version: 66.06
glider: 166
mission: 2
dive: 21
start: 5 27 110 13 58 33
data:
$ID,166
$MISSION,2
$DIVE,21
$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,-21073.32
$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,34
$R_STBD_OVSHOOT,33
$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,0
$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
$GPS1,134414,4806.665,-12222.363,12,1.6,12,18.3
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-80.2
$GPS2,135738,4806.756,-12222.398,16,1.5,16,18.3
$SPEED_LIMITS,0.131,0.198
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.188,0.063
$KALMAN_X,-2697.9,-1229.1,-258.4,4533.0,-111.0
$KALMAN_Y,6888.2,2138.6,530.8,-9794.7,572.5
$MHEAD_RNG_PITCHd_Wd,303.1,3038,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.93,-97.3,0.0,0.0,0,133,0.00,0.00,-113.90,0.000,2,0.000,0.000,162,2292,3717,0,0,0,0,0,0
$GC,139,-0.93,-97.3,5.9,-6.7,21,158,9.70,2.22,-3.97,0.000,4,0.259,0.077,2518,3681,3897,0,0,0,0,0,0
$GC,422,-0.93,-97.3,74.5,-24.8,81,427,0.00,2.15,0.00,0.000,6,0.000,0.042,2518,2266,3900,0,0,0,0,0,0
$STATE,547,end dive,TARGET_DEPTH_EXCEEDED
$STATE,549,begin apogee
$GC,555,-0.23,0.0,109.0,27.1,108,636,0.82,0.00,75.28,0.793,6,0.207,0.000,2746,2074,3499,0,0,0,0,0,0
$STATE,638,end apogee,CONTROL_FINISHED_OK
$STATE,638,begin climb
$GC,641,0.93,97.3,119.1,0.0,123,727,1.20,2.25,76.57,0.769,4,0.136,0.050,3125,710,3102,0,0,0,0,0,0
$GC,789,0.93,97.3,107.8,12.3,151,795,0.00,2.28,0.00,0.000,6,0.000,0.054,3125,2089,3101,0,0,0,0,0,0
$GC,937,0.93,97.3,88.8,12.2,182,943,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2090,3101,0,0,0,0,0,0
$GC,1088,0.93,97.3,71.0,11.6,213,1094,0.00,2.17,0.00,0.000,4,0.000,0.048,3134,698,3100,0,0,0,0,0,0
$GC,1147,0.93,97.3,63.4,12.3,225,1153,0.00,2.22,0.00,0.000,6,0.000,0.053,3134,2097,3100,0,0,0,0,0,0
$GC,1294,0.93,97.3,46.4,11.4,256,1302,0.00,2.17,0.00,0.000,4,0.000,0.048,3144,710,3100,0,0,0,0,0,0
$GC,1316,0.93,97.3,43.9,11.0,260,1324,0.00,2.20,0.00,0.000,6,0.000,0.052,3144,2088,3100,0,0,0,0,0,0
$GC,1462,0.93,97.3,29.7,8.6,291,1469,0.00,2.15,0.00,0.000,4,0.000,0.047,3154,705,3099,0,0,0,0,0,0
$GC,1500,0.93,97.3,26.7,8.1,298,1508,0.00,2.15,0.00,0.000,6,0.000,0.051,3154,2064,3099,0,0,0,0,0,0
$GC,1578,0.93,97.3,20.2,8.1,314,1584,0.00,2.12,0.00,0.000,4,0.000,0.047,3163,696,3099,0,0,0,0,0,0
$GC,1600,0.93,97.3,18.3,7.8,318,1608,0.10,2.12,0.00,0.000,6,0.236,0.051,3134,2040,3099,0,0,0,0,0,0
$GC,1679,0.98,138.4,13.4,5.4,334,1714,0.00,0.00,31.70,0.744,6,0.000,0.000,3134,2041,2935,0,0,0,0,0,0
$GC,1785,1.00,157.2,5.7,6.6,355,1804,0.00,0.00,15.62,0.709,6,0.000,0.000,3134,2041,2858,0,0,0,0,0,0
$GC,1877,1.17,294.2,5.5,0.4,373,1981,0.20,0.00,100.30,0.728,2,0.091,0.000,3206,2042,2337,0,0,0,0,0,0
$STATE,1983,end climb,SURFACE_DEPTH_REACHED
$STATE,1984,begin surface coast
$FINISH,2.5,1.018090
$STATE,2215,end surface coast,CONTROL_FINISHED_OK
$STATE,2215,begin surface
$SM_CCo,2234,256.70,0.703,0,0,1054,600.00
$SM_GC,1.44,0.00,0.00,256.70,0.000,0.000,0.703,157,2291,1054,-8.35,0.34,600.00
$IRIDIUM_FIX,4751.72,-12219.12,210899,131308
$TT8_MAMPS,0.027612
$HUMID,35.66
$INTERNAL_PRESSURE,8.96001
$TCM_TEMP,16.60
$XPDR_PINGS,160
$24V_AH,24.0,3.304
$10V_AH,10.4,2.071
$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,21.025,26.850,299.475,256.700,0.000,88.601,185.523,262.271,40.000,0.000,16.560,702.409,270.039,539.284,1078.487,716.331,33.308,1029.780,0.000,1083.555,0.000,0.534,0.000
$DEVICE_MAMPS,259.246,76.700,793.078,703.339,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,295.887,339.744,847.500,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,324888
$DATA_FILE_SIZE,25560,440
$CAP_FILE_SIZE,53721,0
$CFSIZE,260165632,183169024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.040,216.7,1
$GPS,270510,144056,4806.829,-12222.482,14,1.7,14,18.3