version: 66.06
glider: 167
mission: 3
dive: 3
start: 5 26 110 20 39 46
data:
$ID,167
$MISSION,3
$DIVE,3
$D_SURF,4
$D_FLARE,5
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,100
$D_BOOST,4
$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,50
$T_MISSION,60
$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,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0273
$MASS,51932
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,1
$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,-25763.486
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,134
$PITCH_MAX,3944
$C_PITCH,2848
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,35
$C_ROLL_DIVE,2400
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,62
$R_STBD_OVSHOOT,43
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,490
$VBD_MAX,3960
$C_VBD,3480
$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,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-15.684355
$PRESSURE_SLOPE,0.0001158971
$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,25
$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,2
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$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,0.004337667
$SEABIRD_T_H,0.00063136261
$SEABIRD_T_I,2.3680945e-05
$SEABIRD_T_J,2.4321864e-06
$SEABIRD_C_G,-9.8870621
$SEABIRD_C_H,1.1051886
$SEABIRD_C_I,-0.001683808
$SEABIRD_C_J,0.00020742195
$GPS1,202314,4806.692,-12222.521,12,1.8,12,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-75.6
$GPS2,203856,4806.618,-12222.414,15,1.6,15,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.070,-0.251
$KALMAN_X,159.6,82.3,80.7,292.7,111.8
$KALMAN_Y,-50.0,-31.8,-31.4,-427.3,-39.6
$MHEAD_RNG_PITCHd_Wd,137.6,1254,-18.2,-10.000
$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,17,-0.79,-146.0,0.0,0.0,0,127,0.00,0.00,-105.50,0.000,6,0.000,0.000,129,2429,3961,0,0,0,0,0,0
$GC,133,-0.79,-146.0,5.2,-2.3,20,153,10.23,1.90,0.00,0.000,4,0.267,0.031,2590,1167,3962,0,0,0,0,0,0
$GC,409,-0.37,-146.0,47.3,-14.9,80,416,0.45,1.90,0.00,0.000,6,0.178,0.044,2722,2389,3964,0,0,0,0,0,0
$GC,562,-0.64,-146.0,58.5,-6.4,111,568,0.22,1.77,0.00,0.000,4,0.087,0.033,2639,1179,3964,0,0,0,0,0,0
$GC,793,-0.54,-146.0,84.2,-11.9,159,799,0.15,1.88,0.00,0.000,6,0.184,0.045,2673,2406,3963,0,0,0,0,0,0
$GC,943,-0.60,-146.0,98.2,-8.5,190,951,0.00,1.83,0.00,0.000,4,0.000,0.036,2674,1186,3963,0,0,0,0,0,0
$STATE,961,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,961,begin apogee
$GC,969,-0.17,0.0,99.7,8.4,193,1059,0.38,0.00,84.05,0.762,6,0.154,0.000,2790,2406,3479,0,0,0,0,0,0
$STATE,1062,end apogee,CONTROL_FINISHED_OK
$STATE,1062,begin climb
$GC,1065,0.79,146.0,102.9,0.0,210,1179,0.90,0.00,106.32,0.726,6,0.105,0.000,3094,2406,2884,0,0,0,0,0,0
$GC,1321,0.30,146.0,68.8,16.3,261,1327,0.50,1.95,0.00,0.000,4,0.185,0.053,2952,3632,2879,0,0,0,0,0,0
$GC,1366,0.41,167.0,63.6,9.0,270,1388,0.00,1.88,16.02,0.679,6,0.000,0.031,2952,2407,2798,0,0,0,0,0,0
$GC,1531,0.68,227.3,51.6,7.2,304,1582,0.30,1.88,44.53,0.700,4,0.082,0.034,3075,1171,2551,0,0,0,0,0,0
$GC,1623,0.53,227.3,39.1,15.0,321,1630,0.17,1.95,0.00,0.000,6,0.157,0.041,3022,2399,2549,0,0,0,0,0,0
$GC,1699,0.53,227.3,29.5,11.4,337,1706,0.00,1.95,0.00,0.000,4,0.000,0.054,3022,3619,2547,0,0,0,0,0,0
$GC,1745,0.53,227.3,24.3,12.2,346,1753,0.00,1.80,0.00,0.000,6,0.000,0.030,3026,2427,2547,0,0,0,0,0,0
$GC,1823,0.53,227.3,15.5,11.1,362,1831,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2427,2546,0,0,0,0,0,0
$GC,1899,0.58,227.3,7.4,10.1,378,1907,0.00,1.88,0.00,0.000,4,0.000,0.037,3030,1182,2545,0,0,0,0,0,0
$STATE,2091,end climb,NO_VERTICAL_VELOCITY
$STATE,2091,begin surface
$SM_CCo,2094,376.85,0.660,0,0,490,733.45
$SM_GC,1.34,8.07,0.00,0.00,0.058,0.000,0.000,129,2403,485,-8.45,0.08,734.67
$IRIDIUM_FIX,4748.51,-12226.29,200899,202058
$TT8_MAMPS,0.028379
$HUMID,32.35
$INTERNAL_PRESSURE,9.10191
$TCM_TEMP,18.50
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,80.3,44.3
$24V_AH,24.6,0.742
$10V_AH,10.5,1.709
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$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,21.375,26.425,250.925,376.850,0.000,0.000,0.000,0.000,1.250,0.000,15.871,662.675,252.178,637.470,1000.915,100.976,31.407,1083.212,0.000,1003.665,0.000,5.539,0.000
$DEVICE_MAMPS,266.916,54.457,761.631,660.387,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,281.285,301.455,750.364,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,324604
$DATA_FILE_SIZE,25514,420
$CAP_FILE_SIZE,63145,0
$CFSIZE,260165632,171982848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.031,345.3,1
$GPS,260510,212355,4806.542,-12222.256,13,1.4,30,18.3