version: 66.09
glider: 166
mission: 4
dive: 11
start: 3 24 111 12 32 13
data:
$ID,166
$MISSION,4
$DIVE,11
$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,-23134.6
$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,34
$R_STBD_OVSHOOT,33
$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
$GPS1,240311,122106,4743.894,-12223.982,11,1.1,27,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-76.1
$GPS2,240311,123116,4743.880,-12224.038,11,99.0,30,18.2
$SPEED_LIMITS,0.139,0.241
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.177,0.164
$KALMAN_X,-5826.5,97.6,36.9,7330.8,-870.6
$KALMAN_Y,-2853.6,107.5,77.5,5077.9,-813.9
$MHEAD_RNG_PITCHd_Wd,10.4,895,-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,-146.0,0.0,0.0,0,136,0.00,0.00,-115.43,0.000,6,0.000,0.000,152,2159,3594,0,0,0,0,0,0
$GC,141,-0.65,-146.0,5.7,-7.8,18,156,9.65,2.28,0.00,0.000,4,0.250,0.053,2547,3569,3595,0,0,0,0,0,0
$GC,259,-0.53,-146.0,35.6,-17.1,39,268,0.17,2.22,0.00,0.000,6,0.163,0.042,2600,2147,3597,0,0,0,0,0,0
$GC,335,-0.47,-146.0,45.8,-12.6,52,344,0.00,2.20,0.00,0.000,4,0.000,0.051,2600,744,3597,0,0,0,0,0,0
$GC,392,-0.41,-146.0,53.0,-12.5,61,399,0.17,2.20,0.00,0.000,6,0.164,0.056,2640,2139,3597,0,0,0,0,0,0
$GC,536,-0.41,-146.0,65.5,-8.0,86,543,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2140,3597,0,0,0,0,0,0
$GC,679,-0.41,-146.0,78.5,-9.6,111,685,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2140,3597,0,0,0,0,0,0
$GC,818,-0.41,-146.0,91.9,-8.9,136,827,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2139,3597,0,0,0,0,0,0
$GC,964,-0.41,-146.0,104.2,-9.0,161,971,0.00,2.15,0.00,0.000,4,0.000,0.051,2640,735,3596,0,0,0,0,0,0
$GC,1031,-0.41,-146.0,111.2,-9.7,172,1039,0.00,2.25,0.00,0.000,6,0.000,0.057,2632,2145,3597,0,0,0,0,0,0
$GC,1179,-0.41,-146.0,124.0,-8.9,197,1185,0.00,2.17,0.00,0.000,4,0.000,0.051,2632,734,3596,0,0,0,0,0,0
$GC,1231,-0.41,-146.0,129.3,-9.5,206,1238,0.00,2.22,0.00,0.000,6,0.000,0.057,2622,2128,3597,0,0,0,0,0,0
$GC,1380,-0.39,-146.0,143.5,-9.7,231,1386,0.00,2.25,0.00,0.000,4,0.000,0.067,2611,3570,3597,0,0,0,0,0,0
$GC,1417,-0.39,-146.0,147.2,-9.2,237,1425,0.12,2.17,0.00,0.000,6,0.174,0.041,2643,2119,3597,0,0,0,0,0,0
$GC,1562,-0.39,-146.0,157.7,-7.9,262,1570,0.00,2.12,0.00,0.000,4,0.000,0.053,2644,745,3597,0,0,0,0,0,0
$GC,1631,-0.43,-146.0,164.0,-9.6,273,1638,0.00,2.17,0.00,0.000,6,0.000,0.056,2636,2134,3596,0,0,0,0,0,0
$STATE,1772,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1773,begin apogee
$GC,1779,-0.16,0.0,177.2,8.9,298,1896,0.25,0.00,112.22,0.899,4,0.164,0.000,2715,2134,2999,0,0,0,0,0,0
$STATE,1898,end apogee,CONTROL_FINISHED_OK
$STATE,1898,begin climb
$GC,1900,0.65,146.0,183.5,0.0,315,2031,0.80,0.00,119.22,0.861,6,0.124,0.000,2972,2134,2402,0,0,0,0,0,0
$GC,2165,0.53,146.0,158.7,13.3,358,2173,0.00,2.35,0.00,0.000,4,0.000,0.067,2968,3555,2398,0,0,0,0,0,0
$GC,2202,0.43,146.0,153.3,14.7,364,2211,0.22,2.22,0.00,0.000,6,0.203,0.045,2917,2163,2396,0,0,0,0,0,0
