,end apogee,CONTROL_FINISHED_OK
$STATE,1837,begin climb
$GC,1839,0.65,146.0,207.4,0.0,305,1970,0.88,2.35,119.85,0.871,4,0.130,0.065,2977,3555,2403,0,0,0,0,0,0
$GC,2179,0.52,146.0,164.0,13.8,361,2187,0.17,2.20,0.00,0.000,6,0.212,0.045,2948,2154,2397,0,0,0,0,0,0
$GC,2325,0.43,146.0,148.7,11.7,386,2334,0.12,2.30,0.00,0.000,4,0.207,0.064,2907,3551,2396,0,0,0,0,0,0
$GC,2484,0.43,152.3,135.1,7.8,413,2499,0.00,2.17,5.35,0.647,6,0.000,0.042,2915,2140,2378,0,0,0,0,0,0
$GC,2636,0.41,152.3,120.9,9.3,439,2643,0.00,2.17,0.00,0.000,4,0.000,0.052,2926,738,2378,0,0,0,0,0,0
$GC,2689,0.41,152.3,116.1,8.7,448,2698,0.00,2.22,0.00,0.000,6,0.000,0.053,2926,2132,2378,0,0,0,0,0,0
$GC,2836,0.41,167.6,104.9,7.4,473,2856,0.00,0.00,14.70,0.797,6,0.000,0.000,2926,2132,2314,0,0,0,0,0,0
$GC,2995,0.41,167.6,90.8,9.3,500,3004,0.00,2.30,0.00,0.000,4,0.000,0.065,2926,3564,2314,0,0,0,0,0,0
$GC,3017,0.41,167.6,88.3,9.4,503,3025,0.12,2.20,0.00,0.000,6,0.213,0.042,2908,2134,2313,0,0,0,0,0,0
$GC,3162,0.42,179.2,77.1,7.6,528,3178,0.00,2.22,10.88,0.769,4,0.000,0.053,2916,743,2268,0,0,0,0,0,0
$GC,3212,0.47,198.5,73.2,7.3,536,3235,0.00,2.22,17.58,0.796,6,0.000,0.052,2916,2134,2188,0,0,0,0,0,0
$GC,3372,0.47,198.5,58.8,9.5,563,3379,0.00,2.17,0.00,0.000,4,0.000,0.052,2926,741,2187,0,0,0,0,0,0
$GC,3409,0.49,198.5,55.3,8.9,569,3416,0.00,2.17,0.00,0.000,6,0.000,0.054,2926,2121,2186,0,0,0,0,0,0
$GC,3546,0.49,198.5,42.7,8.9,594,3556,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2122,2186,0,0,0,0,0,0
$GC,3622,0.49,198.5,36.2,8.8,607,3630,0.00,2.17,0.00,0.000,4,0.000,0.051,2936,739,2186,0,0,0,0,0,0
$GC,3659,0.50,198.5,33.1,8.2,613,3666,0.00,2.15,0.00,0.000,6,0.000,0.051,2936,2091,2186,0,0,0,0,0,0
$GC,3731,0.50,198.5,27.4,8.0,626,3739,0.00,2.33,0.00,0.000,4,0.000,0.063,2936,3550,2185,0,0,0,0,0,0
$GC,3759,0.50,198.5,25.2,8.1,630,3767,0.00,2.22,0.00,0.000,6,0.000,0.041,2946,2104,2185,0,0,0,0,0,0
$GC,3831,0.48,199.2,19.1,8.0,643,3839,0.00,2.12,0.00,0.000,4,0.000,0.052,2957,736,2185,0,0,0,0,0,0
$GC,3878,0.51,223.0,15.8,7.1,651,3910,0.00,2.10,21.58,0.784,6,0.000,0.050,2957,2066,2090,0,0,0,0,0,0
$GC,3977,0.53,240.0,8.6,7.4,667,4000,0.00,0.00,15.80,0.748,6,0.000,0.000,2957,2065,2020,0,0,0,0,0,0
$STATE,4040,end climb,SURFACE_DEPTH_REACHED
$STATE,4040,begin surface coast
$FINISH,0.8,0.999858
$STATE,4074,end surface coast,CONTROL_FINISHED_OK
$STATE,4074,begin surface
$SM_CCo,4091,137.25,0.705,1,0,1368,400.08
$SM_GC,1.61,0.00,0.00,137.25,0.000,0.000,0.705,150,2165,1368,-8.20,0.45,400.08,0,0,0,0,1,0
$IRIDIUM_FIX,4722.92,-12226.07,240311,070732
$TT8_MAMPS,0.026964,0.026964
$HUMID,31.21
$INTERNAL_PRESSURE,8.94047
$TCM_TEMP,14.20
$XPDR_PINGS,125
$ALTIM_BOTTOM_PING,140.2,72.7
$24V_AH,23.8,1.141
$10V_AH,10.2,0.618
$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,19.550,62.075,318.550,137.250,0.000,56.969,68.845,368.518,32.750,0.000,15.668,1560.407,509.584,575.862,2050.761,301.738,33.339,1235.498,0.000,1552.507,0.000,13.269,0.000
$DEVICE_MAMPS,256.275,159.120,910.350,704.565,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,468.198,433.598,1079.757,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322780
$DATA_FILE_SIZE,40203,684
$CAP_FILE_SIZE,87251,0
$CFSIZE,260165632,145747968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.030,315.1,1
$GPS,240311,083931,4743.643,-12225.182,40,1.3,40,18.2