version: 66.09
glider: 166
mission: 4
dive: 15
start: 3 24 111 16 58 49
data:
$ID,166
$MISSION,4
$DIVE,15
$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,-23308.98
$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,36
$R_STBD_OVSHOOT,26
$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
$GPS1,240311,165025,4743.561,-12224.234,36,2.0,41,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-78.6
$GPS2,240311,165750,4743.599,-12224.225,15,1.7,15,18.2
$SPEED_LIMITS,0.260,0.337
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.127,-0.312
$KALMAN_X,-6928.8,973.9,-74.9,7437.3,48.9
$KALMAN_Y,-2816.9,516.2,-282.9,4464.9,157.9
$MHEAD_RNG_PITCHd_Wd,183.4,1812,-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,17,-0.92,-194.6,0.0,0.0,0,97,0.00,0.00,-77.10,0.000,2,0.000,0.000,157,2107,3575,0,0,0,0,0,0
$GC,100,-0.92,-194.6,5.6,-7.6,11,125,9.20,2.25,-4.60,0.000,4,0.246,0.057,2475,678,3796,0,0,0,0,0,0
$GC,368,-0.82,-194.6,78.7,-24.6,59,376,0.17,2.25,0.00,0.000,6,0.207,0.057,2510,2102,3797,0,0,0,0,0,0
$GC,508,-0.76,-194.6,106.2,-18.6,84,516,0.00,2.20,0.00,0.000,4,0.000,0.050,2516,698,3797,0,0,0,0,0,0
$GC,580,-0.73,-194.6,119.7,-18.8,96,588,0.00,2.22,0.00,0.000,6,0.000,0.057,2508,2088,3797,0,0,0,0,0,0
$GC,723,-0.67,-194.6,147.7,-19.7,121,731,0.17,2.15,0.00,0.000,4,0.189,0.050,2558,693,3797,0,0,0,0,0,0
$GC,766,-0.71,-194.6,155.3,-15.7,128,774,0.00,2.20,0.00,0.000,6,0.000,0.056,2550,2069,3797,0,0,0,0,0,0
$STATE,884,end dive,TARGET_DEPTH_EXCEEDED
$STATE,884,begin apogee
$GC,889,-0.16,0.0,173.2,16.4,150,1052,0.52,0.00,150.75,0.874,4,0.161,0.000,2713,2070,2998,0,0,0,0,0,0
$STATE,1053,end apogee,CONTROL_FINISHED_OK
$STATE,1053,begin climb
$GC,1055,0.92,194.6,179.7,0.0,173,1226,1.17,2.42,159.02,0.836,4,0.122,0.063,3067,3514,2205,0,0,0,0,0,0
$GC,1412,0.81,194.6,114.9,21.9,231,1419,0.17,2.25,0.00,0.000,6,0.230,0.045,3039,2091,2200,0,0,0,0,0,0
$GC,1557,0.73,194.6,87.9,17.5,256,1565,0.00,2.33,0.00,0.000,4,0.000,0.062,3031,3513,2199,0,0,0,0,0,0
$GC,1800,0.67,194.6,42.3,19.2,299,1808,0.15,2.22,0.00,0.000,6,0.194,0.044,2997,2092,2199,0,0,0,0,0,0
$GC,1874,0.67,194.6,29.8,15.7,312,1882,0.00,2.28,0.00,0.000,4,0.000,0.063,2995,3503,2198,0,0,0,0,0,0
$GC,1927,0.69,194.6,21.7,15.1,321,1936,0.00,2.15,0.00,0.000,6,0.000,0.043,3003,2126,2198,0,0,0,0,0,0
$GC,2004,0.74,231.4,12.0,13.1,334,2044,0.00,2.28,31.35,0.755,4,0.000,0.050,3014,690,2055,0,0,0,0,0,0
$STATE,2071,end climb,SURFACE_DEPTH_REACHED
$STATE,2071,begin surface coast
$FINISH,0.7,1.010238
$STATE,2095,end surface coast,CONTROL_FINISHED_OK
$STATE,2095,begin surface
$SM_CCo,2115,21.05,0.371,1,0,1978,250.21
$SM_GC,1.75,0.00,0.00,21.05,0.000,0.000,0.371,157,2102,1978,-8.18,0.06,250.21,0,0,0,0,1,0
$IRIDIUM_FIX,4726.11,-12229.50,240311,161645
$TT8_MAMPS,0.026964,0.026964
$HUMID,30.39
$INTERNAL_PRESSURE,8.9893
$TCM_TEMP,14.90
$XPDR_PINGS,70
$24V_AH,23.8,2.171
$10V_AH,10.3,1.148
$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,19.500,31.475,341.125,21.050,0.000,29.977,30.257,231.232,17.500,0.000,16.490,769.899,180.084,379.531,1083.849,186.311,33.334,771.676,0.000,803.874,0.000,0.536,0.000
$DEVICE_MAMPS,245.565,62.730,874.395,371.025,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,234.491,225.174,561.628,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322776
$DATA_FILE_SIZE,20301,348
$CAP_FILE_SIZE,45494,0
$CFSIZE,260165632,145498112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.114, 11.2,1
$GPS,240311,173544,4743.563,-12224.194,34,1.5,34,18.2