$GC,2350,0.43,146.0,138.7,9.1,389,2356,0.00,2.22,0.00,0.000,4,0.000,0.054,2925,733,2396,0,0,0,0,0,0
$GC,2390,0.43,146.0,134.5,9.0,396,2399,0.00,2.28,0.00,0.000,6,0.000,0.056,2925,2135,2396,0,0,0,0,0,0
$GC,2539,0.40,146.0,120.8,9.3,421,2545,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2135,2396,0,0,0,0,0,0
$GC,2680,0.37,146.0,106.8,9.3,446,2688,0.00,2.20,0.00,0.000,4,0.000,0.053,2936,742,2396,0,0,0,0,0,0
$GC,2726,0.36,146.0,102.9,9.0,453,2734,0.17,2.22,0.00,0.000,6,0.181,0.054,2890,2149,2395,0,0,0,0,0,0
$GC,2869,0.46,190.0,92.7,6.4,478,2911,0.00,0.00,36.00,0.825,6,0.000,0.000,2889,2149,2223,0,0,0,0,0,0
$GC,3049,0.56,222.4,80.7,6.8,508,3086,0.20,2.28,28.33,0.799,4,0.087,0.051,2976,739,2092,0,0,0,0,0,0
$GC,3100,0.50,222.4,75.3,12.0,515,3107,0.15,2.25,0.00,0.000,6,0.197,0.053,2942,2137,2091,0,0,0,0,0,0
$GC,3245,0.50,222.4,60.7,9.6,540,3253,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2138,2089,0,0,0,0,0,0
$GC,3386,0.50,222.4,46.6,9.6,565,3393,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2138,2088,0,0,0,0,0,0
$GC,3459,0.50,222.4,39.6,9.3,578,3467,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2138,2088,0,0,0,0,0,0
$GC,3532,0.50,222.4,32.7,8.7,591,3539,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2138,2088,0,0,0,0,0,0
$GC,3604,0.50,223.2,26.9,8.0,604,3612,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2138,2087,0,0,0,0,0,0
$GC,3677,0.51,226.5,21.4,7.9,617,3687,0.00,2.25,4.53,0.564,4,0.000,0.052,2950,735,2074,0,0,0,0,0,0
$GC,3712,0.53,226.5,18.6,8.2,622,3720,0.00,2.22,0.00,0.000,6,0.000,0.052,2950,2129,2074,0,0,0,0,0,0
$GC,3785,0.53,226.5,11.8,9.0,635,3793,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2130,2074,0,0,0,0,0,0
$GC,3859,0.55,226.5,5.2,9.2,648,3867,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2130,2074,0,0,0,0,0,0
$STATE,3884,end climb,SURFACE_DEPTH_REACHED
$STATE,3884,begin surface coast
$FINISH,0.7,0.999870
$STATE,3920,end surface coast,CONTROL_FINISHED_OK
$STATE,3921,begin surface
$SM_CCo,3937,149.12,0.712,1,0,1368,400.08
$SM_GC,1.44,0.00,0.00,149.12,0.000,0.000,0.712,148,2133,1368,-8.21,-0.48,400.08,0,0,0,0,1,0
$IRIDIUM_FIX,4726.11,-12157.61,240311,111119
$TT8_MAMPS,0.026964,0.026964
$HUMID,30.74
$INTERNAL_PRESSURE,8.94047
$TCM_TEMP,15.20
$XPDR_PINGS,107
$ALTIM_BOTTOM_PING,110.3,76.8
$24V_AH,23.8,1.649
$10V_AH,10.3,0.942
$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,19.550,48.925,300.300,149.125,0.000,27.504,30.472,362.326,27.250,0.000,32.097,1516.292,416.760,576.927,1912.230,284.992,33.331,1215.197,0.000,1492.163,0.000,5.628,0.000
$DEVICE_MAMPS,250.155,66.555,898.875,712.215,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,450.130,417.705,1041.730,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322828
$DATA_FILE_SIZE,40212,659
$CAP_FILE_SIZE,81459,0
$CFSIZE,260165632,145580032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.120,189.6,1
$GPS,240311,134119,4744.077,-12223.724,9,1.9,14,18.2