version: 66.06
glider: 166
mission: 2
dive: 23
start: 5 27 110 15 53 31
data:
$ID,166
$MISSION,2
$DIVE,23
$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,-21129.523
$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,41
$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
$GPS1,153855,4806.929,-12222.756,13,2.0,13,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-80.3
$GPS2,155237,4806.850,-12222.787,36,1.5,36,18.3
$SPEED_LIMITS,0.131,0.198
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.126,0.152
$KALMAN_X,-2080.1,-1442.6,-145.0,3537.1,344.4
$KALMAN_Y,6565.8,2380.3,322.5,-9332.4,-414.4
$MHEAD_RNG_PITCHd_Wd,321.0,2606,-17.8,-7.576
$D_GRID,105
$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,13,begin dive
$GC,16,-0.93,-97.3,0.0,0.0,0,111,0.00,0.00,-92.03,0.000,2,0.000,0.000,158,2294,3324,0,0,0,0,0,0
$GC,115,-0.93,-97.3,5.2,-4.3,17,146,9.82,2.22,-15.98,0.000,4,0.262,0.080,2518,3673,3898,0,0,0,0,0,0
$GC,409,-0.93,-97.3,66.6,-24.8,79,415,0.00,2.15,0.00,0.000,6,0.000,0.042,2518,2273,3898,0,0,0,0,0,0
$STATE,554,end dive,TARGET_DEPTH_EXCEEDED
$STATE,554,begin apogee
$GC,560,-0.23,0.0,106.1,26.6,110,641,0.82,0.00,75.10,0.791,6,0.207,0.000,2746,2078,3500,0,0,0,0,0,0
$STATE,643,end apogee,CONTROL_FINISHED_OK
$STATE,643,begin climb
$GC,647,0.93,97.3,116.4,0.0,125,733,1.20,2.40,76.75,0.766,4,0.132,0.060,3119,3502,3101,0,0,0,0,0,0
$GC,860,0.93,97.3,94.9,13.6,167,865,0.00,2.17,0.00,0.000,6,0.000,0.041,3127,2114,3100,0,0,0,0,0,0
$GC,1007,0.93,97.3,75.8,12.4,198,1015,0.00,2.22,0.00,0.000,4,0.000,0.048,3138,696,3100,0,0,0,0,0,0
$GC,1066,0.93,97.3,69.1,12.1,209,1072,0.00,2.20,0.00,0.000,6,0.000,0.050,3137,2085,3100,0,0,0,0,0,0
$GC,1211,0.93,97.3,51.5,11.9,240,1219,0.00,2.17,0.00,0.000,4,0.000,0.046,3144,695,3100,0,0,0,0,0,0
$GC,1243,0.93,97.3,47.9,11.4,246,1250,0.00,2.22,0.00,0.000,6,0.000,0.050,3144,2091,3100,0,0,0,0,0,0
$GC,1391,0.93,97.3,31.9,10.8,277,1398,0.00,2.25,0.00,0.000,4,0.000,0.060,3136,3513,3099,0,0,0,0,0,0
$GC,1405,0.93,97.3,30.4,10.7,279,1412,0.00,2.22,0.00,0.000,6,0.000,0.041,3144,2069,3099,0,0,0,0,0,0
$GC,1484,0.93,97.3,23.5,8.9,295,1490,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,2069,3100,0,0,0,0,0,0
$GC,1561,0.93,97.3,17.0,7.8,311,1567,0.00,2.12,0.00,0.000,4,0.000,0.047,3155,686,3099,0,0,0,0,0,0
$GC,1835,1.13,266.8,14.8,-1.3,369,1977,0.08,2.17,130.10,0.739,6,0.091,0.052,3190,2075,2410,0,0,0,0,0,0
$GC,2051,1.33,425.8,5.2,-0.7,407,2191,0.20,2.40,128.23,0.712,4,0.091,0.058,3262,3509,1762,0,0,0,0,0,0
$STATE,2205,end climb,SURFACE_DEPTH_REACHED
$STATE,2205,begin surface coast
$FINISH,3.5,1.016106
$STATE,2287,end surface coast,CONTROL_FINISHED_OK
$STATE,2287,begin surface
$SM_CCo,2307,144.20,0.696,0,0,1054,600.00
$SM_GC,1.41,0.00,0.00,144.20,0.000,0.000,0.696,161,2271,1054,-8.34,-0.28,600.00
$IRIDIUM_FIX,4748.51,-12226.29,210899,151503
$TT8_MAMPS,0.027612
$HUMID,36.25
$INTERNAL_PRESSURE,8.97954
$TCM_TEMP,16.20
$XPDR_PINGS,156
$24V_AH,24.0,3.605
$10V_AH,10.4,2.201
$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,21.475,31.175,410.175,144.200,0.000,85.648,183.584,253.974,39.000,0.000,36.629,694.445,259.543,484.486,1133.596,709.860,33.340,1019.262,0.000,1118.665,0.000,0.536,0.000
$DEVICE_MAMPS,262.314,79.768,790.777,695.669,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,300.486,355.203,884.429,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,324808
$DATA_FILE_SIZE,25593,449
$CAP_FILE_SIZE,53046,0
$CFSIZE,260165632,183099392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.117,158.8,1
$GPS,270510,163513,4806.826,-12222.750,8,1.9,13,18.3