version: 66.06
glider: 167
mission: 3
dive: 23
start: 5 27 110 13 52 52
data:
$ID,167
$MISSION,3
$DIVE,23
$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,-26234
$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,64
$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,2
$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
$GPS1,134334,4806.678,-12222.143,9,99.0,28,18.3
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-76.2
$GPS2,135156,4806.733,-12222.166,11,1.6,11,18.3
$SPEED_LIMITS,0.131,0.198
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.198,-0.003
$KALMAN_X,4160.8,-281.4,-135.6,-2819.3,192.9
$KALMAN_Y,11730.7,-507.3,426.5,-11975.3,391.1
$MHEAD_RNG_PITCHd_Wd,288.0,3263,-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,-97.3,0.0,0.0,0,122,0.00,0.00,-102.75,0.000,2,0.000,0.000,129,2401,3686,0,0,0,0,0,0
$GC,126,-0.71,-97.3,5.1,-6.7,19,148,10.35,1.90,-4.47,0.000,4,0.258,0.052,2614,1175,3878,0,0,0,0,0,0
$GC,403,-0.71,-97.3,33.8,-10.3,79,410,0.00,1.90,0.00,0.000,6,0.000,0.039,2609,2392,3879,0,0,0,0,0,0
$GC,481,-0.71,-97.3,42.3,-11.4,95,486,0.00,1.77,0.00,0.000,4,0.000,0.031,2609,1178,3880,0,0,0,0,0,0
$GC,746,-0.71,-97.3,74.1,-11.4,153,753,0.00,1.88,0.00,0.000,6,0.000,0.040,2602,2401,3880,0,0,0,0,0,0
$GC,893,-0.71,-97.3,92.4,-12.5,184,900,0.00,1.83,0.00,0.000,4,0.000,0.032,2603,1183,3880,0,0,0,0,0,0
$GC,1022,-0.71,-97.3,108.0,-12.2,211,1027,0.00,1.83,0.00,0.000,6,0.000,0.040,2600,2388,3880,0,0,0,0,0,0
$STATE,1034,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1034,begin apogee
$GC,1039,-0.17,0.0,110.0,12.6,213,1115,0.62,0.00,69.82,0.764,6,0.175,0.000,2787,2390,3480,0,0,0,0,0,0
$STATE,1115,end apogee,CONTROL_FINISHED_OK
$STATE,1116,begin climb
$GC,1121,0.71,97.3,113.6,0.0,227,1200,0.85,0.00,71.72,0.732,6,0.103,0.000,3072,2390,3082,0,0,0,0,0,0
$GC,1335,0.71,97.3,90.6,13.3,272,1342,0.00,2.00,0.00,0.000,4,0.000,0.051,3073,3626,3079,0,0,0,0,0,0
$GC,1363,0.71,97.3,86.6,14.1,277,1369,0.00,1.88,0.00,0.000,6,0.000,0.028,3081,2389,3079,0,0,0,0,0,0
$GC,1505,0.71,97.3,66.1,14.3,308,1513,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2389,3078,0,0,0,0,0,0
$GC,1653,0.71,97.3,46.1,13.4,339,1659,0.00,1.95,0.00,0.000,4,0.000,0.048,3081,3631,3078,0,0,0,0,0,0
$GC,1714,0.71,97.3,36.7,15.0,352,1721,0.00,1.85,0.00,0.000,6,0.000,0.029,3089,2405,3078,0,0,0,0,0,0
$GC,1793,0.71,97.3,26.4,12.6,368,1799,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2403,3078,0,0,0,0,0,0
$GC,1868,0.71,97.3,17.2,11.7,384,1874,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2404,3078,0,0,0,0,0,0
$GC,1943,0.71,97.3,8.7,11.7,400,1949,0.00,1.83,0.00,0.000,4,0.000,0.035,3098,1182,3078,0,0,0,0,0,0
$GC,1971,0.71,97.3,6.0,10.2,405,1979,0.00,1.90,0.00,0.000,6,0.000,0.039,3098,2405,3078,0,0,0,0,0,0
$GC,2053,0.91,260.0,5.8,-0.9,421,2160,0.12,0.00,103.20,0.690,2,0.116,0.000,3145,2405,2493,0,0,0,0,0,0
$STATE,2163,end climb,SURFACE_DEPTH_REACHED
$STATE,2163,begin surface coast
$FINISH,2.7,1.017771
$STATE,2336,end surface coast,NO_VERTICAL_VELOCITY
$STATE,2336,begin surface
$SM_CCo,2354,274.20,0.636,1,0,1033,600.00
$SM_GC,1.37,0.00,0.00,274.20,0.000,0.000,0.636,134,2406,1033,-8.48,0.20,600.00
$IRIDIUM_FIX,4751.72,-12219.12,210899,131303
$TT8_MAMPS,0.028379
$HUMID,31.17
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,18.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.5,44.7
$24V_AH,24.4,3.258
$10V_AH,10.5,2.885
$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,20.575,22.500,244.750,274.200,0.000,25.447,27.831,298.814,0.500,0.000,11.433,768.227,147.434,537.127,1145.995,548.058,33.326,1026.328,0.000,1152.613,0.000,5.536,0.000
$DEVICE_MAMPS,258.479,52.156,763.932,635.843,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,319.617,354.407,884.146,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,324900
$DATA_FILE_SIZE,28746,475
$CAP_FILE_SIZE,54432,0
$CFSIZE,260165632,171331584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.014,136.8,1
$GPS,270510,143738,4806.749,-12222.375,14,1.7,14,18.3