version: 66.06
glider: 166
mission: 2
dive: 3
start: 5 26 110 21 32 56
data:
$ID,166
$MISSION,2
$DIVE,3
$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,-20567.834
$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,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,197
$ROLL_MAX,3786
$ROLL_DEG,40
$C_ROLL_DIVE,2080
$C_ROLL_CLIMB,1991
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,27
$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,25
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,200
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$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
$GPS1,212556,4806.940,-12222.899,13,1.2,13,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-76.8
$GPS2,213202,4806.944,-12222.876,15,1.8,15,18.3
$SPEED_LIMITS,0.131,0.198
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.103,-0.169
$KALMAN_X,40.0,28.9,28.6,-337.4,65.3
$KALMAN_Y,-58.3,-46.8,-46.4,256.2,-98.5
$MHEAD_RNG_PITCHd_Wd,122.2,2057,-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,15,-0.93,-97.3,0.0,0.0,0,156,0.00,0.00,-135.50,0.000,2,0.000,0.000,159,1985,3666,0,0,0,0,0,0
$GC,159,-0.93,-97.3,5.1,-3.0,25,186,10.05,2.05,-5.85,0.000,4,0.277,0.060,2520,658,3899,0,0,0,0,0,0
$GC,447,-0.36,-97.3,70.8,-24.6,86,455,0.62,2.28,0.00,0.000,6,0.195,0.060,2710,2076,3902,0,0,0,0,0,0
$GC,600,-0.45,-97.3,87.0,-8.5,117,606,0.00,2.17,0.00,0.000,4,0.000,0.049,2711,656,3902,0,0,0,0,0,0
$GC,738,-0.58,-97.3,99.2,-8.8,146,745,0.17,2.28,0.00,0.000,6,0.067,0.059,2630,2079,3902,0,0,0,0,0,0
$STATE,784,end dive,TARGET_DEPTH_EXCEEDED
$STATE,784,begin apogee
$GC,791,-0.23,0.0,105.1,13.1,155,871,0.38,0.00,74.60,0.782,6,0.170,0.000,2745,1978,3500,0,0,0,0,0,0
$STATE,871,end apogee,CONTROL_FINISHED_OK
$STATE,872,begin climb
$GC,875,0.93,97.3,111.4,0.0,170,961,1.17,2.33,75.43,0.757,4,0.127,0.050,3130,575,3103,0,0,0,0,0,0
$GC,1037,0.26,97.3,99.4,12.0,201,1043,0.82,2.30,0.00,0.000,6,0.210,0.051,2914,2011,3102,0,0,0,0,0,0
$GC,1185,0.40,168.6,92.1,3.9,232,1245,0.12,0.00,55.55,0.756,6,0.108,0.000,2962,2012,2811,0,0,0,0,0,0
$GC,1389,0.34,168.6,76.8,8.3,273,1394,0.00,2.22,0.00,0.000,4,0.000,0.063,2962,3396,2808,0,0,0,0,0,0
$GC,1420,0.26,168.6,73.8,8.8,279,1426,0.22,2.17,0.00,0.000,6,0.186,0.045,2912,1990,2808,0,0,0,0,0,0
$GC,1570,0.49,217.3,65.3,5.0,310,1614,0.22,2.22,38.03,0.748,4,0.082,0.050,3013,574,2613,0,0,0,0,0,0
$GC,1642,0.34,217.3,58.2,11.5,323,1648,0.28,2.28,0.00,0.000,6,0.171,0.053,2939,1991,2610,0,0,0,0,0,0
$GC,1792,0.48,236.8,46.9,6.6,354,1815,0.15,2.25,16.45,0.719,4,0.093,0.070,2999,3397,2533,0,0,0,0,0,0
$GC,1871,0.39,236.8,38.3,12.4,369,1878,0.17,2.20,0.00,0.000,6,0.163,0.045,2957,1996,2530,0,0,0,0,0,0
$GC,1950,0.48,236.8,31.2,8.1,385,1956,0.00,2.25,0.00,0.000,4,0.000,0.054,2962,578,2529,0,0,0,0,0,0
$GC,1973,0.59,236.8,29.1,7.9,389,1981,0.12,2.28,0.00,0.000,6,0.060,0.054,3024,1998,2529,0,0,0,0,0,0
$GC,2053,0.44,236.8,20.1,12.6,405,2061,0.20,2.25,0.00,0.000,4,0.166,0.064,2969,3402,2529,0,0,0,0,0,0
$GC,2086,0.40,236.8,16.5,11.0,411,2093,0.00,2.17,0.00,0.000,6,0.000,0.045,2976,2001,2528,0,0,0,0,0,0
$GC,2163,0.48,236.8,10.3,8.0,427,2170,0.00,2.22,0.00,0.000,4,0.000,0.054,2977,578,2528,0,0,0,0,0,0
$GC,2206,0.64,253.0,7.4,6.7,435,2226,0.12,2.28,13.52,0.706,6,0.064,0.054,3038,2008,2468,0,0,0,0,0,0
$STATE,2251,end climb,SURFACE_DEPTH_REACHED
$STATE,2251,begin surface coast
$FINISH,3.8,1.018117
$STATE,2311,end surface coast,CONTROL_FINISHED_OK
$STATE,2311,begin surface
$SM_CCo,2329,212.52,0.706,0,0,1053,600.00
$SM_GC,1.79,0.00,0.00,212.52,0.000,0.000,0.706,160,2108,1053,-8.34,0.79,600.00
$IRIDIUM_FIX,4748.51,-12221.84,200899,212125
$TT8_MAMPS,0.027612
$HUMID,38.81
$INTERNAL_PRESSURE,8.97954
$TCM_TEMP,16.30
$XPDR_PINGS,168
$24V_AH,24.4,0.673
$10V_AH,10.4,0.980
$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,22.900,40.475,273.575,212.525,0.000,27.318,25.590,186.037,42.000,0.000,15.430,735.119,196.955,514.296,1063.596,415.004,31.408,1015.194,0.000,1070.160,0.000,0.998,0.000
$DEVICE_MAMPS,276.887,103.545,781.573,705.640,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,306.572,309.091,770.841,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,324848
$DATA_FILE_SIZE,28669,456
$CAP_FILE_SIZE,59201,0
$CFSIZE,260165632,183816192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.075,290.1,1
$GPS,260510,221628,4806.917,-12222.821,12,2.1,31,18.3