version: 66.06
glider: 166
mission: 2
dive: 15
start: 5 27 110 9 20 38
data:
$ID,166
$MISSION,2
$DIVE,15
$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,0
$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,-20951.521
$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,40
$R_STBD_OVSHOOT,39
$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,10
$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
$GPS1,090832,4806.359,-12222.187,14,1.1,14,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-80.6
$GPS2,091944,4806.489,-12222.296,14,1.1,14,18.3
$SPEED_LIMITS,0.131,0.198
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.083,-0.180
$KALMAN_X,-2032.9,-140.6,-45.5,2696.7,-406.8
$KALMAN_Y,4713.5,255.7,54.0,-5763.8,905.1
$MHEAD_RNG_PITCHd_Wd,141.1,977,-17.8,-7.576
$D_GRID,150
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.93,-97.3,0.0,0.0,0,100,0.00,0.00,-81.10,0.000,2,0.000,0.000,156,2302,2992,0,0,0,0,0,0
$GC,103,-0.93,-97.3,6.1,-7.2,15,148,9.90,2.30,-23.12,0.000,4,0.265,0.062,2521,871,3899,0,0,0,0,0,0
$GC,208,-0.93,-97.3,18.6,-19.2,34,214,0.00,2.28,0.00,0.000,6,0.000,0.061,2520,2267,3899,0,0,0,0,0,0
$GC,284,-0.93,-97.3,37.8,-24.1,50,291,0.00,2.20,0.00,0.000,4,0.000,0.048,2520,873,3900,0,0,0,0,0,0
$GC,347,-0.93,-97.3,53.7,-25.5,63,353,0.00,2.28,0.00,0.000,6,0.000,0.061,2518,2282,3901,0,0,0,0,0,0
$GC,491,-0.93,-97.3,91.9,-26.5,94,497,0.00,2.20,0.00,0.000,4,0.000,0.051,2518,883,3901,0,0,0,0,0,0
$GC,551,-0.93,-97.3,107.4,-26.7,106,557,0.00,2.25,0.00,0.000,6,0.000,0.065,2518,2259,3901,0,0,0,0,0,0
$STATE,585,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,586,begin apogee
$GC,591,-0.23,0.0,116.2,23.8,113,671,0.80,0.00,75.75,0.789,6,0.193,0.000,2747,2099,3500,0,0,0,0,0,0
$STATE,672,end apogee,CONTROL_FINISHED_OK
$STATE,672,begin climb
$GC,677,0.93,97.3,124.0,0.0,128,763,1.08,2.35,76.68,0.765,4,0.084,0.054,3128,698,3102,0,0,0,0,0,0
$GC,783,0.93,101.1,119.3,7.4,147,795,0.00,2.35,4.80,0.535,6,0.000,0.054,3128,2113,3087,0,0,0,0,0,0
$GC,933,0.93,101.1,96.7,14.6,179,938,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2113,3086,0,0,0,0,0,0
$GC,1075,0.93,101.1,78.6,11.9,210,1082,0.00,2.25,0.00,0.000,4,0.000,0.049,3138,695,3086,0,0,0,0,0,0
$GC,1089,0.93,101.1,76.8,11.6,212,1095,0.00,2.30,0.00,0.000,6,0.000,0.054,3138,2117,3086,0,0,0,0,0,0
$GC,1231,0.93,101.1,60.6,10.9,243,1236,0.00,2.20,0.00,0.000,4,0.000,0.062,3129,3511,3085,0,0,0,0,0,0
$GC,1247,0.93,101.1,58.5,11.2,246,1254,0.00,2.15,0.00,0.000,6,0.000,0.042,3136,2128,3085,0,0,0,0,0,0
$GC,1393,0.93,101.1,43.1,9.9,277,1399,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,2128,3085,0,0,0,0,0,0
$GC,1536,0.93,101.1,31.0,8.0,308,1543,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,2128,3084,0,0,0,0,0,0
$GC,1613,0.98,142.3,26.1,5.4,324,1651,0.00,0.00,32.17,0.743,6,0.000,0.000,3136,2128,2918,0,0,0,0,0,0
$GC,1721,0.98,142.3,16.7,11.2,345,1729,0.00,2.25,0.00,0.000,4,0.000,0.059,3129,3517,2916,0,0,0,0,0,0
$GC,1741,0.98,142.3,14.2,11.5,348,1748,0.00,2.20,0.00,0.000,6,0.000,0.041,3137,2107,2916,0,0,0,0,0,0
$GC,1820,1.01,164.6,7.1,6.4,364,1845,0.00,2.28,18.33,0.715,4,0.000,0.058,3136,3519,2827,0,0,0,0,0,0
$GC,1852,1.23,347.2,8.0,-2.0,369,1961,0.20,2.20,99.62,0.714,2,0.067,0.041,3226,2115,2313,0,0,0,0,0,0
$STATE,1962,end climb,SURFACE_DEPTH_REACHED
$STATE,1962,begin surface coast
$FINISH,4.1,1.017723
$STATE,1972,end surface coast,CONTROL_FINISHED_OK
$STATE,1972,begin surface
$SM_CCo,1975,379.95,0.686,0,0,455,746.94
$SM_GC,1.20,8.80,0.00,0.00,0.064,0.000,0.000,156,2297,450,-8.31,0.48,748.16
$IRIDIUM_FIX,4748.51,-12221.84,210899,090939
$TT8_MAMPS,0.026845
$HUMID,35.82
$INTERNAL_PRESSURE,8.91118
$TCM_TEMP,16.40
$XPDR_PINGS,142
$ALTIM_BOTTOM_PING,80.9,44.9
$24V_AH,24.1,2.435
$10V_AH,10.4,1.759
$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,20.775,36.575,307.350,379.950,0.000,52.629,59.309,345.201,36.250,0.000,14.972,619.624,267.307,680.464,928.764,647.450,33.322,1148.884,0.000,930.503,0.000,7.075,0.000
$DEVICE_MAMPS,264.615,65.195,789.243,685.698,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,259.351,278.394,694.531,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,324640
$DATA_FILE_SIZE,22424,388
$CAP_FILE_SIZE,58852,0
$CFSIZE,260165632,183361536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.136,320.2,1
$GPS,270510,100301,4806.484,-12222.366,41,1.3,41,18.3