version: 66.06
glider: 167
mission: 3
dive: 12
start: 5 27 110 4 18 21
data:
$ID,167
$MISSION,3
$DIVE,12
$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,-25985.77
$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,56
$R_STBD_OVSHOOT,33
$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
$GPS1,040731,4806.286,-12222.043,9,1.0,14,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-76.3
$GPS2,041726,4806.370,-12222.093,17,1.1,17,18.3
$SPEED_LIMITS,0.131,0.198
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.172,-0.097
$KALMAN_X,1597.1,57.9,-192.1,-445.5,576.5
$KALMAN_Y,4143.6,707.2,563.7,-6410.2,1025.7
$MHEAD_RNG_PITCHd_Wd,147.7,695,-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,19,-0.71,-97.3,0.0,0.0,0,136,0.00,0.00,-112.00,0.000,6,0.000,0.000,134,2387,3878,0,0,0,0,0,0
$GC,140,-0.71,-97.3,4.8,-5.0,21,153,10.25,0.00,0.00,0.000,6,0.260,0.000,2612,2386,3879,0,0,0,0,0,0
$GC,225,-0.71,-97.3,15.6,-8.7,38,232,0.00,1.85,0.00,0.000,4,0.000,0.036,2612,1170,3878,0,0,0,0,0,0
$GC,250,-0.71,-97.3,17.7,-8.6,42,257,0.00,1.95,0.00,0.000,6,0.000,0.041,2607,2411,3879,0,0,0,0,0,0
$GC,326,-0.71,-97.3,25.3,-10.6,58,332,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2412,3878,0,0,0,0,0,0
$GC,404,-0.71,-97.3,33.8,-11.4,74,411,0.00,1.92,0.00,0.000,4,0.000,0.052,2600,3628,3879,0,0,0,0,0,0
$GC,419,-0.71,-97.3,35.7,-11.8,76,426,0.00,1.85,0.00,0.000,6,0.000,0.031,2600,2409,3879,0,0,0,0,0,0
$GC,494,-0.71,-97.3,45.6,-13.1,92,500,0.00,1.85,0.00,0.000,4,0.000,0.033,2600,1168,3879,0,0,0,0,0,0
$GC,559,-0.71,-97.3,53.8,-13.0,105,564,0.00,1.90,0.00,0.000,6,0.000,0.040,2593,2406,3879,0,0,0,0,0,0
$GC,703,-0.71,-97.3,74.0,-13.9,136,709,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2406,3879,0,0,0,0,0,0
$STATE,760,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,760,begin apogee
$GC,767,-0.17,0.0,82.2,14.0,148,842,0.65,0.00,69.60,0.735,6,0.176,0.000,2786,2406,3479,0,0,0,0,0,0
$STATE,843,end apogee,CONTROL_FINISHED_OK
$STATE,843,begin climb
$GC,845,0.71,97.3,86.0,0.0,162,927,0.85,2.03,70.95,0.707,4,0.104,0.052,3072,3618,3082,0,0,0,0,0,0
$GC,987,0.71,97.3,72.4,14.4,189,993,0.00,1.88,0.00,0.000,6,0.000,0.030,3080,2397,3081,0,0,0,0,0,0
$GC,1129,0.71,97.3,53.1,12.9,220,1135,0.00,2.00,0.00,0.000,4,0.000,0.052,3081,3629,3080,0,0,0,0,0,0
$GC,1175,0.71,97.3,47.0,14.1,229,1180,0.00,1.83,0.00,0.000,6,0.000,0.031,3089,2405,3080,0,0,0,0,0,0
$GC,1317,0.71,97.3,27.8,13.3,260,1323,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2404,3079,0,0,0,0,0,0
$GC,1395,0.71,97.3,18.1,12.2,276,1401,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2405,3079,0,0,0,0,0,0
$GC,1470,0.71,97.3,8.7,11.4,292,1477,0.00,1.88,0.00,0.000,4,0.000,0.037,3098,1174,3079,0,0,0,0,0,0
$STATE,1528,end climb,SURFACE_DEPTH_REACHED
$STATE,1528,begin surface coast
$FINISH,4.2,1.020782
$STATE,1599,end surface coast,CONTROL_FINISHED_OK
$STATE,1600,begin surface
$SM_CCo,1603,473.10,0.650,0,0,489,733.45
$SM_GC,1.39,8.30,0.00,0.00,0.054,0.000,0.000,128,2420,485,-8.46,0.57,734.67
$IRIDIUM_FIX,4748.51,-12219.12,210899,040424
$TT8_MAMPS,0.029146
$HUMID,32.00
$INTERNAL_PRESSURE,9.09215
$TCM_TEMP,17.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.1,12.0
$24V_AH,24.5,1.885
$10V_AH,10.5,2.218
$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,20.050,22.925,140.550,473.100,0.000,53.248,54.437,278.372,0.500,0.000,17.400,541.850,233.291,670.703,787.802,559.160,33.316,1035.918,0.000,789.845,0.000,5.449,0.000
$DEVICE_MAMPS,260.013,52.156,734.786,650.416,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,213.404,245.237,611.657,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,324492
$DATA_FILE_SIZE,19218,319
$CAP_FILE_SIZE,48927,0
$CFSIZE,260165632,171712512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.100,337.4,1
$GPS,270510,045556,4806.340,-12222.104,32,1.9,32,18.3