version: 66.06
glider: 166
mission: 2
dive: 20
start: 5 27 110 13 4 51
data:
$ID,166
$MISSION,2
$DIVE,20
$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,-21056.131
$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,34
$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
$GPS1,125710,4806.708,-12222.425,11,4.4,30,18.3
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-81.1
$GPS2,130358,4806.784,-12222.462,9,3.5,28,18.3
$SPEED_LIMITS,0.131,0.198
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.063,-0.187
$KALMAN_X,-2980.3,-851.7,-226.0,4326.5,-579.2
$KALMAN_Y,7096.3,1397.8,467.4,-9148.4,1575.5
$MHEAD_RNG_PITCHd_Wd,135.6,1560,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.93,-97.3,0.0,0.0,0,136,0.00,0.00,-113.93,0.000,2,0.000,0.000,156,2293,3715,0,0,0,0,0,0
$GC,140,-0.93,-97.3,5.6,-6.8,21,160,9.85,2.22,-4.25,0.000,4,0.262,0.058,2522,864,3898,0,0,0,0,0,0
$GC,169,-0.93,-97.3,12.7,-17.9,25,176,0.00,2.30,0.00,0.000,6,0.000,0.065,2520,2266,3900,0,0,0,0,0,0
$GC,247,-0.93,-97.3,30.0,-23.2,41,254,0.00,2.17,0.00,0.000,4,0.000,0.045,2519,880,3900,0,0,0,0,0,0
$GC,283,-0.93,-97.3,39.1,-24.0,48,291,0.00,2.25,0.00,0.000,6,0.000,0.058,2518,2259,3900,0,0,0,0,0,0
$GC,364,-0.93,-97.3,59.6,-26.3,64,371,0.00,2.17,0.00,0.000,4,0.000,0.046,2518,871,3900,0,0,0,0,0,0
$GC,377,-0.93,-97.3,63.6,-26.0,66,384,0.00,2.20,0.00,0.000,6,0.000,0.058,2518,2226,3900,0,0,0,0,0,0
$GC,530,-0.93,-97.3,103.9,-25.5,97,537,0.00,2.08,0.00,0.000,4,0.000,0.047,2518,870,3900,0,0,0,0,0,0
$STATE,564,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,564,begin apogee
$GC,572,-0.23,0.0,113.7,26.3,104,654,0.80,0.00,75.40,0.795,6,0.198,0.000,2744,2102,3500,0,0,0,0,0,0
$STATE,654,end apogee,CONTROL_FINISHED_OK
$STATE,655,begin climb
$GC,658,0.93,97.3,123.4,0.0,119,742,1.10,0.00,76.95,0.770,6,0.081,0.000,3125,2102,3102,0,0,0,0,0,0
$GC,889,0.93,97.3,108.1,14.3,165,894,0.00,2.28,0.00,0.000,4,0.000,0.064,3124,3514,3101,0,0,0,0,0,0
$GC,921,0.93,97.3,103.3,14.7,171,927,0.00,2.22,0.00,0.000,6,0.000,0.043,3131,2096,3100,0,0,0,0,0,0
$GC,1069,0.93,97.3,83.2,12.4,202,1076,0.00,2.20,0.00,0.000,4,0.000,0.050,3142,695,3100,0,0,0,0,0,0
$GC,1116,0.93,97.3,77.5,12.3,211,1122,0.00,2.20,0.00,0.000,6,0.000,0.051,3142,2092,3100,0,0,0,0,0,0
$GC,1263,0.93,97.3,59.8,11.6,242,1269,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,2092,3100,0,0,0,0,0,0
$GC,1414,0.93,97.3,44.3,9.8,273,1420,0.00,2.17,0.00,0.000,4,0.000,0.047,3150,680,3099,0,0,0,0,0,0
$GC,1428,0.93,97.3,42.8,9.7,275,1434,0.00,2.20,0.00,0.000,6,0.000,0.051,3150,2083,3099,0,0,0,0,0,0
$GC,1572,0.93,97.3,29.6,8.8,306,1579,0.00,2.25,0.00,0.000,4,0.000,0.061,3138,3506,3099,0,0,0,0,0,0
$GC,1663,0.93,97.3,21.8,8.8,325,1670,0.00,2.17,0.00,0.000,6,0.000,0.042,3146,2090,3098,0,0,0,0,0,0
$GC,1739,0.93,97.3,15.4,8.4,341,1745,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,2090,3098,0,0,0,0,0,0
$GC,1817,1.05,197.2,12.3,2.4,357,1902,0.00,2.38,75.82,0.743,4,0.000,0.058,3143,3508,2694,0,0,0,0,0,0
$GC,1921,1.05,197.2,5.7,11.5,374,1927,0.00,2.33,0.00,0.000,6,0.000,0.043,3151,2062,2693,0,0,0,0,0,0
$STATE,1933,end climb,SURFACE_DEPTH_REACHED
$STATE,1933,begin surface coast
$FINISH,2.9,1.018210
$STATE,1967,end surface coast,CONTROL_FINISHED_OK
$STATE,1967,begin surface
$SM_CCo,1987,326.90,0.701,0,0,1053,600.00
$SM_GC,1.33,0.00,0.00,326.90,0.000,0.000,0.701,162,2292,1053,-8.33,0.34,600.00
$IRIDIUM_FIX,4748.51,-12224.57,210899,121235
$TT8_MAMPS,0.027612
$HUMID,35.58
$INTERNAL_PRESSURE,8.95024
$TCM_TEMP,16.30
$XPDR_PINGS,134
$ALTIM_BOTTOM_PING,75.9,47.7
$24V_AH,24.0,3.158
$10V_AH,10.4,2.005
$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,20.700,40.175,228.175,326.900,0.000,23.025,32.721,205.981,34.000,0.000,29.893,625.889,157.279,589.053,931.421,429.003,33.306,1035.272,0.000,918.562,0.000,5.541,0.000
$DEVICE_MAMPS,262.314,65.195,794.612,701.038,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,257.058,273.260,681.785,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,324664
$DATA_FILE_SIZE,22430,383
$CAP_FILE_SIZE,52241,0
$CFSIZE,260165632,183214080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.017,294.2,1
$GPS,270510,134414,4806.665,-12222.363,12,1.6,12,18.3