version: 66.06
glider: 167
mission: 3
dive: 22
start: 5 27 110 13 0 23
data:
$ID,167
$MISSION,3
$DIVE,22
$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,-26221.936
$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,61
$R_STBD_OVSHOOT,34
$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
$GPS1,125152,4806.743,-12222.217,9,2.4,28,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-73.5
$GPS2,125928,4806.814,-12222.272,12,3.0,31,18.3
$SPEED_LIMITS,0.131,0.198
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.051,-0.191
$KALMAN_X,3841.4,-262.0,-113.2,-2672.5,142.1
$KALMAN_Y,11588.7,-483.7,150.6,-11430.7,565.1
$MHEAD_RNG_PITCHd_Wd,152.9,1546,-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,13,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,-125.35,0.000,2,0.000,0.000,134,2403,3751,0,0,0,0,0,0
$GC,149,-0.71,-97.3,5.2,-6.9,23,170,10.30,1.90,-2.90,0.000,4,0.261,0.061,2601,3631,3873,0,0,0,0,0,0
$GC,179,-0.71,-97.3,9.9,-10.7,27,186,0.00,1.88,0.00,0.000,6,0.000,0.030,2601,2405,3874,0,0,0,0,0,0
$GC,257,-0.71,-97.3,17.9,-10.9,43,263,0.00,1.98,0.00,0.000,4,0.000,0.050,2593,3633,3874,0,0,0,0,0,0
$GC,271,-0.71,-97.3,19.5,-10.7,45,278,0.00,1.85,0.00,0.000,6,0.000,0.030,2592,2420,3874,0,0,0,0,0,0
$GC,350,-0.71,-97.3,27.8,-11.0,61,357,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2420,3874,0,0,0,0,0,0
$GC,425,-0.71,-97.3,36.4,-11.4,77,432,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2420,3874,0,0,0,0,0,0
$GC,502,-0.71,-97.3,45.8,-12.0,93,507,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2420,3874,0,0,0,0,0,0
$GC,644,-0.71,-97.3,64.9,-13.4,124,650,0.00,1.88,0.00,0.000,4,0.000,0.034,2592,1164,3874,0,0,0,0,0,0
$GC,707,-0.71,-97.3,73.5,-13.6,137,714,0.12,1.90,0.00,0.000,6,0.209,0.041,2616,2412,3874,0,0,0,0,0,0
$GC,854,-0.71,-97.3,91.3,-11.3,168,860,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2413,3875,0,0,0,0,0,0
$GC,1001,-0.71,-97.3,107.2,-11.3,199,1006,0.00,1.85,0.00,0.000,4,0.000,0.031,2616,1159,3874,0,0,0,0,0,0
$STATE,1012,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1012,begin apogee
$GC,1019,-0.17,0.0,108.9,10.5,201,1096,0.55,0.00,68.55,0.761,6,0.165,0.000,2782,2412,3481,0,0,0,0,0,0
$STATE,1097,end apogee,CONTROL_FINISHED_OK
$STATE,1097,begin climb
$GC,1101,0.71,97.3,112.1,0.0,215,1181,0.85,1.98,71.93,0.732,4,0.104,0.050,3068,3624,3082,0,0,0,0,0,0
$GC,1280,0.71,97.3,90.7,16.2,251,1286,0.00,1.85,0.00,0.000,6,0.000,0.028,3076,2397,3080,0,0,0,0,0,0
$GC,1422,0.71,97.3,70.1,14.4,282,1429,0.00,1.98,0.00,0.000,4,0.000,0.048,3076,3625,3079,0,0,0,0,0,0
$GC,1467,0.71,97.3,63.7,14.4,291,1473,0.00,1.80,0.00,0.000,6,0.000,0.028,3084,2407,3079,0,0,0,0,0,0
$GC,1610,0.71,97.3,44.1,13.0,322,1616,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2406,3079,0,0,0,0,0,0
$GC,1753,0.71,97.3,25.9,12.6,353,1760,0.00,1.98,0.00,0.000,4,0.000,0.051,3086,3624,3078,0,0,0,0,0,0
$GC,1895,0.71,97.3,8.2,11.5,383,1902,0.00,1.83,0.00,0.000,6,0.000,0.028,3093,2406,3078,0,0,0,0,0,0
$GC,1974,0.91,255.9,5.6,-0.7,399,2065,0.12,0.00,87.20,0.693,2,0.117,0.000,3140,2402,2586,0,0,0,0,0,0
$STATE,2065,end climb,SURFACE_DEPTH_REACHED
$STATE,2066,begin surface coast
$FINISH,2.9,1.018150
$STATE,2210,end surface coast,CONTROL_FINISHED_OK
$STATE,2210,begin surface
$SM_CCo,2228,290.48,0.637,1,0,1033,600.00
$SM_GC,1.43,0.00,0.00,290.48,0.000,0.000,0.637,128,2400,1033,-8.50,0.03,600.00
$IRIDIUM_FIX,4748.51,-12221.84,210899,121202
$TT8_MAMPS,0.029146
$HUMID,31.29
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,18.40
$XPDR_PINGS,0
$24V_AH,24.4,3.139
$10V_AH,10.5,2.818
$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,20.625,26.575,227.675,290.475,0.000,25.873,26.955,229.623,1.500,0.000,32.223,720.452,131.535,564.410,1091.644,481.125,33.312,1045.398,0.000,1072.598,0.000,13.984,0.000
$DEVICE_MAMPS,260.780,61.360,760.864,636.610,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,297.707,327.983,817.884,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,324708
$DATA_FILE_SIZE,25480,444
$CAP_FILE_SIZE,54724,0
$CFSIZE,260165632,171372544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.034, 31.8,1
$GPS,270510,134334,4806.678,-12222.143,9,99.0,28,18.3