version: 66.09
glider: 166
mission: 4
dive: 8
start: 3 24 111 8 50 25
data:
$ID,166
$MISSION,4
$DIVE,8
$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,-23130.727
$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,40
$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
$GPS1,240311,083931,4743.643,-12225.182,40,1.3,40,18.2
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,1
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-75.1
$GPS2,240311,084926,4743.668,-12225.151,15,1.9,15,18.2
$SPEED_LIMITS,0.139,0.241
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.152,0.066
$KALMAN_X,-3208.1,-1033.3,211.1,4289.2,-388.8
$KALMAN_Y,-1191.2,-547.6,363.6,3397.1,65.0
$MHEAD_RNG_PITCHd_Wd,39.9,613,-27.6,-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,17,-0.92,-45.2,0.0,0.0,0,122,0.00,0.00,-101.03,0.000,6,0.000,0.000,150,2166,3184,0,0,0,0,0,0
$GC,127,-0.98,-94.8,3.7,-2.1,16,150,9.40,2.22,-5.70,0.000,4,0.256,0.059,2458,728,3386,0,0,0,0,0,0
$GC,393,-0.85,-94.8,71.8,-25.0,64,401,0.15,2.28,0.00,0.000,6,0.210,0.056,2491,2142,3386,0,0,0,0,0,0
$GC,539,-0.78,-94.8,102.4,-20.2,89,546,0.12,2.17,0.00,0.000,4,0.208,0.049,2531,732,3387,0,0,0,0,0,0
$GC,675,-0.78,-94.8,125.7,-16.1,112,683,0.00,2.28,0.00,0.000,6,0.000,0.055,2523,2154,3387,0,0,0,0,0,0
$GC,823,-0.75,-94.8,152.1,-19.7,137,830,0.00,2.17,0.00,0.000,4,0.000,0.050,2523,741,3387,0,0,0,0,0,0
$GC,881,-0.72,-94.8,162.1,-17.7,146,889,0.00,2.25,0.00,0.000,6,0.000,0.056,2513,2148,3387,0,0,0,0,0,0
$GC,1028,-0.69,-94.8,188.4,-16.4,171,1036,0.15,2.17,0.00,0.000,4,0.213,0.052,2548,736,3387,0,0,0,0,0,0
$GC,1173,-0.71,-94.8,209.2,-14.4,196,1181,0.00,2.20,0.00,0.000,6,0.000,0.057,2540,2115,3387,0,0,0,0,0,0
$STATE,1186,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1186,begin apogee
$GC,1192,-0.16,0.0,211.8,13.8,198,1273,0.60,0.00,73.65,0.921,4,0.181,0.000,2718,2159,2998,0,0,0,0,0,0
$STATE,1274,end apogee,CONTROL_FINISHED_OK
$STATE,1274,begin climb
$GC,1278,0.98,94.8,214.8,0.0,210,1363,1.15,2.35,77.32,0.884,4,0.127,0.064,3086,3558,2611,0,0,0,0,0,0
$GC,1572,0.83,94.8,173.8,17.9,260,1580,0.17,2.22,0.00,0.000,6,0.230,0.046,3052,2157,2606,0,0,0,0,0,0
$GC,1714,0.74,94.8,150.3,16.9,285,1721,0.15,2.25,0.00,0.000,4,0.236,0.053,3027,731,2605,0,0,0,0,0,0
$GC,1964,0.71,94.8,117.7,12.0,331,1972,0.00,2.25,0.00,0.000,6,0.000,0.054,3020,2163,2604,0,0,0,0,0,0
$GC,2105,0.68,94.8,100.1,12.0,356,2113,0.00,2.25,0.00,0.000,4,0.000,0.053,3029,735,2603,0,0,0,0,0,0
$GC,2148,0.65,94.8,94.6,11.8,363,2157,0.15,2.30,0.00,0.000,6,0.221,0.055,2986,2188,2603,0,0,0,0,0,0
$GC,2294,0.68,94.8,79.9,9.7,388,2302,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2188,2603,0,0,0,0,0,0
$GC,2432,0.70,94.8,66.4,9.6,413,2439,0.00,2.22,0.00,0.000,4,0.000,0.051,2996,732,2603,0,0,0,0,0,0
$GC,2481,0.73,94.8,61.7,10.1,421,2488,0.00,2.25,0.00,0.000,6,0.000,0.053,2992,2165,2602,0,0,0,0,0,0
$GC,2622,0.75,94.8,47.5,9.6,446,2629,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2165,2603,0,0,0,0,0,0
$GC,2695,0.77,94.8,40.1,10.0,459,2703,0.00,2.20,0.00,0.000,4,0.000,0.064,2992,3558,2602,0,0,0,0,0,0
$GC,2734,0.77,94.8,36.0,10.6,465,2742,0.00,2.17,0.00,0.000,6,0.000,0.043,3000,2146,2602,0,0,0,0,0,0
$GC,2808,0.77,94.8,28.1,10.6,478,2815,0.00,2.25,0.00,0.000,4,0.000,0.062,2992,3559,2602,0,0,0,0,0,0
$GC,2888,0.77,94.8,19.3,10.5,492,2896,0.00,2.12,0.00,0.000,6,0.000,0.044,3001,2178,2602,0,0,0,0,0,0
$GC,2963,0.79,94.8,11.9,10.2,505,2971,0.00,2.22,0.00,0.000,4,0.000,0.052,3012,738,2602,0,0,0,0,0,0
$STATE,3070,end climb,SURFACE_DEPTH_REACHED
$STATE,3070,begin surface coast
$FINISH,0.9,1.010772
$STATE,3099,end surface coast,CONTROL_FINISHED_OK
$STATE,3099,begin surface
$SM_CCo,3119,260.33,0.727,1,0,1368,400.08
$SM_GC,1.55,0.00,0.00,260.33,0.000,0.000,0.727,152,2164,1368,-8.20,0.40,400.08,0,0,0,0,1,0
$IRIDIUM_FIX,4726.11,-12227.78,240311,070711
$TT8_MAMPS,0.026964,0.026964
$HUMID,30.03
$INTERNAL_PRESSURE,8.94047
$TCM_TEMP,15.10
$XPDR_PINGS,98
$ALTIM_BOTTOM_PING,160.5,59.7
$24V_AH,23.8,1.260
$10V_AH,10.3,0.691
$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,19.900,49.125,150.975,260.325,0.000,30.962,33.177,352.948,26.500,0.000,17.334,1267.935,305.657,541.662,1618.652,250.563,33.317,1030.479,0.000,1209.290,0.000,16.386,0.000
$DEVICE_MAMPS,255.510,165.240,921.060,726.750,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,363.666,342.214,852.717,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,30352,530
$CAP_FILE_SIZE,68011,0
$CFSIZE,260165632,145735680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.035, 81.3,1
$GPS,240311,094738,4743.815,-12224.811,10,1.4,10,18.2