version: 66.06
glider: 167
mission: 3
dive: 5
start: 5 26 110 22 37 47
data:
$ID,167
$MISSION,3
$DIVE,5
$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,66
$T_MISSION,75
$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,100
$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,-25836.408
$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,1.5
$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,59
$R_STBD_OVSHOOT,41
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1
$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,1
$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
$GPS1,222836,4806.458,-12222.111,14,2.0,24,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-75.9
$GPS2,223652,4806.461,-12222.101,14,3.6,33,18.3
$SPEED_LIMITS,0.131,0.198
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.003,-0.198
$KALMAN_X,309.8,147.4,111.7,439.2,62.1
$KALMAN_Y,418.0,169.0,30.9,-1457.1,194.3
$MHEAD_RNG_PITCHd_Wd,147.7,863,-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,14,begin dive
$GC,16,-0.71,-97.3,0.0,0.0,0,127,0.00,0.00,-105.40,0.000,6,0.000,0.000,134,2417,3876,0,0,0,0,0,0
$GC,133,-0.71,-97.3,5.0,-4.0,20,151,10.38,1.90,0.00,0.000,4,0.265,0.032,2618,1172,3877,0,0,0,0,0,0
$GC,407,-0.32,-97.3,39.8,-11.5,80,414,0.40,1.90,0.00,0.000,6,0.175,0.043,2732,2390,3878,0,0,0,0,0,0
$GC,485,-0.54,-97.3,45.3,-5.8,96,492,0.17,1.85,0.00,0.000,4,0.091,0.035,2667,1176,3878,0,0,0,0,0,0
$GC,702,-0.54,-97.3,65.5,-9.4,143,709,0.00,1.88,0.00,0.000,6,0.000,0.044,2664,2404,3878,0,0,0,0,0,0
$GC,849,-0.45,-97.3,79.4,-9.6,174,859,0.12,1.88,0.00,0.000,4,0.186,0.037,2696,1175,3878,0,0,0,0,0,0
$GC,885,-0.45,-97.3,82.3,-8.5,180,892,0.00,1.88,0.00,0.000,6,0.000,0.044,2695,2378,3878,0,0,0,0,0,0
$GC,1034,-0.56,-97.3,93.3,-7.3,211,1039,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2379,3878,0,0,0,0,0,0
$STATE,1129,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1129,begin apogee
$GC,1136,-0.17,0.0,100.0,6.9,231,1210,0.28,0.00,68.85,0.765,6,0.155,0.000,2784,2379,3481,0,0,0,0,0,0
$STATE,1211,end apogee,CONTROL_FINISHED_OK
$STATE,1211,begin climb
$GC,1215,0.71,97.3,102.7,0.0,245,1295,0.85,2.05,71.18,0.736,4,0.112,0.051,3068,3631,3082,0,0,0,0,0,0
$GC,1349,0.06,97.3,90.3,14.6,271,1357,0.75,1.90,0.00,0.000,6,0.193,0.031,2874,2395,3081,0,0,0,0,0,0
$GC,1494,0.60,175.4,83.3,3.5,302,1556,0.45,0.00,57.00,0.727,6,0.074,0.000,3044,2393,2764,0,0,0,0,0,0
$GC,1694,0.35,175.4,58.3,13.6,343,1701,0.28,1.98,0.00,0.000,4,0.175,0.051,2965,3636,2761,0,0,0,0,0,0
$GC,1743,0.35,175.4,52.6,10.0,353,1749,0.00,1.85,0.00,0.000,6,0.000,0.031,2965,2399,2759,0,0,0,0,0,0
$GC,1886,0.48,175.4,40.8,7.6,384,1894,0.12,1.88,0.00,0.000,4,0.123,0.037,3009,1171,2759,0,0,0,0,0,0
$GC,1960,0.48,175.4,34.1,9.8,399,1968,0.00,1.92,0.00,0.000,6,0.000,0.041,3008,2404,2758,0,0,0,0,0,0
$GC,2040,0.48,175.4,25.9,10.6,415,2047,0.00,1.92,0.00,0.000,4,0.000,0.055,3008,3622,2757,0,0,0,0,0,0
$GC,2088,0.36,175.4,20.9,11.0,424,2095,0.15,1.83,0.00,0.000,6,0.168,0.030,2969,2403,2757,0,0,0,0,0,0
$GC,2167,0.56,200.7,15.2,6.3,440,2193,0.17,1.83,18.90,0.700,4,0.107,0.034,3030,1182,2662,0,0,0,0,0,0
$GC,2243,0.56,200.7,8.7,9.2,454,2250,0.00,1.92,0.00,0.000,6,0.000,0.041,3030,2409,2660,0,0,0,0,0,0
$GC,2323,1.04,286.8,4.0,3.1,470,2338,0.38,0.00,12.40,0.673,2,0.082,0.000,3179,2410,2597,0,0,0,0,0,0
$STATE,2339,end climb,SURFACE_DEPTH_REACHED
$STATE,2339,begin surface coast
$FINISH,3.7,1.017892
$STATE,2466,end surface coast,NO_VERTICAL_VELOCITY
$STATE,2466,begin surface
$SM_CCo,2484,292.75,0.652,1,0,1033,600.00
$SM_GC,1.37,0.00,0.00,292.75,0.000,0.000,0.652,134,2411,1033,-8.48,0.31,600.00
$IRIDIUM_FIX,4748.51,-12219.12,200899,212146
$TT8_MAMPS,0.029146
$HUMID,31.92
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,18.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,100.0,24.2
$24V_AH,24.6,0.988
$10V_AH,10.5,1.851
$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,23.350,30.350,228.325,292.750,0.000,22.629,30.831,258.332,1.500,0.000,34.814,830.967,167.812,556.660,1206.160,524.062,33.320,1062.107,0.000,1186.998,0.000,14.177,0.000
$DEVICE_MAMPS,264.615,55.224,764.699,651.950,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,336.064,353.462,881.740,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,324492
$DATA_FILE_SIZE,28747,499
$CAP_FILE_SIZE,62027,0
$CFSIZE,260165632,171900928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.117,333.0,1
$GPS,260510,232501,4806.447,-12222.082,12,1.5,12,18.3