version: 66.06
glider: 167
mission: 3
dive: 16
start: 5 27 110 7 37 31
data:
$ID,167
$MISSION,3
$DIVE,16
$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,-26067.34
$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,67
$R_STBD_OVSHOOT,36
$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
$GPS1,072856,4806.423,-12222.112,10,1.4,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-75.3
$GPS2,073634,4806.487,-12222.163,15,3.2,34,18.3
$SPEED_LIMITS,0.131,0.198
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.063,-0.188
$KALMAN_X,2703.7,25.3,103.1,-1901.4,191.6
$KALMAN_Y,7506.6,279.5,-412.8,-8161.1,478.9
$MHEAD_RNG_PITCHd_Wd,147.0,925,-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,-97.3,0.0,0.0,0,140,0.00,0.00,-116.55,0.000,6,0.000,0.000,135,2386,3878,0,0,0,0,0,0
$GC,145,-0.71,-97.3,4.4,-4.3,22,158,10.38,0.00,0.00,0.000,6,0.263,0.000,2612,2385,3879,0,0,0,0,0,0
$GC,230,-0.71,-97.3,16.2,-11.0,39,237,0.00,1.80,0.00,0.000,4,0.000,0.035,2612,1196,3878,0,0,0,0,0,0
$GC,245,-0.71,-97.3,18.1,-11.0,41,251,0.00,1.90,0.00,0.000,6,0.000,0.039,2607,2409,3878,0,0,0,0,0,0
$GC,321,-0.71,-97.3,27.4,-12.6,57,327,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2409,3879,0,0,0,0,0,0
$GC,399,-0.71,-97.3,36.7,-12.2,73,405,0.00,1.85,0.00,0.000,4,0.000,0.032,2606,1185,3879,0,0,0,0,0,0
$GC,413,-0.71,-97.3,38.7,-12.7,75,420,0.00,1.88,0.00,0.000,6,0.000,0.040,2603,2380,3879,0,0,0,0,0,0
$GC,492,-0.71,-97.3,48.9,-13.0,91,497,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2380,3879,0,0,0,0,0,0
$GC,640,-0.71,-97.3,67.6,-13.1,122,646,0.00,1.80,0.00,0.000,4,0.000,0.033,2603,1184,3879,0,0,0,0,0,0
$GC,699,-0.71,-97.3,75.7,-13.1,134,706,0.00,1.88,0.00,0.000,6,0.000,0.041,2600,2383,3879,0,0,0,0,0,0
$GC,857,-0.71,-97.3,96.5,-13.0,165,862,0.00,1.77,0.00,0.000,4,0.000,0.034,2600,1172,3879,0,0,0,0,0,0
$GC,937,-0.71,-97.3,106.6,-12.5,181,942,0.00,1.88,0.00,0.000,6,0.000,0.042,2599,2391,3879,0,0,0,0,0,0
$STATE,947,end dive,TARGET_DEPTH_EXCEEDED
$STATE,947,begin apogee
$GC,953,-0.17,0.0,108.1,12.1,183,1028,0.62,0.00,69.97,0.762,6,0.173,0.000,2786,2391,3479,0,0,0,0,0,0
$STATE,1028,end apogee,CONTROL_FINISHED_OK
$STATE,1028,begin climb
$GC,1032,0.71,97.3,111.1,0.0,197,1113,0.85,2.08,71.20,0.732,4,0.104,0.051,3072,3630,3082,0,0,0,0,0,0
$GC,1179,0.71,97.3,95.1,16.3,225,1184,0.00,1.88,0.00,0.000,6,0.000,0.029,3080,2410,3080,0,0,0,0,0,0
$GC,1323,0.71,97.3,74.5,13.5,256,1330,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2409,3080,0,0,0,0,0,0
$GC,1474,0.71,97.3,55.2,13.0,287,1480,0.00,1.95,0.00,0.000,4,0.000,0.052,3081,3636,3079,0,0,0,0,0,0
$GC,1552,0.71,97.3,43.5,14.8,303,1557,0.00,1.88,0.00,0.000,6,0.000,0.028,3089,2382,3079,0,0,0,0,0,0
$GC,1698,0.71,97.3,24.8,12.5,334,1704,0.00,1.80,0.00,0.000,4,0.000,0.036,3098,1183,3079,0,0,0,0,0,0
$GC,1752,0.71,97.3,18.6,11.2,345,1758,0.00,1.88,0.00,0.000,6,0.000,0.039,3098,2388,3078,0,0,0,0,0,0
$GC,1831,0.71,97.3,10.7,10.5,361,1837,0.00,1.98,0.00,0.000,4,0.000,0.053,3098,3629,3079,0,0,0,0,0,0
$STATE,1887,end climb,SURFACE_DEPTH_REACHED
$STATE,1887,begin surface coast
$FINISH,3.1,1.020840
$STATE,1893,end surface coast,CONTROL_FINISHED_OK
$STATE,1893,begin surface
$SM_CCo,1913,379.05,0.650,1,0,1034,600.00
$SM_GC,1.50,0.00,0.00,379.05,0.000,0.000,0.650,128,2390,1034,-8.50,-0.28,600.00
$IRIDIUM_FIX,4748.51,-12111.10,210899,060635
$TT8_MAMPS,0.029146
$HUMID,30.82
$INTERNAL_PRESSURE,9.11168
$TCM_TEMP,18.10
$XPDR_PINGS,0
$24V_AH,24.4,2.363
$10V_AH,10.5,2.441
$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,20.800,30.025,141.175,379.050,0.000,31.315,28.562,237.194,1.500,0.000,35.631,627.489,159.968,597.644,913.897,471.458,33.339,999.496,0.000,888.948,0.000,13.989,0.000
$DEVICE_MAMPS,263.081,52.923,761.631,649.649,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,250.984,263.589,657.317,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,324716
$DATA_FILE_SIZE,22371,374
$CAP_FILE_SIZE,50228,0
$CFSIZE,260165632,171589632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.098,339.5,1
$GPS,270510,081644,4806.423,-12222.122,15,1.4,15,18.3