version: 66.06
glider: 166
mission: 2
dive: 16
start: 5 27 110 10 11 15
data:
$ID,166
$MISSION,2
$DIVE,16
$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,-20963.74
$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,47
$R_STBD_OVSHOOT,31
$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
$GPS1,100301,4806.484,-12222.366,41,1.3,41,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-77.9
$GPS2,101020,4806.576,-12222.472,11,1.4,11,18.3
$SPEED_LIMITS,0.131,0.198
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.090,-0.176
$KALMAN_X,-2519.2,-193.9,-52.3,3027.1,-551.6
$KALMAN_Y,5415.8,346.1,136.4,-6474.8,1059.2
$MHEAD_RNG_PITCHd_Wd,125.4,1216,-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,-97.3,0.0,0.0,0,164,0.00,0.00,-142.80,0.000,2,0.000,0.000,156,2298,3853,0,0,0,0,0,0
$GC,167,-0.93,-97.3,5.6,-5.1,26,185,10.12,0.00,-1.08,0.000,6,0.275,0.000,2522,2298,3899,0,0,0,0,0,0
$GC,258,-0.93,-97.3,28.2,-23.0,44,264,0.00,2.22,0.00,0.000,4,0.000,0.046,2522,879,3900,0,0,0,0,0,0
$GC,338,-0.93,-97.3,47.9,-23.5,61,344,0.00,2.22,0.00,0.000,6,0.000,0.058,2518,2266,3901,0,0,0,0,0,0
$GC,481,-0.93,-97.3,86.6,-27.8,92,488,0.00,2.15,0.00,0.000,4,0.000,0.046,2518,889,3901,0,0,0,0,0,0
$GC,567,-0.93,-97.3,109.9,-26.9,110,575,0.00,2.20,0.00,0.000,6,0.000,0.060,2518,2244,3901,0,0,0,0,0,0
$STATE,584,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,585,begin apogee
$GC,592,-0.23,0.0,114.6,25.9,113,671,0.80,0.00,75.62,0.791,6,0.197,0.000,2745,2100,3500,0,0,0,0,0,0
$STATE,672,end apogee,CONTROL_FINISHED_OK
$STATE,672,begin climb
$GC,676,0.93,97.3,123.7,0.0,128,761,1.08,2.40,76.60,0.769,4,0.077,0.065,3117,3520,3103,0,0,0,0,0,0
$GC,812,0.93,97.3,113.8,14.3,154,819,0.00,2.28,0.00,0.000,6,0.000,0.042,3125,2105,3102,0,0,0,0,0,0
$GC,956,0.93,97.3,94.1,12.6,185,962,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2105,3102,0,0,0,0,0,0
$GC,1098,0.93,97.3,77.2,11.1,216,1104,0.00,2.22,0.00,0.000,4,0.000,0.048,3135,683,3101,0,0,0,0,0,0
$GC,1111,0.93,97.3,75.5,11.2,218,1118,0.00,2.25,0.00,0.000,6,0.000,0.051,3136,2083,3101,0,0,0,0,0,0
$GC,1256,0.93,97.3,59.4,11.0,249,1262,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,2083,3101,0,0,0,0,0,0
$GC,1398,0.93,97.3,43.9,10.4,280,1405,0.00,2.28,0.00,0.000,4,0.000,0.061,3127,3514,3100,0,0,0,0,0,0
$GC,1413,0.93,97.3,42.4,10.9,282,1420,0.00,2.25,0.00,0.000,6,0.000,0.041,3134,2058,3100,0,0,0,0,0,0
$GC,1558,0.93,97.3,29.2,8.2,313,1566,0.00,2.30,0.00,0.000,4,0.000,0.058,3127,3505,3100,0,0,0,0,0,0
$GC,1636,0.93,102.1,22.9,7.3,329,1650,0.00,2.17,5.07,0.584,6,0.000,0.041,3134,2082,3083,0,0,0,0,0,0
$GC,1721,0.98,136.9,18.0,5.8,346,1754,0.00,2.30,27.52,0.743,4,0.000,0.063,3127,3517,2942,0,0,0,0,0,0
$GC,1785,0.98,136.9,13.0,8.4,357,1792,0.00,2.17,0.00,0.000,6,0.000,0.042,3134,2132,2941,0,0,0,0,0,0
$GC,1863,0.98,143.9,6.6,7.2,373,1877,0.00,2.22,7.00,0.634,4,0.000,0.058,3127,3504,2912,0,0,0,0,0,0
$GC,2143,1.17,292.1,5.9,-0.2,432,2247,0.15,2.12,96.47,0.732,2,0.072,0.041,3202,2129,2408,0,0,0,0,0,0
$STATE,2248,end climb,SURFACE_DEPTH_REACHED
$STATE,2248,begin surface coast
$FINISH,3.5,1.018736
$STATE,2478,end surface coast,CONTROL_FINISHED_OK
$STATE,2479,begin surface
$SM_CCo,2497,269.38,0.700,0,0,1054,600.00
$SM_GC,1.46,0.00,0.00,269.38,0.000,0.000,0.700,160,2296,1054,-8.34,0.45,600.00
$IRIDIUM_FIX,4751.72,-12219.12,210899,090934
$TT8_MAMPS,0.027612
$HUMID,35.66
$INTERNAL_PRESSURE,8.96977
$TCM_TEMP,16.90
$XPDR_PINGS,166
$ALTIM_BOTTOM_PING,80.7,43.1
$24V_AH,24.1,2.571
$10V_AH,10.4,1.830
$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,21.100,36.225,288.300,269.375,0.000,29.951,30.173,233.184,42.250,0.000,11.590,806.479,123.687,577.549,1221.827,486.187,33.325,1121.599,0.000,1230.922,0.000,9.593,0.000
$DEVICE_MAMPS,274.586,69.030,790.777,700.271,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,336.151,392.047,977.193,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,324704
$DATA_FILE_SIZE,28654,499
$CAP_FILE_SIZE,58809,0
$CFSIZE,260165632,183320576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.079,321.9,1
$GPS,270510,105814,4806.570,-12222.427,14,1.2,14,18.3