version: 66.06
glider: 166
mission: 2
dive: 6
start: 5 27 110 0 49 28
data:
$ID,166
$MISSION,2
$DIVE,6
$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,-20765.928
$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,2280
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,34
$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
$GPS1,003436,4806.824,-12222.562,12,1.4,28,18.3
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-77.4
$GPS2,004832,4806.916,-12222.627,15,1.3,15,18.3
$SPEED_LIMITS,0.131,0.198
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.071,-0.185
$KALMAN_X,-276.2,-64.2,29.7,380.0,-105.3
$KALMAN_Y,996.2,274.0,-46.5,-1177.4,313.0
$MHEAD_RNG_PITCHd_Wd,127.1,1864,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.93,-97.3,0.0,0.0,0,124,0.00,0.00,-103.03,0.000,2,0.000,0.000,160,2105,3586,0,0,0,0,0,0
$GC,127,-0.93,-97.3,5.0,-4.6,19,153,9.68,2.55,-8.23,0.000,4,0.262,0.080,2517,3677,3895,0,0,0,0,0,0
$GC,162,0.55,-97.3,9.6,-10.2,24,170,1.70,2.17,0.00,0.000,6,0.210,0.044,2993,2285,3896,0,0,0,0,0,0
$GC,242,-0.82,-97.3,13.1,-5.6,40,249,1.35,2.17,0.00,0.000,4,0.154,0.048,2579,867,3897,0,0,0,0,0,0
$GC,406,-0.41,-97.3,36.7,-18.2,75,413,0.38,2.08,0.00,0.000,6,0.197,0.062,2687,2148,3896,0,0,0,0,0,0
$GC,487,-0.38,-97.3,47.3,-11.0,91,492,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2149,3897,0,0,0,0,0,0
$GC,633,-0.38,-97.3,63.1,-10.6,122,640,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2150,3897,0,0,0,0,0,0
$GC,781,-0.38,-97.3,78.4,-10.6,153,787,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2150,3897,0,0,0,0,0,0
$GC,928,-0.38,-97.3,93.8,-10.2,184,935,0.00,2.47,0.00,0.000,4,0.000,0.077,2687,3673,3896,0,0,0,0,0,0
$GC,957,-0.41,-97.3,96.9,-10.4,189,962,0.00,2.30,0.00,0.000,6,0.000,0.046,2686,2168,3896,0,0,0,0,0,0
$STATE,1062,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1062,begin apogee
$GC,1069,-0.23,0.0,107.1,9.4,212,1151,0.22,0.00,73.95,0.793,6,0.173,0.000,2753,2078,3499,0,0,0,0,0,0
$STATE,1152,end apogee,CONTROL_FINISHED_OK
$STATE,1153,begin climb
$GC,1155,0.93,97.3,111.9,0.0,227,1241,1.15,2.40,75.82,0.769,4,0.130,0.067,3117,3501,3101,0,0,0,0,0,0
$GC,1306,0.19,97.3,101.0,13.0,256,1314,0.82,2.22,0.00,0.000,6,0.210,0.044,2897,2112,3101,0,0,0,0,0,0
$GC,1459,0.38,170.5,93.6,3.7,287,1524,0.17,0.00,57.30,0.765,6,0.089,0.000,2965,2112,2802,0,0,0,0,0,0
$GC,1666,0.31,170.5,77.0,9.2,329,1673,0.15,2.22,0.00,0.000,4,0.179,0.054,2936,693,2800,0,0,0,0,0,0
$GC,1700,0.31,170.5,74.6,7.9,335,1706,0.00,2.25,0.00,0.000,6,0.000,0.056,2936,2093,2799,0,0,0,0,0,0
$GC,1848,0.38,191.1,64.7,6.5,366,1870,0.00,2.28,16.60,0.737,4,0.000,0.065,2936,3512,2720,0,0,0,0,0,0
$GC,1901,0.43,191.1,60.8,7.7,376,1908,0.00,2.22,0.00,0.000,6,0.000,0.044,2942,2101,2718,0,0,0,0,0,0
$GC,2052,0.49,198.1,49.8,7.2,407,2065,0.12,2.25,6.97,0.653,4,0.104,0.053,3003,694,2691,0,0,0,0,0,0
$GC,2115,0.39,198.1,43.4,10.7,419,2121,0.17,2.22,0.00,0.000,6,0.179,0.054,2958,2090,2690,0,0,0,0,0,0
$GC,2260,0.39,198.1,31.4,7.9,450,2268,0.00,2.30,0.00,0.000,4,0.000,0.067,2957,3508,2690,0,0,0,0,0,0
$GC,2279,0.39,198.1,29.7,8.3,453,2286,0.00,2.22,0.00,0.000,6,0.000,0.047,2965,2081,2690,0,0,0,0,0,0
$GC,2356,0.39,198.1,23.1,8.5,469,2362,0.00,2.15,0.00,0.000,4,0.000,0.054,2965,701,2689,0,0,0,0,0,0
$GC,2390,0.44,198.1,20.7,7.8,475,2396,0.00,2.17,0.00,0.000,6,0.000,0.055,2965,2061,2689,0,0,0,0,0,0
$GC,2466,0.49,203.7,14.9,7.3,491,2479,0.00,2.33,5.68,0.614,4,0.000,0.064,2965,3508,2669,0,0,0,0,0,0
$GC,2492,0.54,210.2,12.9,7.2,495,2505,0.00,2.28,6.72,0.636,6,0.000,0.047,2974,2053,2643,0,0,0,0,0,0
$GC,2579,0.59,221.8,6.8,7.0,512,2599,0.12,2.15,10.65,0.696,4,0.107,0.059,3036,693,2594,0,0,0,0,0,0
$STATE,2613,end climb,SURFACE_DEPTH_REACHED
$STATE,2613,begin surface coast
$FINISH,3.9,1.018461
$STATE,2676,end surface coast,CONTROL_FINISHED_OK
$STATE,2676,begin surface
$SM_CCo,2680,366.80,0.704,0,0,454,746.94
$SM_GC,1.34,8.12,0.00,0.00,0.061,0.000,0.000,162,2286,449,-8.29,0.17,748.41
$IRIDIUM_FIX,4726.11,-12227.78,210899,000029
$TT8_MAMPS,0.026845
$HUMID,38.34
$INTERNAL_PRESSURE,8.92094
$TCM_TEMP,16.30
$XPDR_PINGS,186
$24V_AH,24.2,1.138
$10V_AH,10.4,1.189
$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,24.175,50.175,253.700,366.800,0.000,82.830,170.596,288.959,47.250,0.000,15.545,881.111,442.676,660.812,1242.269,777.129,33.318,1212.657,0.000,1247.568,0.000,5.631,0.000
$DEVICE_MAMPS,261.547,103.545,793.078,704.106,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,359.089,365.647,911.287,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,324484
$DATA_FILE_SIZE,31806,531
$CAP_FILE_SIZE,73270,0
$CFSIZE,260165632,183685120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.077,285.5,1
$GPS,270510,014306,4806.732,-12222.564,13,1.9,24,18.3