version: 66.06
glider: 166
mission: 2
dive: 5
start: 5 26 110 23 52 3
data:
$ID,166
$MISSION,2
$DIVE,5
$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,-20749.754
$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,29
$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,80
$ALTIM_PING_DELTA,10
$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
$GPS1,234343,4806.867,-12222.693,13,1.1,13,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-78.0
$GPS2,235107,4806.895,-12222.686,14,1.1,14,18.3
$SPEED_LIMITS,0.131,0.198
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.079,-0.182
$KALMAN_X,-154.0,-40.9,25.4,167.2,-71.9
$KALMAN_Y,549.3,173.7,-9.0,-705.5,218.3
$MHEAD_RNG_PITCHd_Wd,124.1,1861,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.93,-97.3,0.0,0.0,0,156,0.00,0.00,-136.00,0.000,2,0.000,0.000,157,2093,3636,0,0,0,0,0,0
$GC,160,-0.93,-97.3,5.1,-3.4,25,186,9.77,2.25,-6.35,0.000,4,0.265,0.062,2522,667,3899,0,0,0,0,0,0
$GC,447,-0.35,-97.3,71.6,-25.7,86,454,0.62,2.25,0.00,0.000,6,0.199,0.058,2708,2073,3901,0,0,0,0,0,0
$GC,597,-0.42,-97.3,88.7,-8.8,117,602,0.00,2.17,0.00,0.000,4,0.000,0.050,2709,661,3901,0,0,0,0,0,0
$GC,684,-0.55,-97.3,96.4,-9.1,135,690,0.17,2.25,0.00,0.000,6,0.094,0.059,2638,2083,3902,0,0,0,0,0,0
$STATE,767,end dive,TARGET_DEPTH_EXCEEDED
$STATE,767,begin apogee
$GC,773,-0.23,0.0,107.2,13.8,152,854,0.35,0.00,74.97,0.776,6,0.175,0.000,2744,1978,3499,0,0,0,0,0,0
$STATE,855,end apogee,CONTROL_FINISHED_OK
$STATE,855,begin climb
$GC,860,0.93,97.3,113.5,0.0,167,945,1.17,2.30,75.60,0.755,4,0.130,0.049,3125,584,3102,0,0,0,0,0,0
$GC,1113,0.26,97.3,89.8,12.5,218,1120,0.70,2.28,0.00,0.000,6,0.211,0.052,2922,1994,3100,0,0,0,0,0,0
$GC,1264,0.34,159.5,81.6,4.3,249,1318,0.00,2.35,48.62,0.752,4,0.000,0.063,2922,3399,2848,0,0,0,0,0,0
$GC,1346,0.44,193.1,77.4,5.8,264,1380,0.10,2.22,27.40,0.728,6,0.071,0.048,2974,2012,2712,0,0,0,0,0,0
$GC,1523,0.36,193.1,60.3,10.4,300,1530,0.00,2.30,0.00,0.000,4,0.000,0.054,2983,581,2707,0,0,0,0,0,0
$GC,1552,0.31,193.1,57.4,10.0,305,1558,0.20,2.30,0.00,0.000,6,0.179,0.054,2932,2015,2706,0,0,0,0,0,0
$GC,1700,0.45,214.1,46.9,6.5,336,1724,0.12,2.22,17.27,0.723,4,0.101,0.062,2981,3402,2626,0,0,0,0,0,0
$GC,1774,0.37,214.1,39.8,10.8,350,1781,0.12,2.17,0.00,0.000,6,0.172,0.046,2954,2015,2623,0,0,0,0,0,0
$GC,1853,0.43,214.1,33.2,7.6,366,1859,0.00,2.25,0.00,0.000,4,0.000,0.054,2963,585,2623,0,0,0,0,0,0
$GC,1876,0.51,214.1,31.3,7.7,370,1883,0.00,2.30,0.00,0.000,6,0.000,0.054,2962,2017,2622,0,0,0,0,0,0
$GC,1955,0.55,214.1,25.1,7.8,386,1962,0.12,2.22,0.00,0.000,4,0.103,0.064,3015,3399,2623,0,0,0,0,0,0
$GC,1979,0.52,214.1,22.5,8.9,390,1986,0.00,2.12,0.00,0.000,6,0.000,0.045,3024,2031,2622,0,0,0,0,0,0
$GC,2057,0.34,214.1,13.2,11.6,406,2064,0.28,2.25,0.00,0.000,4,0.179,0.050,2952,587,2622,0,0,0,0,0,0
$GC,2078,0.24,214.1,11.1,11.0,409,2085,0.12,2.30,0.00,0.000,6,0.137,0.054,2910,2024,2621,0,0,0,0,0,0
$GC,2156,0.75,305.3,8.5,2.8,425,2210,0.43,0.00,51.20,0.731,2,0.079,0.000,3073,2025,2361,0,0,0,0,0,0
$STATE,2211,end climb,SURFACE_DEPTH_REACHED
$STATE,2211,begin surface coast
$FINISH,3.3,1.017171
$STATE,2256,end surface coast,CONTROL_FINISHED_OK
$STATE,2256,begin surface
$SM_CCo,2273,214.05,0.700,0,0,1053,600.00
$SM_GC,1.87,0.00,0.00,214.05,0.000,0.000,0.700,161,2104,1053,-8.34,0.68,600.00
$IRIDIUM_FIX,4748.51,-12221.84,200899,232311
$TT8_MAMPS,0.027612
$HUMID,37.87
$INTERNAL_PRESSURE,8.96001
$TCM_TEMP,16.40
$XPDR_PINGS,145
$24V_AH,24.3,0.978
$10V_AH,10.4,1.115
$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,22.675,40.775,295.075,214.050,0.000,29.804,28.495,231.968,37.000,0.000,14.309,707.314,186.970,524.612,1037.030,485.029,33.309,1026.775,0.000,1042.513,0.000,5.630,0.000
$DEVICE_MAMPS,265.382,109.681,776.204,700.271,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,296.989,304.179,756.737,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,324508
$DATA_FILE_SIZE,25570,443
$CAP_FILE_SIZE,60618,0
$CFSIZE,260165632,183738368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.063,302.1,1
$GPS,270510,003436,4806.824,-12222.562,12,1.4,28,18.3