version: 66.06
glider: 166
mission: 2
dive: 22
start: 5 27 110 14 59 14
data:
$ID,166
$MISSION,2
$DIVE,22
$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,-21092.268
$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,49
$R_STBD_OVSHOOT,38
$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
$GPS1,144056,4806.829,-12222.482,14,1.7,14,18.3
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-79.7
$GPS2,145820,4806.874,-12222.590,18,1.9,18,18.3
$SPEED_LIMITS,0.131,0.198
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.163,0.112
$KALMAN_X,-2177.0,-1441.3,-273.6,3999.2,200.4
$KALMAN_Y,6665.2,2444.6,492.0,-9618.0,-4.3
$MHEAD_RNG_PITCHd_Wd,313.1,2718,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.93,-97.3,0.0,0.0,0,127,0.00,0.00,-108.28,0.000,2,0.000,0.000,157,2292,3549,0,0,0,0,0,0
$GC,133,-0.93,-97.3,5.1,-6.1,20,159,9.73,2.20,-8.82,0.000,4,0.260,0.058,2524,875,3897,0,0,0,0,0,0
$GC,329,-0.93,-97.3,48.0,-24.5,62,336,0.00,2.25,0.00,0.000,6,0.000,0.058,2521,2267,3898,0,0,0,0,0,0
$GC,475,-0.93,-97.3,84.6,-26.6,93,480,0.00,2.12,0.00,0.000,4,0.000,0.044,2521,881,3898,0,0,0,0,0,0
$GC,549,-0.93,-97.3,105.0,-26.0,109,555,0.00,2.20,0.00,0.000,6,0.000,0.059,2518,2269,3898,0,0,0,0,0,0
$STATE,562,end dive,TARGET_DEPTH_EXCEEDED
$STATE,562,begin apogee
$GC,569,-0.23,0.0,108.7,25.8,111,649,0.80,0.00,75.30,0.800,6,0.199,0.000,2744,2092,3500,0,0,0,0,0,0
$STATE,649,end apogee,CONTROL_FINISHED_OK
$STATE,650,begin climb
$GC,653,0.93,97.3,119.5,0.0,126,738,1.20,2.42,76.75,0.772,4,0.130,0.061,3118,3520,3102,0,0,0,0,0,0
$GC,758,0.93,97.3,113.0,9.2,145,764,0.00,2.28,0.00,0.000,6,0.000,0.041,3127,2105,3102,0,0,0,0,0,0
$GC,901,0.93,97.3,93.3,13.7,176,908,0.00,2.30,0.00,0.000,4,0.000,0.058,3120,3510,3101,0,0,0,0,0,0
$GC,929,0.93,97.3,89.5,14.1,181,935,0.00,2.22,0.00,0.000,6,0.000,0.041,3127,2082,3101,0,0,0,0,0,0
$GC,1071,0.93,97.3,71.6,12.1,212,1078,0.00,2.17,0.00,0.000,4,0.000,0.049,3138,693,3100,0,0,0,0,0,0
$GC,1111,0.93,97.3,66.7,12.5,220,1118,0.00,2.25,0.00,0.000,6,0.000,0.051,3136,2097,3101,0,0,0,0,0,0
$GC,1256,0.93,97.3,50.0,11.2,251,1262,0.00,2.17,0.00,0.000,4,0.000,0.045,3143,690,3101,0,0,0,0,0,0
$GC,1300,0.93,97.3,45.1,10.6,260,1307,0.00,2.20,0.00,0.000,6,0.000,0.049,3142,2078,3100,0,0,0,0,0,0
$GC,1444,0.93,97.3,30.4,8.9,291,1451,0.00,2.15,0.00,0.000,4,0.000,0.045,3150,695,3100,0,0,0,0,0,0
$GC,1463,0.93,97.3,28.7,8.7,294,1469,0.00,2.15,0.00,0.000,6,0.000,0.048,3147,2060,3100,0,0,0,0,0,0
$GC,1543,0.93,97.3,22.4,8.3,310,1549,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,2060,3099,0,0,0,0,0,0
$GC,1618,0.94,107.1,16.7,7.1,326,1632,0.00,0.00,8.68,0.686,6,0.000,0.000,3147,2060,3063,0,0,0,0,0,0
$GC,1702,0.97,128.6,11.1,6.4,343,1722,0.00,0.00,17.65,0.731,6,0.000,0.000,3147,2060,2975,0,0,0,0,0,0
$GC,1795,1.04,192.7,5.9,4.2,361,1849,0.00,0.00,49.95,0.737,6,0.000,0.000,3147,2060,2712,0,0,0,0,0,0
$GC,1922,1.22,335.0,4.3,0.1,385,1950,0.22,0.00,24.27,0.716,2,0.087,0.000,3226,2060,2590,0,0,0,0,0,0
$STATE,1950,end climb,SURFACE_DEPTH_REACHED
$STATE,1950,begin surface coast
$FINISH,3.9,1.020240
$STATE,2002,end surface coast,NO_VERTICAL_VELOCITY
$STATE,2002,begin surface
$SM_CCo,2022,307.83,0.701,0,0,1054,600.00
$SM_GC,1.36,0.00,0.00,307.83,0.000,0.000,0.701,158,2294,1054,-8.35,0.40,600.00
$IRIDIUM_FIX,4751.72,-12226.29,210899,151505
$TT8_MAMPS,0.027612
$HUMID,35.62
$INTERNAL_PRESSURE,8.96001
$TCM_TEMP,16.40
$XPDR_PINGS,156
$24V_AH,24.0,3.460
$10V_AH,10.4,2.133
$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,21.400,31.700,252.600,307.825,0.000,107.889,217.498,368.556,39.000,0.000,18.318,656.007,290.202,573.915,971.780,892.281,33.324,1026.639,0.000,974.074,0.000,0.534,0.000
$DEVICE_MAMPS,260.013,63.661,799.981,701.038,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,268.996,298.741,745.394,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,324832
$DATA_FILE_SIZE,22362,400
$CAP_FILE_SIZE,57771,0
$CFSIZE,260165632,183132160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.057,204.7,1
$GPS,270510,153855,4806.929,-12222.756,13,2.0,13,18.3