version: 66.06
glider: 167
mission: 3
dive: 15
start: 5 27 110 6 49 10
data:
$ID,167
$MISSION,3
$DIVE,15
$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,-26031.08
$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,57
$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,0
$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
$GPS1,063530,4806.355,-12222.072,37,1.0,42,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-76.5
$GPS2,064814,4806.484,-12222.175,16,1.1,16,18.3
$SPEED_LIMITS,0.131,0.198
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.074,-0.183
$KALMAN_X,2464.7,74.6,64.1,-1687.2,274.0
$KALMAN_Y,6391.7,497.3,-26.9,-7652.8,263.0
$MHEAD_RNG_PITCHd_Wd,145.8,922,-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,-0.71,-97.3,0.0,0.0,0,135,0.00,0.00,-115.47,0.000,6,0.000,0.000,131,2393,3877,0,0,0,0,0,0
$GC,141,-0.71,-97.3,3.9,-2.7,21,154,10.25,0.00,0.00,0.000,6,0.258,0.000,2609,2391,3878,0,0,0,0,0,0
$GC,225,-0.71,-97.3,16.0,-10.8,38,232,0.00,1.85,0.00,0.000,4,0.000,0.036,2609,1173,3879,0,0,0,0,0,0
$GC,258,-0.71,-97.3,19.5,-10.6,44,264,0.00,1.92,0.00,0.000,6,0.000,0.041,2604,2401,3879,0,0,0,0,0,0
$GC,335,-0.71,-97.3,28.7,-11.6,60,341,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2401,3879,0,0,0,0,0,0
$GC,412,-0.71,-97.3,38.2,-12.3,76,418,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2401,3879,0,0,0,0,0,0
$GC,485,-0.71,-97.3,47.7,-12.6,92,491,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2401,3879,0,0,0,0,0,0
$GC,630,-0.71,-97.3,65.8,-13.2,123,636,0.00,1.83,0.00,0.000,4,0.000,0.034,2604,1172,3879,0,0,0,0,0,0
$GC,705,-0.71,-97.3,75.7,-12.5,139,711,0.00,1.90,0.00,0.000,6,0.000,0.041,2601,2408,3879,0,0,0,0,0,0
$GC,848,-0.71,-97.3,94.7,-13.4,170,855,0.00,1.85,0.00,0.000,4,0.000,0.034,2601,1175,3879,0,0,0,0,0,0
$GC,933,-0.71,-97.3,105.2,-12.2,188,939,0.00,1.90,0.00,0.000,6,0.000,0.041,2600,2398,3878,0,0,0,0,0,0
$STATE,958,end dive,TARGET_DEPTH_EXCEEDED
$STATE,958,begin apogee
$GC,965,-0.17,0.0,108.2,11.3,193,1040,0.60,0.00,69.47,0.762,6,0.171,0.000,2782,2398,3481,0,0,0,0,0,0
$STATE,1041,end apogee,CONTROL_FINISHED_OK
$STATE,1041,begin climb
$GC,1044,0.71,97.3,111.5,0.0,207,1123,0.85,2.03,71.75,0.732,4,0.106,0.049,3068,3629,3082,0,0,0,0,0,0
$GC,1186,0.71,97.3,95.9,15.7,235,1192,0.00,1.90,0.00,0.000,6,0.000,0.028,3076,2392,3080,0,0,0,0,0,0
$GC,1329,0.71,97.3,75.9,12.9,266,1335,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2390,3079,0,0,0,0,0,0
$GC,1475,0.71,97.3,57.6,12.1,297,1480,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2390,3079,0,0,0,0,0,0
$GC,1619,0.71,97.3,39.0,12.6,328,1626,0.00,1.98,0.00,0.000,4,0.000,0.051,3078,3625,3079,0,0,0,0,0,0
$GC,1688,0.71,97.3,29.6,13.6,342,1695,0.00,1.88,0.00,0.000,6,0.000,0.028,3086,2380,3079,0,0,0,0,0,0
$GC,1766,0.71,97.3,19.8,11.8,358,1772,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2380,3079,0,0,0,0,0,0
$GC,1844,0.71,97.3,11.4,10.8,374,1851,0.00,1.98,0.00,0.000,4,0.000,0.050,3085,3625,3078,0,0,0,0,0,0
$STATE,1911,end climb,SURFACE_DEPTH_REACHED
$STATE,1911,begin surface coast
$FINISH,2.4,1.020016
$STATE,1925,end surface coast,CONTROL_FINISHED_OK
$STATE,1925,begin surface
$SM_CCo,1946,384.08,0.647,1,0,1033,600.00
$SM_GC,1.42,0.00,0.00,384.08,0.000,0.000,0.647,135,2386,1033,-8.48,-0.40,600.00
$IRIDIUM_FIX,4748.51,-12219.12,210899,060631
$TT8_MAMPS,0.029146
$HUMID,30.58
$INTERNAL_PRESSURE,9.11168
$TCM_TEMP,18.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.3,12.1
$24V_AH,24.4,2.247
$10V_AH,10.5,2.388
$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,20.250,22.850,141.225,384.075,0.000,88.204,198.099,206.074,0.500,0.000,16.618,652.448,260.060,598.413,926.405,676.023,33.335,1008.367,0.000,927.948,0.000,5.448,0.000
$DEVICE_MAMPS,258.479,51.389,761.631,646.581,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,262.962,272.824,680.315,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,324624
$DATA_FILE_SIZE,22286,391
$CAP_FILE_SIZE,50539,0
$CFSIZE,260165632,171618304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.096,343.0,1
$GPS,270510,072856,4806.423,-12222.112,10,1.4,10,18.3