version: 66.06
glider: 167
mission: 3
dive: 17
start: 5 27 110 8 24 24
data:
$ID,167
$MISSION,3
$DIVE,17
$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,-26085.062
$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,65
$R_STBD_OVSHOOT,37
$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
$GPS1,081644,4806.423,-12222.122,15,1.4,15,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-77.4
$GPS2,082326,4806.483,-12222.144,16,1.5,16,18.3
$SPEED_LIMITS,0.131,0.198
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.089,-0.177
$KALMAN_X,2985.3,-42.1,91.3,-2080.4,236.0
$KALMAN_Y,8445.6,83.7,-625.2,-8695.5,594.8
$MHEAD_RNG_PITCHd_Wd,145.9,913,-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,-97.3,0.0,0.0,0,123,0.00,0.00,-103.57,0.000,2,0.000,0.000,128,2390,3720,0,0,0,0,0,0
$GC,126,-0.71,-97.3,5.2,-5.5,19,147,10.48,1.95,-3.55,0.000,4,0.264,0.065,2603,3625,3877,0,0,0,0,0,0
$GC,175,-0.71,-97.3,13.9,-17.7,27,181,0.00,1.88,0.00,0.000,6,0.000,0.030,2604,2401,3878,0,0,0,0,0,0
$GC,251,-0.71,-97.3,22.5,-7.4,43,258,0.00,1.88,0.00,0.000,4,0.000,0.032,2603,1161,3878,0,0,0,0,0,0
$GC,345,-0.71,-97.3,32.6,-12.1,63,352,0.00,1.90,0.00,0.000,6,0.000,0.039,2597,2375,3878,0,0,0,0,0,0
$GC,424,-0.71,-97.3,42.9,-13.7,79,429,0.00,1.80,0.00,0.000,4,0.000,0.032,2597,1169,3879,0,0,0,0,0,0
$GC,458,-0.71,-97.3,48.2,-14.5,86,464,0.00,1.88,0.00,0.000,6,0.000,0.040,2589,2364,3879,0,0,0,0,0,0
$GC,606,-0.71,-97.3,68.7,-14.0,117,612,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2364,3879,0,0,0,0,0,0
$GC,750,-0.71,-97.3,89.6,-14.4,148,756,0.00,1.80,0.00,0.000,4,0.000,0.033,2589,1170,3879,0,0,0,0,0,0
$GC,841,-0.71,-97.3,102.1,-13.8,167,847,0.12,1.85,0.00,0.000,6,0.209,0.041,2617,2374,3878,0,0,0,0,0,0
$STATE,887,end dive,TARGET_DEPTH_EXCEEDED
$STATE,887,begin apogee
$GC,892,-0.17,0.0,108.1,11.5,177,968,0.55,0.00,69.62,0.760,6,0.167,0.000,2786,2374,3480,0,0,0,0,0,0
$STATE,969,end apogee,CONTROL_FINISHED_OK
$STATE,969,begin climb
$GC,972,0.71,97.3,111.0,0.0,191,1054,0.85,2.08,71.50,0.732,4,0.104,0.051,3070,3619,3082,0,0,0,0,0,0
$GC,1101,0.71,97.3,97.9,15.1,216,1108,0.00,1.90,0.00,0.000,6,0.000,0.028,3079,2402,3081,0,0,0,0,0,0
$GC,1246,0.71,97.3,78.6,12.7,247,1251,0.00,1.85,0.00,0.000,4,0.000,0.035,3088,1172,3080,0,0,0,0,0,0
$GC,1277,0.71,97.3,74.7,12.9,253,1283,0.00,1.90,0.00,0.000,6,0.000,0.038,3087,2404,3080,0,0,0,0,0,0
$GC,1421,0.71,97.3,56.6,12.4,284,1427,0.00,1.98,0.00,0.000,4,0.000,0.053,3087,3629,3079,0,0,0,0,0,0
$GC,1532,0.71,97.3,41.3,13.7,308,1539,0.00,1.85,0.00,0.000,6,0.000,0.029,3095,2404,3079,0,0,0,0,0,0
$GC,1677,0.71,97.3,25.9,8.7,339,1683,0.00,1.95,0.00,0.000,4,0.000,0.049,3096,3631,3079,0,0,0,0,0,0
$GC,1757,0.71,97.3,17.5,11.1,356,1763,0.00,1.83,0.00,0.000,6,0.000,0.029,3104,2418,3079,0,0,0,0,0,0
$GC,1836,0.71,97.3,8.2,13.5,372,1842,0.00,1.92,0.00,0.000,4,0.000,0.051,3105,3631,3079,0,0,0,0,0,0
$GC,1913,0.91,256.3,7.1,-0.7,388,2000,0.00,1.75,81.40,0.700,2,0.000,0.028,3114,2451,2621,0,0,0,0,0,0
$STATE,2001,end climb,SURFACE_DEPTH_REACHED
$STATE,2001,begin surface coast
$FINISH,5.3,1.017299
$STATE,2079,end surface coast,CONTROL_FINISHED_OK
$STATE,2079,begin surface
$SM_CCo,2082,393.25,0.649,0,0,489,733.45
$SM_GC,1.41,8.32,0.00,0.00,0.054,0.000,0.000,131,2449,486,-8.45,1.39,734.67
$IRIDIUM_FIX,4748.51,-12219.12,210899,070701
$TT8_MAMPS,0.029146
$HUMID,32.00
$INTERNAL_PRESSURE,9.08238
$TCM_TEMP,18.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.2,45.6
$24V_AH,24.4,2.495
$10V_AH,10.5,2.500
$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,20.325,33.925,222.525,393.250,0.000,24.839,27.321,208.754,0.500,0.000,17.094,686.030,219.654,645.788,1006.501,442.227,33.317,1100.147,0.000,1007.895,0.000,7.782,0.000
$DEVICE_MAMPS,263.848,65.195,760.097,648.882,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,280.231,306.544,764.163,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,324636
$DATA_FILE_SIZE,25554,418
$CAP_FILE_SIZE,53784,0
$CFSIZE,260165632,171552768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.099,353.9,1
$GPS,270510,090834,4806.451,-12222.068,7,2.1,26,18.3