version: 66.06
glider: 166
mission: 2
dive: 17
start: 5 27 110 11 6 51
data:
$ID,166
$MISSION,2
$DIVE,17
$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,-20977.207
$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,42
$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
$GPS1,105814,4806.570,-12222.427,14,1.2,14,18.3
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,2
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-79.2
$GPS2,110556,4806.670,-12222.506,12,1.8,12,18.3
$SPEED_LIMITS,0.131,0.198
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.092,-0.175
$KALMAN_X,-2805.1,-272.5,-83.9,3376.9,-550.4
$KALMAN_Y,6088.3,457.7,220.2,-7166.6,1061.4
$MHEAD_RNG_PITCHd_Wd,130.4,1390,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.93,-97.3,0.0,0.0,0,127,0.00,0.00,-108.90,0.000,2,0.000,0.000,160,2297,3703,0,0,0,0,0,0
$GC,132,-0.93,-97.3,5.2,-4.7,20,151,9.73,0.00,-4.85,0.000,6,0.260,0.000,2523,2297,3899,0,0,0,0,0,0
$GC,223,-0.93,-97.3,24.0,-21.8,38,229,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2297,3900,0,0,0,0,0,0
$GC,297,-0.93,-97.3,43.2,-23.7,54,304,0.00,2.22,0.00,0.000,4,0.000,0.048,2523,882,3901,0,0,0,0,0,0
$GC,352,-0.93,-97.3,56.3,-25.3,65,358,0.00,2.25,0.00,0.000,6,0.000,0.059,2520,2279,3901,0,0,0,0,0,0
$GC,498,-0.93,-97.3,94.7,-25.7,96,504,0.00,2.20,0.00,0.000,4,0.000,0.047,2520,882,3901,0,0,0,0,0,0
$GC,576,-0.93,-97.3,114.5,-24.9,112,582,0.00,2.28,0.00,0.000,6,0.000,0.061,2518,2282,3901,0,0,0,0,0,0
$STATE,586,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,587,begin apogee
$GC,592,-0.23,0.0,117.8,23.9,114,673,0.77,0.00,75.70,0.794,6,0.188,0.000,2743,2094,3500,0,0,0,0,0,0
$STATE,674,end apogee,CONTROL_FINISHED_OK
$STATE,674,begin climb
$GC,678,0.93,97.3,124.0,0.0,129,763,1.12,2.40,77.05,0.770,4,0.102,0.064,3115,3511,3101,0,0,0,0,0,0
$GC,772,1.00,157.1,120.7,4.5,146,828,0.00,2.30,48.30,0.754,6,0.000,0.043,3124,2109,2859,0,0,0,0,0,0
$GC,963,1.00,157.1,84.0,20.6,186,970,0.00,2.28,0.00,0.000,4,0.000,0.049,3135,681,2856,0,0,0,0,0,0
$GC,982,1.00,157.1,80.3,20.8,189,988,0.00,2.30,0.00,0.000,6,0.000,0.052,3135,2102,2856,0,0,0,0,0,0
$GC,1125,1.00,157.1,52.1,19.3,220,1131,0.00,2.28,0.00,0.000,4,0.000,0.061,3126,3513,2855,0,0,0,0,0,0
$GC,1143,1.00,157.1,48.6,19.4,223,1150,0.00,2.20,0.00,0.000,6,0.000,0.042,3134,2078,2855,0,0,0,0,0,0
$GC,1288,1.00,157.1,22.2,17.7,254,1294,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,2078,2855,0,0,0,0,0,0
$GC,1363,1.00,157.1,10.5,14.8,270,1369,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,2078,2855,0,0,0,0,0,0
$STATE,1419,end climb,SURFACE_DEPTH_REACHED
$STATE,1419,begin surface coast
$FINISH,5.1,1.020012
$STATE,1461,end surface coast,CONTROL_FINISHED_OK
$STATE,1461,begin surface
$SM_CCo,1464,484.42,0.697,0,0,455,746.94
$SM_GC,1.13,8.57,0.00,0.00,0.065,0.000,0.000,157,2306,451,-8.31,0.74,747.92
$IRIDIUM_FIX,4748.51,-12221.84,210899,101012
$TT8_MAMPS,0.026845
$HUMID,36.10
$INTERNAL_PRESSURE,8.91118
$TCM_TEMP,15.90
$XPDR_PINGS,100
$ALTIM_BOTTOM_PING,75.0,50.1
$24V_AH,24.0,2.730
$10V_AH,10.5,1.875
$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,20.200,23.325,201.050,484.425,0.000,28.067,30.477,257.546,25.500,0.000,12.835,476.492,168.987,712.291,693.186,473.616,33.312,1070.000,0.000,698.407,0.000,5.547,0.000
$DEVICE_MAMPS,260.013,63.661,793.845,697.203,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,194.151,204.717,510.762,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,324624
$DATA_FILE_SIZE,16074,291
$CAP_FILE_SIZE,44331,0
$CFSIZE,260165632,183312384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.143,325.2,1
$GPS,270510,114213,4806.667,-12222.489,12,1.7,29,18.3