version: 66.06
glider: 166
mission: 2
dive: 24
start: 5 27 110 16 43 6
data:
$ID,166
$MISSION,2
$DIVE,24
$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,-21141.768
$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,38
$R_STBD_OVSHOOT,35
$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
$GPS1,163513,4806.826,-12222.750,8,1.9,13,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-79.4
$GPS2,164208,4806.735,-12222.668,11,1.7,11,18.3
$SPEED_LIMITS,0.131,0.198
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.119,0.158
$KALMAN_X,-1808.3,-1368.9,-8.3,3200.1,451.9
$KALMAN_Y,6392.6,2238.9,19.1,-8929.4,-610.9
$MHEAD_RNG_PITCHd_Wd,314.8,2864,-17.8,-7.576
$D_GRID,107
$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,-97.3,0.0,0.0,0,90,0.00,0.00,-71.10,0.000,2,0.000,0.000,161,2266,2730,0,0,0,0,0,0
$GC,93,-0.93,-97.3,5.3,-6.5,13,143,9.80,0.00,-33.62,0.000,6,0.260,0.000,2521,2266,3896,0,0,0,0,0,0
$GC,216,-0.93,-97.3,20.4,-21.0,36,223,0.00,2.20,0.00,0.000,4,0.000,0.048,2521,869,3897,0,0,0,0,0,0
$GC,288,-0.93,-97.3,36.7,-23.3,51,295,0.00,2.28,0.00,0.000,6,0.000,0.059,2520,2266,3898,0,0,0,0,0,0
$GC,365,-0.93,-97.3,55.6,-25.1,67,371,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2267,3898,0,0,0,0,0,0
$GC,508,-0.93,-97.3,92.5,-25.6,98,515,0.00,2.20,0.00,0.000,4,0.000,0.048,2520,867,3898,0,0,0,0,0,0
$STATE,564,end dive,TARGET_DEPTH_EXCEEDED
$STATE,564,begin apogee
$GC,571,-0.23,0.0,108.0,27.2,110,652,0.77,0.00,75.18,0.789,6,0.194,0.000,2742,2108,3499,0,0,0,0,0,0
$STATE,653,end apogee,CONTROL_FINISHED_OK
$STATE,653,begin climb
$GC,658,0.93,97.3,118.1,0.0,125,742,1.20,0.00,76.68,0.769,6,0.130,0.000,3115,2108,3102,0,0,0,0,0,0
$GC,882,0.93,97.3,97.1,11.8,171,888,0.00,2.30,0.00,0.000,4,0.000,0.064,3116,3517,3100,0,0,0,0,0,0
$GC,931,0.93,97.3,90.3,13.9,181,936,0.00,2.22,0.00,0.000,6,0.000,0.043,3125,2100,3100,0,0,0,0,0,0
$GC,1074,0.93,97.3,72.4,12.2,212,1081,0.00,2.25,0.00,0.000,4,0.000,0.051,3136,689,3100,0,0,0,0,0,0
$GC,1165,0.93,97.3,61.6,11.6,231,1171,0.00,2.22,0.00,0.000,6,0.000,0.052,3136,2092,3100,0,0,0,0,0,0
$GC,1308,0.93,97.3,45.1,11.3,262,1314,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,2093,3100,0,0,0,0,0,0
$GC,1450,0.93,97.3,30.7,10.1,293,1456,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,2093,3099,0,0,0,0,0,0
$GC,1527,0.93,97.3,24.0,8.7,309,1533,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,2093,3099,0,0,0,0,0,0
$GC,1602,0.93,97.3,17.9,7.8,325,1609,0.00,2.25,0.00,0.000,4,0.000,0.061,3131,3511,3099,0,0,0,0,0,0
$GC,1875,1.14,272.6,15.8,-1.6,383,2022,0.12,2.17,135.23,0.742,6,0.077,0.041,3194,2091,2386,0,0,0,0,0,0
$GC,2097,1.32,419.7,6.4,-0.1,422,2159,0.17,0.00,59.20,0.713,2,0.093,0.000,3258,2091,2090,0,0,0,0,0,0
$STATE,2160,end climb,NO_VERTICAL_VELOCITY
$STATE,2160,begin surface
$SM_CCo,2163,339.12,0.693,0,0,455,746.94
$SM_GC,1.23,8.82,0.00,0.00,0.058,0.000,0.000,163,2293,450,-8.29,0.34,748.16
$IRIDIUM_FIX,4748.51,-12221.84,210899,151549
$TT8_MAMPS,0.026845
$HUMID,35.98
$INTERNAL_PRESSURE,8.92094
$TCM_TEMP,16.60
$XPDR_PINGS,147
$24V_AH,24.0,3.764
$10V_AH,10.4,2.262
$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,20.900,22.450,346.275,339.125,0.000,26.338,22.921,223.475,36.750,0.000,11.618,677.438,212.698,653.099,1047.505,447.101,33.327,1149.547,0.000,1055.904,0.000,0.534,0.000
$DEVICE_MAMPS,260.013,64.428,789.243,692.601,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,289.924,329.588,821.985,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,324712
$DATA_FILE_SIZE,25573,432
$CAP_FILE_SIZE,51161,0
$CFSIZE,260165632,183062528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.160,165.7,1
$GPS,270510,172726,4806.622,-12222.711,12,1.9,12,18.3