version: 66.06
glider: 166
mission: 2
dive: 18
start: 5 27 110 11 49 52
data:
$ID,166
$MISSION,2
$DIVE,18
$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,0
$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,-21010.658
$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,40
$R_STBD_OVSHOOT,44
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,75
$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
$GPS1,114213,4806.667,-12222.489,12,1.7,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-77.2
$GPS2,114858,4806.749,-12222.527,12,99.0,31,18.3
$SPEED_LIMITS,0.131,0.198
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.090,-0.176
$KALMAN_X,-3055.2,-368.1,-123.5,3735.6,-642.2
$KALMAN_Y,6738.6,577.2,281.7,-7851.6,1308.9
$MHEAD_RNG_PITCHd_Wd,129.6,1532,-17.8,-7.576
$D_GRID,150
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.93,-97.3,0.0,0.0,0,165,0.00,0.00,-141.50,0.000,2,0.000,0.000,156,2307,3645,0,0,0,0,0,0
$GC,167,-0.93,-97.3,5.7,-7.8,26,186,9.85,0.00,-6.15,0.000,6,0.265,0.000,2521,2307,3899,0,0,0,0,0,0
$GC,258,-0.93,-97.3,23.4,-21.5,44,265,0.00,2.25,0.00,0.000,4,0.000,0.046,2521,873,3900,0,0,0,0,0,0
$GC,299,-0.93,-97.3,33.1,-22.4,52,306,0.00,2.25,0.00,0.000,6,0.000,0.058,2520,2256,3900,0,0,0,0,0,0
$GC,374,-0.93,-97.3,51.3,-24.2,68,381,0.00,2.15,0.00,0.000,4,0.000,0.045,2520,879,3901,0,0,0,0,0,0
$GC,441,-0.93,-97.3,68.0,-25.2,82,448,0.00,2.25,0.00,0.000,6,0.000,0.060,2519,2261,3901,0,0,0,0,0,0
$GC,591,-0.93,-97.3,105.6,-24.9,113,597,0.00,2.15,0.00,0.000,4,0.000,0.047,2518,867,3902,0,0,0,0,0,0
$STATE,815,end dive,NO_VERTICAL_VELOCITY
$STATE,815,begin apogee
$GC,823,-0.23,0.0,123.9,0.0,162,905,0.75,0.00,75.53,0.799,6,0.179,0.000,2744,2102,3499,0,0,0,0,0,0
$STATE,905,end apogee,CONTROL_FINISHED_OK
$STATE,905,begin climb
$GC,910,0.93,97.3,123.8,0.0,177,996,1.30,0.00,76.53,0.774,6,0.170,0.000,3116,2103,3103,0,0,0,0,0,0
$STATE,1039,end climb,NO_VERTICAL_VELOCITY
$STATE,1039,begin surface
$SM_CCo,1042,538.28,0.730,0,0,455,746.94
$SM_GC,1.50,8.48,0.00,0.00,0.061,0.000,0.000,160,2307,451,-8.30,0.76,747.92
$IRIDIUM_FIX,4751.72,-12226.29,210899,111126
$TT8_MAMPS,0.026845
$HUMID,35.66
$INTERNAL_PRESSURE,8.89164
$TCM_TEMP,20.70
$XPDR_PINGS,75
$24V_AH,24.0,2.891
$10V_AH,10.4,1.910
$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,20.375,13.350,152.050,538.275,0.000,28.189,23.723,202.953,21.750,0.000,32.821,331.602,148.959,740.004,501.123,382.301,33.313,1018.300,0.000,477.216,0.000,22.043,0.000
$DEVICE_MAMPS,265.382,62.127,799.214,730.184,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,133.223,133.113,332.111,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,324688
$DATA_FILE_SIZE,12888,202
$CAP_FILE_SIZE,33290,0
$CFSIZE,260165632,183291904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.051,198.0,1
$GPS,270510,121907,4806.648,-12222.464,30,1.5,30,18.3