version: 66.06
glider: 166
mission: 2
dive: 9
start: 5 27 110 3 47 58
data:
$ID,166
$MISSION,2
$DIVE,9
$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,-20815.574
$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,33
$R_STBD_OVSHOOT,33
$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
$GPS1,033931,4806.427,-12222.335,10,1.2,10,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-75.4
$GPS2,034702,4806.473,-12222.372,15,1.2,15,18.3
$SPEED_LIMITS,0.131,0.198
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.100,-0.171
$KALMAN_X,-532.7,-97.1,-59.1,1071.1,-70.8
$KALMAN_Y,1479.4,330.4,126.6,-2704.6,80.6
$MHEAD_RNG_PITCHd_Wd,115.5,989,-17.8,-7.576
$D_GRID,108
$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,-97.3,0.0,0.0,0,143,0.00,0.00,-122.78,0.000,6,0.000,0.000,159,2307,3898,0,0,0,0,0,0
$GC,149,-0.93,-97.3,5.4,-5.8,23,168,9.73,2.22,0.00,0.000,4,0.262,0.064,2513,3677,3900,0,0,0,0,0,0
$GC,248,-0.26,-97.3,29.6,-22.1,43,255,0.77,2.20,0.00,0.000,6,0.205,0.045,2738,2277,3901,0,0,0,0,0,0
$GC,328,-0.38,-97.3,38.9,-7.5,59,335,0.00,2.20,0.00,0.000,4,0.000,0.053,2738,873,3901,0,0,0,0,0,0
$GC,383,-0.50,-97.3,44.0,-8.7,70,391,0.17,2.25,0.00,0.000,6,0.071,0.063,2661,2253,3901,0,0,0,0,0,0
$GC,537,-0.38,-97.3,63.6,-13.4,101,545,0.15,2.17,0.00,0.000,4,0.198,0.053,2698,867,3901,0,0,0,0,0,0
$GC,572,-0.34,-97.3,68.1,-13.2,107,577,0.00,2.25,0.00,0.000,6,0.000,0.064,2698,2264,3902,0,0,0,0,0,0
$GC,717,-0.34,-97.3,83.4,-10.2,138,724,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2265,3901,0,0,0,0,0,0
$GC,870,-0.39,-97.3,98.0,-9.5,169,876,0.00,2.12,0.00,0.000,4,0.000,0.050,2698,867,3901,0,0,0,0,0,0
$GC,915,-0.44,-97.3,102.5,-9.9,177,921,0.00,2.22,0.00,0.000,6,0.000,0.064,2698,2256,3901,0,0,0,0,0,0
$STATE,972,end dive,TARGET_DEPTH_EXCEEDED
$STATE,972,begin apogee
$GC,979,-0.23,0.0,108.0,9.1,189,1057,0.17,0.00,74.90,0.794,6,0.165,0.000,2749,2097,3500,0,0,0,0,0,0
$STATE,1058,end apogee,CONTROL_FINISHED_OK
$STATE,1058,begin climb
$GC,1061,0.93,97.3,112.8,0.0,203,1146,1.17,2.33,76.30,0.766,4,0.131,0.054,3127,689,3102,0,0,0,0,0,0
$GC,1174,0.25,97.3,106.4,8.7,224,1181,0.77,2.35,0.00,0.000,6,0.210,0.054,2915,2099,3101,0,0,0,0,0,0
$GC,1327,0.35,147.9,98.1,4.9,255,1375,0.00,2.33,39.90,0.762,4,0.000,0.054,2915,696,2896,0,0,0,0,0,0
$GC,1415,0.57,194.4,93.8,5.1,272,1460,0.25,2.28,37.53,0.748,6,0.057,0.055,3016,2067,2707,0,0,0,0,0,0
$GC,1604,0.34,194.4,70.7,13.2,310,1612,0.25,2.38,0.00,0.000,4,0.174,0.065,2944,3511,2703,0,0,0,0,0,0
$GC,1656,0.34,194.4,65.3,9.5,320,1663,0.00,2.28,0.00,0.000,6,0.000,0.046,2951,2076,2703,0,0,0,0,0,0
$GC,1808,0.34,194.4,52.9,8.1,351,1814,0.00,2.15,0.00,0.000,4,0.000,0.055,2954,686,2702,0,0,0,0,0,0
$GC,1861,0.43,194.4,48.4,7.6,362,1869,0.00,2.20,0.00,0.000,6,0.000,0.055,2953,2054,2702,0,0,0,0,0,0
$GC,2012,0.46,194.4,36.7,7.8,393,2019,0.00,2.35,0.00,0.000,4,0.000,0.067,2953,3503,2701,0,0,0,0,0,0
$GC,2059,0.46,194.4,32.7,8.9,402,2066,0.00,2.25,0.00,0.000,6,0.000,0.046,2963,2061,2701,0,0,0,0,0,0
$GC,2138,0.46,194.4,26.2,8.2,418,2145,0.00,2.15,0.00,0.000,4,0.000,0.055,2965,689,2702,0,0,0,0,0,0
$GC,2175,0.51,194.4,23.2,8.1,425,2182,0.00,2.15,0.00,0.000,6,0.000,0.055,2965,2033,2701,0,0,0,0,0,0
$GC,2253,0.51,194.4,17.2,7.8,441,2260,0.00,2.38,0.00,0.000,4,0.000,0.067,2965,3505,2701,0,0,0,0,0,0
$GC,2307,0.51,194.4,12.5,8.6,452,2313,0.00,2.25,0.00,0.000,6,0.000,0.045,2975,2058,2701,0,0,0,0,0,0
$GC,2384,0.52,205.9,6.7,7.0,468,2404,0.00,2.15,9.68,0.693,4,0.000,0.054,2975,694,2659,0,0,0,0,0,0
$STATE,2431,end climb,SURFACE_DEPTH_REACHED
$STATE,2431,begin surface coast
$FINISH,3.8,1.019909
$STATE,2519,end surface coast,CONTROL_FINISHED_OK
$STATE,2519,begin surface
$SM_CCo,2539,318.08,0.709,0,0,1054,600.00
$SM_GC,1.43,0.00,0.00,318.08,0.000,0.000,0.709,158,2285,1054,-8.35,0.14,600.00
$IRIDIUM_FIX,4748.51,-12231.73,210899,020237
$TT8_MAMPS,0.027612
$HUMID,36.53
$INTERNAL_PRESSURE,8.95024
$TCM_TEMP,15.70
$XPDR_PINGS,158
$ALTIM_BOTTOM_PING,100.4,7.3
$24V_AH,24.2,1.554
$10V_AH,10.4,1.387
$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,21.275,54.400,238.300,318.075,0.000,27.802,30.093,240.373,40.500,0.000,15.882,815.171,220.133,611.082,1164.880,507.392,33.343,1139.799,0.000,1169.062,0.000,8.521,0.000
$DEVICE_MAMPS,262.314,66.729,793.845,708.708,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,334.754,342.235,852.059,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,324516
$DATA_FILE_SIZE,28705,496
$CAP_FILE_SIZE,66441,0
$CFSIZE,260165632,183566336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.053,248.6,1
$GPS,270510,043647,4806.258,-12222.207,13,99.0,32,18.3