version: 66.06
glider: 167
mission: 3
dive: 21
start: 5 27 110 12 7 34
data:
$ID,167
$MISSION,3
$DIVE,21
$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,-26189.086
$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,63
$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
$GPS1,115901,4806.732,-12222.253,8,2.0,13,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-75.9
$GPS2,120637,4806.821,-12222.298,35,1.3,35,18.3
$SPEED_LIMITS,0.131,0.198
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.032,-0.195
$KALMAN_X,3622.5,-221.1,-58.3,-2580.6,62.3
$KALMAN_Y,11335.2,-452.8,-170.1,-10874.5,678.2
$MHEAD_RNG_PITCHd_Wd,149.6,1565,-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,-97.3,0.0,0.0,0,145,0.00,0.00,-125.07,0.000,2,0.000,0.000,129,2400,3688,0,0,0,0,0,0
$GC,149,-0.71,-97.3,5.3,-7.2,23,170,10.27,0.00,-4.78,0.000,6,0.259,0.000,2609,2399,3878,0,0,0,0,0,0
$GC,241,-0.71,-97.3,12.2,-8.1,41,249,0.00,1.85,0.00,0.000,4,0.000,0.034,2608,1175,3878,0,0,0,0,0,0
$GC,256,-0.71,-97.3,13.9,-9.0,43,263,0.00,1.92,0.00,0.000,6,0.000,0.039,2603,2403,3878,0,0,0,0,0,0
$GC,332,-0.71,-97.3,22.0,-10.6,59,338,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2403,3879,0,0,0,0,0,0
$GC,410,-0.71,-97.3,31.1,-12.4,75,416,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2403,3879,0,0,0,0,0,0
$GC,486,-0.71,-97.3,40.7,-13.0,91,491,0.00,1.83,0.00,0.000,4,0.000,0.032,2604,1175,3879,0,0,0,0,0,0
$GC,533,-0.71,-97.3,46.9,-13.1,101,540,0.00,1.92,0.00,0.000,6,0.000,0.041,2601,2419,3879,0,0,0,0,0,0
$GC,678,-0.71,-97.3,67.2,-13.9,132,685,0.00,1.88,0.00,0.000,4,0.000,0.032,2601,1174,3879,0,0,0,0,0,0
$GC,714,-0.71,-97.3,72.1,-13.8,139,720,0.00,1.90,0.00,0.000,6,0.000,0.041,2601,2411,3879,0,0,0,0,0,0
$GC,859,-0.71,-97.3,92.2,-13.8,170,866,0.00,1.85,0.00,0.000,4,0.000,0.033,2601,1180,3879,0,0,0,0,0,0
$GC,889,-0.71,-97.3,96.3,-13.5,176,896,0.00,1.90,0.00,0.000,6,0.000,0.042,2601,2398,3879,0,0,0,0,0,0
$STATE,979,end dive,TARGET_DEPTH_EXCEEDED
$STATE,979,begin apogee
$GC,986,-0.17,0.0,108.6,13.4,196,1062,0.62,0.00,69.82,0.759,6,0.171,0.000,2789,2399,3479,0,0,0,0,0,0
$STATE,1063,end apogee,CONTROL_FINISHED_OK
$STATE,1063,begin climb
$GC,1065,0.71,97.3,111.9,0.0,210,1145,0.82,2.05,71.57,0.728,4,0.101,0.050,3068,3628,3082,0,0,0,0,0,0
$GC,1222,0.71,97.3,95.1,15.3,241,1228,0.00,1.88,0.00,0.000,6,0.000,0.029,3076,2404,3079,0,0,0,0,0,0
$GC,1364,0.71,97.3,75.0,14.0,272,1370,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2403,3079,0,0,0,0,0,0
$GC,1507,0.71,97.3,56.1,13.3,303,1512,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2403,3079,0,0,0,0,0,0
$GC,1652,0.71,97.3,37.5,12.5,334,1659,0.00,1.95,0.00,0.000,4,0.000,0.049,3077,3628,3079,0,0,0,0,0,0
$GC,1681,0.71,97.3,33.5,13.0,339,1688,0.00,1.85,0.00,0.000,6,0.000,0.029,3084,2403,3078,0,0,0,0,0,0
$GC,1757,0.71,97.3,23.4,12.4,355,1763,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2402,3078,0,0,0,0,0,0
$GC,1835,0.71,97.3,13.9,11.8,371,1841,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2402,3078,0,0,0,0,0,0
$GC,1910,0.71,97.3,6.3,8.9,387,1917,0.00,1.83,0.00,0.000,4,0.000,0.035,3093,1179,3078,0,0,0,0,0,0
$STATE,1940,end climb,SURFACE_DEPTH_REACHED
$STATE,1940,begin surface coast
$FINISH,5.0,1.020615
$STATE,2001,end surface coast,CONTROL_FINISHED_OK
$STATE,2003,begin surface
$SM_CCo,2006,474.50,0.653,0,0,490,733.45
$SM_GC,1.31,8.27,0.00,0.00,0.054,0.000,0.000,134,2402,485,-8.44,0.08,734.67
$IRIDIUM_FIX,4754.94,-12430.68,210899,111106
$TT8_MAMPS,0.029146
$HUMID,32.31
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,18.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.2,12.0
$24V_AH,24.4,3.024
$10V_AH,10.5,2.756
$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,20.000,26.600,141.400,474.500,0.000,23.385,28.675,234.426,0.500,0.000,37.873,675.972,220.127,694.184,990.966,478.002,33.310,1128.752,0.000,972.572,0.000,5.447,0.000
$DEVICE_MAMPS,259.246,49.855,758.563,653.484,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,272.787,292.288,728.688,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,324680
$DATA_FILE_SIZE,22465,406
$CAP_FILE_SIZE,52935,0
$CFSIZE,260165632,171417600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.078,357.1,1
$GPS,270510,125152,4806.743,-12222.217,9,2.4,28,18.3