version: 66.06
glider: 166
mission: 2
dive: 13
start: 5 27 110 7 29 22
data:
$ID,166
$MISSION,2
$DIVE,13
$D_SURF,4
$D_FLARE,5
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,100
$D_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,66
$T_MISSION,70
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0273
$MASS,51956
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,0
$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,600
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,10
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-20923.082
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,160
$PITCH_MAX,3938
$C_PITCH,2828
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,197
$ROLL_MAX,3786
$ROLL_DEG,40
$C_ROLL_DIVE,2280
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.75
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,455
$VBD_MAX,3960
$C_VBD,3500
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,9
$FG_AHR_24V,22
$PHONE_SUPPLY,2
$PRESSURE_YINT,-27.872913
$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,75
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$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
$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,0.0043148831
$SEABIRD_T_H,0.00063078973
$SEABIRD_T_I,2.2916694e-05
$SEABIRD_T_J,2.2962076e-06
$SEABIRD_C_G,-9.9893045
$SEABIRD_C_H,1.1222894
$SEABIRD_C_I,-0.0015891744
$SEABIRD_C_J,0.00020161238
$GPS1,072134,4806.209,-12222.160,15,4.9,34,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-79.6
$GPS2,072826,4806.274,-12222.212,14,1.6,14,18.3
$SPEED_LIMITS,0.131,0.198
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.093,-0.175
$KALMAN_X,-1383.3,-62.3,-48.8,2078.0,-184.8
$KALMAN_Y,3212.7,176.0,51.7,-4581.6,344.4
$MHEAD_RNG_PITCHd_Wd,121.7,572,-17.8,-7.576
$D_GRID,108
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.93,-97.3,0.0,0.0,0,153,0.00,0.00,-127.18,0.000,6,0.000,0.000,157,2265,3897,0,0,0,0,0,0
$GC,156,-0.93,-97.3,4.7,-4.6,24,169,9.62,0.00,0.00,0.000,6,0.257,0.000,2520,2264,3898,0,0,0,0,0,0
$GC,240,-0.93,-97.3,27.4,-24.7,41,246,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2264,3899,0,0,0,0,0,0
$GC,316,-0.93,-97.3,46.1,-24.4,57,322,0.00,2.17,0.00,0.000,4,0.000,0.049,2520,862,3898,0,0,0,0,0,0
$GC,368,-0.93,-97.3,59.6,-25.1,68,375,0.00,2.30,0.00,0.000,6,0.000,0.061,2518,2273,3899,0,0,0,0,0,0
$GC,519,-0.93,-97.3,98.4,-25.5,99,526,0.00,2.17,0.00,0.000,4,0.000,0.050,2518,873,3900,0,0,0,0,0,0
$STATE,555,end dive,TARGET_DEPTH_EXCEEDED
$STATE,555,begin apogee
$GC,562,-0.23,0.0,108.3,25.5,106,643,0.80,0.00,75.22,0.782,6,0.196,0.000,2745,2103,3499,0,0,0,0,0,0
$STATE,644,end apogee,CONTROL_FINISHED_OK
$STATE,644,begin climb
$GC,649,0.93,97.3,117.1,0.0,121,735,1.17,2.40,76.53,0.761,4,0.124,0.064,3116,3518,3103,0,0,0,0,0,0
$GC,785,0.93,97.3,106.6,14.1,147,791,0.00,2.28,0.00,0.000,6,0.000,0.045,3124,2100,3102,0,0,0,0,0,0
$GC,929,0.93,97.3,86.5,12.5,178,935,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2100,3101,0,0,0,0,0,0
$GC,1076,0.93,97.3,69.8,10.9,209,1081,0.00,2.20,0.00,0.000,4,0.000,0.051,3134,685,3101,0,0,0,0,0,0
$GC,1124,0.93,97.3,64.1,11.4,219,1130,0.00,2.25,0.00,0.000,6,0.000,0.053,3133,2101,3101,0,0,0,0,0,0
$GC,1268,0.93,97.3,47.6,10.5,250,1274,0.00,2.22,0.00,0.000,4,0.000,0.049,3141,686,3101,0,0,0,0,0,0
$GC,1281,0.93,97.3,46.2,10.6,252,1287,0.00,2.22,0.00,0.000,6,0.000,0.053,3141,2080,3100,0,0,0,0,0,0
$GC,1424,0.93,97.3,31.9,9.5,283,1431,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2080,3100,0,0,0,0,0,0
$GC,1502,0.93,97.3,25.2,8.7,299,1509,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2080,3100,0,0,0,0,0,0
$GC,1580,0.95,114.8,19.2,6.7,315,1599,0.00,0.00,14.68,0.724,6,0.000,0.000,3140,2080,3030,0,0,0,0,0,0
$GC,1670,0.95,114.8,12.9,8.1,333,1677,0.00,2.28,0.00,0.000,4,0.000,0.062,3132,3507,3029,0,0,0,0,0,0
$GC,1702,0.95,114.8,9.8,8.8,339,1710,0.00,2.20,0.00,0.000,6,0.000,0.045,3139,2097,3029,0,0,0,0,0,0
$GC,1780,1.00,155.1,4.3,5.5,355,1789,0.00,0.00,6.53,0.630,2,0.000,0.000,3139,2097,3001,0,0,0,0,0,0
$STATE,1789,end climb,SURFACE_DEPTH_REACHED
$STATE,1789,begin surface coast
$FINISH,5.0,1.021520
$STATE,1898,end surface coast,CONTROL_FINISHED_OK
$STATE,1898,begin surface
$SM_CCo,1901,511.08,0.699,0,0,455,746.94
$SM_GC,1.28,8.43,0.00,0.00,0.055,0.000,0.000,158,2297,450,-8.31,0.51,747.92
$IRIDIUM_FIX,4748.51,-12226.29,210899,060622
$TT8_MAMPS,0.026845
$HUMID,37.39
$INTERNAL_PRESSURE,8.91118
$TCM_TEMP,16.30
$XPDR_PINGS,129
$24V_AH,24.1,2.133
$10V_AH,10.4,1.628
$FG_AHR_24Vo,22.000
$FG_AHR_10Vo,9.000
$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,20.025,27.025,172.950,511.075,0.000,30.674,29.478,216.968,34.250,0.000,14.357,632.302,205.277,744.525,916.971,445.493,33.326,1160.864,0.000,917.598,0.000,14.667,0.000
$DEVICE_MAMPS,256.945,64.428,782.340,698.737,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,255.683,279.392,696.811,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,324704
$DATA_FILE_SIZE,22374,379
$CAP_FILE_SIZE,50401,0
$CFSIZE,260165632,183439360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.120,315.3,1
$GPS,270510,081213,4806.303,-12222.220,9,1.5,14,18.3