version: 66.06
glider: 166
mission: 2
dive: 7
start: 5 27 110 1 51 57
data:
$ID,166
$MISSION,2
$DIVE,7
$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,-20784.59
$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,29
$R_STBD_OVSHOOT,23
$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
$GPS1,014306,4806.732,-12222.564,13,1.9,24,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-77.6
$GPS2,015101,4806.787,-12222.597,12,1.8,17,18.3
$SPEED_LIMITS,0.131,0.198
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.081,-0.181
$KALMAN_X,-396.3,-81.3,9.6,574.3,-106.6
$KALMAN_Y,1208.8,295.9,10.8,-1701.7,271.1
$MHEAD_RNG_PITCHd_Wd,118.1,1633,-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,-135.88,0.000,2,0.000,0.000,162,2287,3704,0,0,0,0,0,0
$GC,161,-0.93,-97.3,5.4,-4.2,25,181,9.77,2.25,-4.82,0.000,4,0.265,0.079,2518,3689,3897,0,0,0,0,0,0
$GC,189,0.69,-97.3,10.5,-12.0,29,196,1.88,2.20,0.00,0.000,6,0.211,0.043,3040,2281,3898,0,0,0,0,0,0
$GC,270,-0.82,-97.3,14.1,-6.1,45,277,1.52,2.15,0.00,0.000,4,0.162,0.047,2579,872,3899,0,0,0,0,0,0
$GC,407,-0.41,-97.3,33.3,-18.4,74,414,0.38,2.08,0.00,0.000,6,0.198,0.060,2686,2155,3899,0,0,0,0,0,0
$GC,485,-0.41,-97.3,43.8,-10.8,90,491,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2156,3899,0,0,0,0,0,0
$GC,634,-0.41,-97.3,59.3,-10.5,121,638,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2157,3900,0,0,0,0,0,0
$GC,777,-0.41,-97.3,74.6,-10.2,152,786,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2157,3900,0,0,0,0,0,0
$GC,930,-0.45,-97.3,89.7,-10.0,183,938,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2157,3899,0,0,0,0,0,0
$GC,1081,-0.49,-97.3,104.7,-9.3,214,1088,0.00,2.00,0.00,0.000,4,0.000,0.051,2686,867,3899,0,0,0,0,0,0
$STATE,1107,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1107,begin apogee
$GC,1115,-0.23,0.0,107.4,9.7,219,1195,0.22,0.00,74.38,0.794,6,0.172,0.000,2754,2108,3500,0,0,0,0,0,0
$STATE,1196,end apogee,CONTROL_FINISHED_OK
$STATE,1198,begin climb
$GC,1200,0.93,97.3,112.2,0.0,234,1282,1.15,0.00,75.75,0.766,6,0.129,0.000,3117,2108,3103,0,0,0,0,0,0
$GC,1426,0.28,97.3,92.8,12.4,279,1432,0.73,2.25,0.00,0.000,4,0.211,0.051,2931,694,3102,0,0,0,0,0,0
$GC,1463,0.06,102.3,90.3,7.3,286,1475,0.25,2.30,5.53,0.595,6,0.146,0.058,2855,2098,3082,0,0,0,0,0,0
$GC,1620,0.52,204.0,86.6,2.3,318,1706,0.38,2.35,79.38,0.761,4,0.065,0.066,3004,3509,2667,0,0,0,0,0,0
$GC,1744,0.32,204.0,75.0,13.2,341,1750,0.30,2.22,0.00,0.000,6,0.179,0.045,2936,2117,2665,0,0,0,0,0,0
$GC,1893,0.43,217.1,63.2,6.9,372,1911,0.00,2.28,11.55,0.700,4,0.000,0.055,2936,683,2613,0,0,0,0,0,0
$GC,1956,0.64,232.5,59.0,6.8,384,1975,0.25,2.30,13.62,0.706,6,0.057,0.056,3040,2086,2551,0,0,0,0,0,0
$GC,2118,0.39,232.5,35.5,16.0,417,2125,0.28,2.33,0.00,0.000,4,0.178,0.064,2959,3516,2548,0,0,0,0,0,0
$GC,2170,0.43,232.5,29.3,10.4,427,2177,0.00,2.25,0.00,0.000,6,0.000,0.044,2965,2082,2547,0,0,0,0,0,0
$GC,2247,0.48,232.5,22.8,8.3,443,2254,0.00,2.20,0.00,0.000,4,0.000,0.055,2965,687,2547,0,0,0,0,0,0
$GC,2284,0.60,232.5,19.8,7.9,450,2291,0.12,2.22,0.00,0.000,6,0.061,0.055,3027,2072,2547,0,0,0,0,0,0
$GC,2365,0.47,232.5,11.5,10.9,466,2372,0.17,0.00,0.00,0.000,6,0.168,0.000,2980,2071,2547,0,0,0,0,0,0
$GC,2442,0.61,243.0,4.9,7.0,482,2462,0.15,2.33,9.02,0.676,4,0.092,0.072,3037,3505,2507,0,0,0,0,0,0
$STATE,2468,end climb,SURFACE_DEPTH_REACHED
$STATE,2468,begin surface coast
$FINISH,3.2,1.018287
$STATE,2478,end surface coast,CONTROL_FINISHED_OK
$STATE,2478,begin surface
$SM_CCo,2499,288.45,0.703,0,0,1054,600.00
$SM_GC,1.77,0.00,0.00,288.45,0.000,0.000,0.703,161,2276,1054,-8.34,-0.11,600.00
$IRIDIUM_FIX,4748.51,-12224.57,210899,000047
$TT8_MAMPS,0.027612
$HUMID,36.57
$INTERNAL_PRESSURE,8.96001
$TCM_TEMP,15.60
$XPDR_PINGS,155
$24V_AH,24.2,1.276
$10V_AH,10.4,1.254
$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,25.600,39.625,269.225,288.450,0.000,31.089,26.039,253.952,39.500,0.000,18.034,797.255,216.354,598.497,1139.692,517.594,33.325,1128.267,0.000,1143.601,0.000,5.638,0.000
$DEVICE_MAMPS,264.615,79.001,793.845,703.339,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,328.544,331.847,825.643,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,324532
$DATA_FILE_SIZE,28692,488
$CAP_FILE_SIZE,65426,0
$CFSIZE,260165632,183652352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.069,251.2,1
$GPS,270510,023932,4806.578,-12222.453,12,1.9,30,18.3