version: 66.09
glider: 166
mission: 4
dive: 14
start: 3 24 111 16 11 21
data:
$ID,166
$MISSION,4
$DIVE,14
$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,250
$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,-23307.725
$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,2100
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,25
$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
$GPS1,240311,155714,4743.713,-12224.046,11,2.0,11,18.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-75.6
$GPS2,240311,161022,4743.713,-12224.043,13,7.3,32,18.2
$SPEED_LIMITS,0.260,0.337
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.147,-0.303
$KALMAN_X,-6903.8,890.7,-124.4,7771.5,62.6
$KALMAN_Y,-3085.9,454.4,-401.7,5132.0,149.5
$MHEAD_RNG_PITCHd_Wd,191.6,2100,-21.9,-15.000
$D_GRID,173
$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,-0.92,-194.6,0.0,0.0,0,139,0.00,0.00,-118.55,0.000,2,0.000,0.000,150,1941,3654,0,0,0,0,0,0
$GC,142,-0.92,-194.6,5.5,-7.2,17,168,9.05,2.58,-2.97,0.000,4,0.238,0.071,2456,3517,3796,0,0,0,0,0,0
$GC,251,-0.82,-194.6,39.5,-22.8,35,261,0.15,2.22,0.00,0.000,6,0.190,0.042,2499,2094,3797,0,0,0,0,0,0
$GC,328,-0.72,-194.6,57.2,-21.9,48,337,0.15,2.22,0.00,0.000,4,0.184,0.052,2542,690,3796,0,0,0,0,0,0
$GC,367,-0.70,-194.6,64.7,-18.9,54,375,0.00,2.25,0.00,0.000,6,0.000,0.057,2534,2084,3797,0,0,0,0,0,0
$GC,509,-0.67,-194.6,91.7,-19.1,79,515,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2084,3797,0,0,0,0,0,0
$GC,648,-0.65,-194.6,118.1,-19.0,104,657,0.12,2.20,0.00,0.000,4,0.205,0.051,2563,697,3797,0,0,0,0,0,0
$GC,694,-0.70,-194.6,126.3,-16.9,111,702,0.00,2.22,0.00,0.000,6,0.000,0.057,2555,2095,3797,0,0,0,0,0,0
$GC,831,-0.70,-194.6,149.1,-17.2,136,839,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2095,3797,0,0,0,0,0,0
$GC,971,-0.72,-194.6,171.8,-15.6,161,977,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2096,3797,0,0,0,0,0,0
$STATE,986,end dive,TARGET_DEPTH_EXCEEDED
$STATE,986,begin apogee
$GC,992,-0.16,0.0,174.3,15.9,163,1153,0.52,0.00,150.73,0.879,4,0.163,0.000,2718,2095,2998,0,0,0,0,0,0
$STATE,1154,end apogee,CONTROL_FINISHED_OK
$STATE,1154,begin climb
$GC,1156,0.92,194.6,182.4,0.0,186,1326,1.10,2.42,158.90,0.842,4,0.128,0.065,3062,3515,2205,0,0,0,0,0,0
$GC,1489,0.82,194.6,120.6,22.3,240,1498,0.10,2.28,0.00,0.000,6,0.223,0.044,3048,2099,2199,0,0,0,0,0,0
$GC,1632,0.72,194.6,91.6,19.9,265,1639,0.15,2.33,0.00,0.000,4,0.218,0.063,3001,3519,2199,0,0,0,0,0,0
$GC,1842,0.72,194.6,56.2,16.8,303,1849,0.00,2.20,0.00,0.000,6,0.000,0.043,3009,2099,2199,0,0,0,0,0,0
$GC,1981,0.70,194.6,32.0,17.2,328,1989,0.00,2.20,0.00,0.000,4,0.000,0.053,3020,699,2197,0,0,0,0,0,0
$GC,2008,0.68,194.6,26.4,18.1,332,2017,0.00,2.25,0.00,0.000,6,0.000,0.053,3019,2104,2197,0,0,0,0,0,0
$GC,2084,0.65,194.6,14.2,15.4,345,2092,0.12,0.00,0.00,0.000,6,0.194,0.000,2986,2106,2197,0,0,0,0,0,0
$GC,2159,0.75,240.0,4.0,12.7,358,2176,0.00,0.00,14.82,0.732,2,0.000,0.000,2986,2106,2134,0,0,0,0,0,0
$STATE,2176,end climb,SURFACE_DEPTH_REACHED
$STATE,2176,begin surface coast
$FINISH,0.8,1.005993
$STATE,2204,end surface coast,CONTROL_FINISHED_OK
$STATE,2204,begin surface
$SM_CCo,2221,37.12,0.552,1,0,1980,250.21
$SM_GC,2.34,0.00,0.00,37.12,0.000,0.000,0.552,157,2106,1980,-8.18,0.17,250.21,0,0,0,0,1,0
$IRIDIUM_FIX,4729.30,-12222.38,240311,151530
$TT8_MAMPS,0.026964,0.026964
$HUMID,30.31
$INTERNAL_PRESSURE,9.00884
$TCM_TEMP,15.10
$XPDR_PINGS,77
$24V_AH,23.8,2.069
$10V_AH,10.2,1.099
$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,19.300,27.375,324.450,37.125,0.000,52.758,65.835,401.923,19.250,0.000,34.623,802.260,234.853,425.913,1393.371,207.831,33.330,840.602,0.000,842.887,0.000,0.535,0.000
$DEVICE_MAMPS,237.915,71.145,878.985,551.565,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,245.569,237.472,592.202,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20346,365
$CAP_FILE_SIZE,53991,0
$CFSIZE,260165632,145522688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.034,  5.1,1
$GPS,240311,165025,4743.561,-12224.234,36,2.0,41,18.2