version: 66.09
glider: 166
mission: 4
dive: 13
start: 3 24 111 15 17 36
data:
$ID,166
$MISSION,4
$DIVE,13
$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,40
$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,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$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,-23306.467
$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,1950
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,47
$R_STBD_OVSHOOT,24
$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,0
$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
$GPS1,240311,151036,4744.016,-12223.830,9,1.3,25,18.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-76.7
$GPS2,240311,151640,4744.014,-12223.806,13,2.8,32,18.2
$SPEED_LIMITS,0.260,0.337
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.175,-0.288
$KALMAN_X,-6820.0,731.1,-144.7,8162.1,75.6
$KALMAN_Y,-3108.3,387.4,-394.9,5769.8,22.5
$MHEAD_RNG_PITCHd_Wd,191.9,2731,-21.9,-15.000
$D_GRID,169
$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,-194.6,0.0,0.0,0,138,0.00,0.00,-118.00,0.000,2,0.000,0.000,159,1926,3692,0,0,0,0,0,0
$GC,143,-0.92,-194.6,6.1,-9.3,17,160,9.27,2.35,-1.95,0.000,4,0.251,0.071,2459,3378,3795,0,0,0,0,0,0
$GC,353,-0.83,-194.6,65.6,-23.4,55,362,0.17,2.20,0.00,0.000,6,0.197,0.045,2506,1954,3796,0,0,0,0,0,0
$GC,497,-0.75,-194.6,94.7,-19.6,80,505,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,1950,3796,0,0,0,0,0,0
$GC,637,-0.69,-194.6,122.9,-19.7,105,644,0.15,2.22,0.00,0.000,4,0.186,0.056,2546,535,3796,0,0,0,0,0,0
$GC,698,-0.71,-194.6,133.9,-16.4,115,706,0.00,2.25,0.00,0.000,6,0.000,0.059,2538,1947,3796,0,0,0,0,0,0
$GC,837,-0.71,-194.6,157.9,-16.5,140,845,0.00,2.25,0.00,0.000,4,0.000,0.066,2528,3355,3796,0,0,0,0,0,0
$GC,871,-0.71,-194.6,163.3,-17.6,145,878,0.00,2.15,0.00,0.000,6,0.000,0.043,2528,1946,3796,0,0,0,0,0,0
$STATE,905,end dive,TARGET_DEPTH_EXCEEDED
$STATE,906,begin apogee
$GC,911,-0.16,0.0,169.8,17.0,151,1067,0.62,0.00,150.30,0.873,4,0.170,0.000,2716,2069,2999,0,0,0,0,0,0
$STATE,1068,end apogee,CONTROL_FINISHED_OK
$STATE,1068,begin climb
$GC,1072,0.92,194.6,177.7,0.0,173,1240,1.10,0.00,158.62,0.836,6,0.124,0.000,3063,2068,2204,0,0,0,0,0,0
$GC,1372,0.81,194.6,129.3,21.7,222,1380,0.00,2.28,0.00,0.000,4,0.000,0.065,3056,3442,2199,0,0,0,0,0,0
$GC,1436,0.71,194.6,115.0,20.9,233,1444,0.25,2.17,0.00,0.000,6,0.216,0.044,3004,2064,2198,0,0,0,0,0,0
$GC,1579,0.68,194.6,92.7,15.0,258,1587,0.00,2.28,0.00,0.000,4,0.000,0.054,3012,635,2197,0,0,0,0,0,0
$GC,1635,0.72,223.6,84.7,13.5,267,1670,0.00,2.28,25.02,0.778,6,0.000,0.057,3013,2049,2086,0,0,0,0,0,0
$GC,1804,0.72,223.6,59.4,16.3,296,1812,0.00,2.30,0.00,0.000,4,0.000,0.064,3013,3451,2083,0,0,0,0,0,0
$GC,1858,0.72,223.6,50.1,17.1,305,1865,0.00,2.17,0.00,0.000,6,0.000,0.044,3021,2051,2082,0,0,0,0,0,0
$GC,1995,0.68,223.6,27.2,17.9,330,2003,0.00,2.22,0.00,0.000,4,0.000,0.052,3032,640,2082,0,0,0,0,0,0
$GC,2040,0.68,223.6,18.9,17.4,337,2049,0.10,2.30,0.00,0.000,6,0.181,0.054,3002,2071,2081,0,0,0,0,0,0
$GC,2115,0.76,261.7,8.0,13.0,350,2153,0.00,2.30,32.30,0.750,4,0.000,0.062,3001,3458,1931,0,0,0,0,0,0
$STATE,2160,end climb,SURFACE_DEPTH_REACHED
$STATE,2160,begin surface coast
$FINISH,0.7,1.010160
$STATE,2182,end surface coast,CONTROL_FINISHED_OK
$STATE,2183,begin surface
$SM_CCo,2204,120.43,0.682,1,0,1368,400.08
$SM_GC,1.57,0.00,0.00,120.43,0.000,0.000,0.682,150,1940,1368,-8.21,-0.28,400.08,0,0,0,0,1,0
$IRIDIUM_FIX,4726.11,-12220.67,240311,151547
$TT8_MAMPS,0.026964,0.026964
$HUMID,29.48
$INTERNAL_PRESSURE,8.95024
$TCM_TEMP,15.00
$XPDR_PINGS,81
$24V_AH,23.8,1.953
$10V_AH,10.2,1.045
$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,19.650,36.300,366.250,120.425,0.000,0.000,0.000,0.000,20.250,0.000,33.779,784.151,166.626,531.031,842.747,97.473,33.328,949.133,0.000,828.770,0.000,0.535,0.000
$DEVICE_MAMPS,250.920,82.620,872.865,681.615,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,241.438,233.401,582.022,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20340,360
$CAP_FILE_SIZE,56266,0
$CFSIZE,260165632,145555456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.035,173.2,1
$GPS,240311,155714,4743.713,-12224.046,11,2.0,11,18.2