version: 66.06
glider: 167
mission: 3
dive: 7
start: 5 27 110 0 21 1
data:
$ID,167
$MISSION,3
$DIVE,7
$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,0
$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,-25885.971
$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
$PITCH_ADJ_DBAND,0
$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,52
$R_STBD_OVSHOOT,38
$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,10
$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
$GPS1,001328,4806.411,-12221.928,10,99.0,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-73.8
$GPS2,002007,4806.434,-12221.969,31,1.6,32,18.3
$SPEED_LIMITS,0.131,0.198
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.023,-0.197
$KALMAN_X,514.1,196.3,41.6,417.8,90.0
$KALMAN_Y,1450.4,350.1,56.6,-2745.5,746.0
$MHEAD_RNG_PITCHd_Wd,160.2,804,-17.8,-7.576
$D_GRID,150
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.71,-97.3,0.0,0.0,0,140,0.00,0.00,-117.47,0.000,2,0.000,0.000,135,2400,3603,0,0,0,0,0,0
$GC,143,-0.71,-97.3,5.3,-7.9,21,169,10.23,1.98,-6.78,0.000,4,0.260,0.069,2601,3628,3878,0,0,0,0,0,0
$GC,373,-0.71,-97.3,30.3,-12.8,70,380,0.00,1.88,0.00,0.000,6,0.000,0.031,2602,2387,3879,0,0,0,0,0,0
$GC,449,-0.71,-97.3,39.3,-11.8,86,455,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2386,3880,0,0,0,0,0,0
$GC,528,-0.71,-97.3,49.4,-13.0,102,534,0.00,1.80,0.00,0.000,4,0.000,0.035,2602,1177,3879,0,0,0,0,0,0
$GC,557,-0.71,-97.3,53.3,-13.1,107,562,0.00,1.85,0.00,0.000,6,0.000,0.041,2597,2398,3880,0,0,0,0,0,0
$GC,705,-0.71,-97.3,73.1,-13.5,138,712,0.00,1.85,0.00,0.000,4,0.000,0.035,2597,1169,3880,0,0,0,0,0,0
$GC,736,-0.71,-97.3,77.7,-13.4,144,744,0.00,1.90,0.00,0.000,6,0.000,0.041,2590,2393,3880,0,0,0,0,0,0
$GC,891,-0.71,-97.3,98.3,-13.4,175,896,0.00,1.80,0.00,0.000,4,0.000,0.034,2590,1176,3880,0,0,0,0,0,0
$GC,954,-0.71,-97.3,106.7,-13.1,188,961,0.00,1.90,0.00,0.000,6,0.000,0.043,2588,2396,3879,0,0,0,0,0,0
$STATE,1038,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1038,begin apogee
$GC,1043,-0.17,0.0,117.7,13.0,205,1118,0.65,0.00,69.57,0.765,6,0.180,0.000,2782,2396,3479,0,0,0,0,0,0
$STATE,1118,end apogee,CONTROL_FINISHED_OK
$STATE,1118,begin climb
$GC,1124,0.71,97.3,121.1,0.0,219,1199,0.85,0.00,71.30,0.734,6,0.108,0.000,3067,2396,3082,0,0,0,0,0,0
$GC,1344,0.71,97.3,96.4,13.8,263,1350,0.00,1.95,0.00,0.000,4,0.000,0.053,3067,3628,3079,0,0,0,0,0,0
$GC,1425,0.71,97.3,83.8,15.6,280,1432,0.00,1.88,0.00,0.000,6,0.000,0.031,3074,2410,3079,0,0,0,0,0,0
$GC,1576,0.71,97.3,63.1,12.9,311,1582,0.00,1.92,0.00,0.000,4,0.000,0.050,3075,3631,3079,0,0,0,0,0,0
$GC,1600,0.71,97.3,60.2,12.8,315,1605,0.00,1.83,0.00,0.000,6,0.000,0.031,3083,2401,3079,0,0,0,0,0,0
$GC,1746,0.71,97.3,41.0,12.7,346,1753,0.00,1.98,0.00,0.000,4,0.000,0.054,3084,3627,3078,0,0,0,0,0,0
$GC,1828,0.71,97.3,29.3,14.3,363,1835,0.00,1.83,0.00,0.000,6,0.000,0.031,3091,2421,3078,0,0,0,0,0,0
$GC,1906,0.71,97.3,19.7,11.6,379,1912,0.00,1.85,0.00,0.000,4,0.000,0.035,3100,1173,3078,0,0,0,0,0,0
$GC,1992,0.71,97.3,11.4,9.0,397,1999,0.00,1.90,0.00,0.000,6,0.000,0.041,3100,2401,3078,0,0,0,0,0,0
$STATE,2068,end climb,SURFACE_DEPTH_REACHED
$STATE,2068,begin surface coast
$FINISH,5.0,1.020675
$STATE,2121,end surface coast,CONTROL_FINISHED_OK
$STATE,2121,begin surface
$SM_CCo,2125,471.65,0.658,0,0,490,733.45
$SM_GC,1.29,8.32,0.00,0.00,0.058,0.000,0.000,133,2407,486,-8.45,0.20,734.43
$IRIDIUM_FIX,4748.51,-12224.57,200899,232318
$TT8_MAMPS,0.029146
$HUMID,33.06
$INTERNAL_PRESSURE,9.10191
$TCM_TEMP,18.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.2,47.1
$24V_AH,24.5,1.251
$10V_AH,10.5,1.965
$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,20.050,30.075,140.875,471.650,0.000,30.933,30.119,180.375,0.500,0.000,32.269,708.088,272.502,683.622,1022.713,422.642,33.330,1117.450,0.000,1008.970,0.000,5.542,0.000
$DEVICE_MAMPS,260.013,69.030,764.699,658.086,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,285.683,299.456,747.077,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,324508
$DATA_FILE_SIZE,25573,424
$CAP_FILE_SIZE,52426,0
$CFSIZE,260165632,171851776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.078,341.5,1
$GPS,270510,010706,4806.339,-12221.996,10,1.0,26,18.3