version: 66.06
glider: 166
mission: 2
dive: 11
start: 5 27 110 5 46 10
data:
$ID,166
$MISSION,2
$DIVE,11
$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,-20875.791
$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,32
$R_STBD_OVSHOOT,37
$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,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
$GPS1,053406,4806.196,-12222.151,17,1.3,33,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-79.6
$GPS2,054513,4806.313,-12222.230,12,1.4,23,18.3
$SPEED_LIMITS,0.131,0.198
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.087,-0.178
$KALMAN_X,-854.7,-69.3,-92.1,1576.9,-67.3
$KALMAN_Y,2217.2,225.1,134.6,-3645.2,138.7
$MHEAD_RNG_PITCHd_Wd,120.6,647,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.93,-97.3,0.0,0.0,0,150,0.00,0.00,-125.93,0.000,6,0.000,0.000,162,2308,3898,0,0,0,0,0,0
$GC,153,-0.93,-97.3,5.7,-6.7,24,172,9.95,2.28,0.00,0.000,4,0.271,0.054,2523,868,3898,0,0,0,0,0,0
$GC,185,0.63,-97.3,16.4,-26.1,29,193,1.80,2.28,0.00,0.000,6,0.208,0.060,3025,2264,3899,0,0,0,0,0,0
$GC,265,-0.83,-97.3,20.4,-5.8,45,273,1.48,2.17,0.00,0.000,4,0.152,0.045,2568,858,3900,0,0,0,0,0,0
$GC,407,-0.41,-97.3,42.5,-20.6,75,414,0.45,2.12,0.00,0.000,6,0.205,0.060,2691,2183,3901,0,0,0,0,0,0
$GC,558,-0.41,-97.3,60.6,-10.5,106,564,0.00,2.05,0.00,0.000,4,0.000,0.050,2691,873,3901,0,0,0,0,0,0
$GC,590,-0.41,-97.3,63.9,-10.8,112,597,0.00,2.10,0.00,0.000,6,0.000,0.060,2691,2173,3901,0,0,0,0,0,0
$GC,741,-0.41,-97.3,79.1,-10.5,143,746,0.00,2.45,0.00,0.000,4,0.000,0.074,2691,3697,3900,0,0,0,0,0,0
$GC,767,-0.45,-97.3,81.5,-10.2,147,773,0.00,2.35,0.00,0.000,6,0.000,0.043,2691,2166,3901,0,0,0,0,0,0
$GC,916,-0.50,-97.3,96.2,-9.9,178,923,0.00,2.03,0.00,0.000,4,0.000,0.051,2691,868,3901,0,0,0,0,0,0
$GC,977,-0.58,-97.3,102.2,-9.8,190,983,0.12,2.08,0.00,0.000,6,0.074,0.059,2635,2163,3901,0,0,0,0,0,0
$STATE,1025,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1025,begin apogee
$GC,1031,-0.23,0.0,108.3,13.2,200,1114,0.38,0.00,75.03,0.798,6,0.182,0.000,2746,2089,3500,0,0,0,0,0,0
$STATE,1114,end apogee,CONTROL_FINISHED_OK
$STATE,1117,begin climb
$GC,1119,0.93,97.3,114.0,0.0,215,1204,1.17,0.00,76.57,0.772,6,0.134,0.000,3113,2089,3102,0,0,0,0,0,0
$GC,1348,0.28,97.3,93.0,12.8,261,1353,0.70,0.00,0.00,0.000,6,0.212,0.000,2928,2089,3101,0,0,0,0,0,0
$GC,1495,0.36,163.0,84.7,4.1,292,1549,0.00,0.00,51.47,0.765,6,0.000,0.000,2928,2089,2834,0,0,0,0,0,0
$GC,1691,0.48,190.5,73.5,6.1,332,1721,0.17,0.00,22.48,0.742,6,0.091,0.000,2992,2089,2722,0,0,0,0,0,0
$GC,1866,0.35,190.5,55.3,11.2,367,1871,0.20,0.00,0.00,0.000,6,0.171,0.000,2939,2089,2720,0,0,0,0,0,0
$GC,2013,0.45,206.7,44.4,6.7,398,2033,0.10,2.40,13.75,0.720,4,0.116,0.067,2979,3521,2656,0,0,0,0,0,0
$GC,2049,0.45,206.7,41.1,8.4,404,2057,0.00,2.25,0.00,0.000,6,0.000,0.046,2988,2103,2655,0,0,0,0,0,0
$GC,2196,0.37,206.7,26.1,10.3,435,2204,0.15,2.25,0.00,0.000,4,0.184,0.054,2960,692,2655,0,0,0,0,0,0
$GC,2239,0.46,206.7,22.6,7.9,443,2246,0.00,2.28,0.00,0.000,6,0.000,0.057,2959,2096,2654,0,0,0,0,0,0
$GC,2318,0.52,217.0,17.0,7.0,459,2333,0.10,2.33,9.27,0.685,4,0.117,0.067,3001,3514,2614,0,0,0,0,0,0
$GC,2397,0.42,217.0,9.3,10.8,474,2404,0.12,2.17,0.00,0.000,6,0.157,0.046,2972,2130,2613,0,0,0,0,0,0
$STATE,2463,end climb,SURFACE_DEPTH_REACHED
$STATE,2463,begin surface coast
$FINISH,2.7,1.018969
$STATE,2543,end surface coast,CONTROL_FINISHED_OK
$STATE,2543,begin surface
$SM_CCo,2562,310.67,0.708,0,0,1054,600.00
$SM_GC,1.42,0.00,0.00,310.67,0.000,0.000,0.708,160,2295,1054,-8.34,0.42,600.00
$IRIDIUM_FIX,4748.51,-12221.84,210899,050520
$TT8_MAMPS,0.028379
$HUMID,35.82
$INTERNAL_PRESSURE,8.95024
$TCM_TEMP,16.30
$XPDR_PINGS,166
$ALTIM_BOTTOM_PING,80.4,45.8
$24V_AH,24.1,1.842
$10V_AH,10.4,1.519
$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,24.750,35.925,248.575,310.675,0.000,59.758,54.463,322.671,42.250,0.000,23.970,827.814,286.157,594.462,1190.939,651.875,33.329,1119.461,0.000,1186.473,0.000,7.075,0.000
$DEVICE_MAMPS,270.751,96.642,798.447,707.941,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,341.251,346.282,862.164,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,324484
$DATA_FILE_SIZE,28767,505
$CAP_FILE_SIZE,67969,0
$CFSIZE,260165632,183484416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.089,290.9,1
$GPS,270510,063506,4806.160,-12222.146,16,1.7,26,18.3