version: 66.06
glider: 167
mission: 3
dive: 26
start: 5 27 110 16 31 48
data:
$ID,167
$MISSION,3
$DIVE,26
$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,-26294.244
$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,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
$GPS1,162337,4806.844,-12222.674,35,0.9,35,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-76.0
$GPS2,163050,4806.757,-12222.600,15,0.9,15,18.3
$SPEED_LIMITS,0.131,0.198
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.137,0.143
$KALMAN_X,4934.5,-154.6,-22.0,-4371.4,324.0
$KALMAN_Y,11254.6,-598.7,574.4,-11508.4,-317.8
$MHEAD_RNG_PITCHd_Wd,310.2,2881,-17.8,-7.576
$D_GRID,107
$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,13,begin dive
$GC,16,-0.71,-97.3,0.0,0.0,0,111,0.00,0.00,-92.05,0.000,2,0.000,0.000,130,2413,2869,0,0,0,0,0,0
$GC,114,-0.71,-97.3,5.3,-8.4,17,159,10.25,1.98,-28.77,0.000,4,0.255,0.066,2603,3635,3878,0,0,0,0,0,0
$GC,266,-0.71,-97.3,18.7,-11.0,47,274,0.00,1.88,0.00,0.000,6,0.000,0.029,2603,2400,3879,0,0,0,0,0,0
$GC,344,-0.71,-97.3,25.8,-9.4,63,352,0.00,1.83,0.00,0.000,4,0.000,0.031,2603,1176,3879,0,0,0,0,0,0
$GC,400,-0.71,-97.3,31.6,-10.7,74,406,0.00,1.90,0.00,0.000,6,0.000,0.039,2600,2388,3879,0,0,0,0,0,0
$GC,476,-0.71,-97.3,40.7,-11.5,90,482,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2388,3879,0,0,0,0,0,0
$GC,620,-0.71,-97.3,58.0,-12.6,121,625,0.00,1.80,0.00,0.000,4,0.000,0.031,2600,1173,3879,0,0,0,0,0,0
$GC,668,-0.71,-97.3,64.4,-12.7,131,674,0.00,1.88,0.00,0.000,6,0.000,0.039,2593,2395,3879,0,0,0,0,0,0
$GC,816,-0.71,-97.3,84.2,-13.2,162,822,0.00,1.83,0.00,0.000,4,0.000,0.031,2593,1179,3879,0,0,0,0,0,0
$GC,862,-0.71,-97.3,89.9,-12.8,171,872,0.12,1.85,0.00,0.000,6,0.206,0.040,2617,2381,3879,0,0,0,0,0,0
$STATE,1003,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1003,begin apogee
$GC,1010,-0.17,0.0,107.2,12.2,201,1085,0.55,0.00,70.18,0.755,6,0.165,0.000,2788,2381,3480,0,0,0,0,0,0
$STATE,1086,end apogee,CONTROL_FINISHED_OK
$STATE,1086,begin climb
$GC,1090,0.71,97.3,110.3,0.0,215,1169,0.85,2.03,71.53,0.726,4,0.099,0.051,3075,3626,3082,0,0,0,0,0,0
$GC,1180,0.71,97.3,103.0,10.6,231,1186,0.00,1.92,0.00,0.000,6,0.000,0.027,3083,2385,3082,0,0,0,0,0,0
$GC,1322,0.71,97.3,82.5,14.2,262,1328,0.00,2.03,0.00,0.000,4,0.000,0.051,3085,3628,3080,0,0,0,0,0,0
$GC,1335,0.71,97.3,80.6,14.3,264,1342,0.00,1.90,0.00,0.000,6,0.000,0.028,3093,2393,3080,0,0,0,0,0,0
$GC,1480,0.71,97.3,59.3,14.3,295,1486,0.00,1.95,0.00,0.000,4,0.000,0.051,3095,3631,3080,0,0,0,0,0,0
$GC,1520,0.71,97.3,53.4,15.0,303,1527,0.00,1.85,0.00,0.000,6,0.000,0.028,3102,2392,3080,0,0,0,0,0,0
$GC,1668,0.71,97.3,31.8,14.3,334,1674,0.00,2.00,0.00,0.000,4,0.000,0.047,3102,3635,3079,0,0,0,0,0,0
$GC,1691,0.71,97.3,28.4,14.8,338,1698,0.10,1.85,0.00,0.000,6,0.206,0.027,3082,2407,3079,0,0,0,0,0,0
$GC,1769,0.71,97.3,18.6,12.1,354,1776,0.00,1.95,0.00,0.000,4,0.000,0.051,3082,3628,3079,0,0,0,0,0,0
$GC,1798,0.71,97.3,14.6,12.7,359,1806,0.00,1.83,0.00,0.000,6,0.000,0.028,3090,2408,3079,0,0,0,0,0,0
$GC,1875,0.72,107.3,7.8,7.1,375,1889,0.00,1.83,8.50,0.638,4,0.000,0.034,3098,1180,3041,0,0,0,0,0,0
$STATE,2077,end climb,NO_VERTICAL_VELOCITY
$STATE,2077,begin surface
$SM_CCo,2080,470.15,0.653,0,0,490,733.45
$SM_GC,1.34,8.23,0.00,0.00,0.049,0.000,0.000,135,2404,485,-8.43,0.11,734.67
$IRIDIUM_FIX,4748.51,-12224.57,210899,151549
$TT8_MAMPS,0.029146
$HUMID,32.16
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,18.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,91.0,33.7
$24V_AH,24.4,3.645
$10V_AH,10.5,3.069
$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,20.100,38.050,150.200,470.150,0.000,25.656,24.999,227.837,1.000,0.000,18.326,703.389,220.583,694.212,1006.337,478.965,33.319,1134.817,0.000,1007.714,0.000,9.878,0.000
$DEVICE_MAMPS,255.411,65.962,755.495,652.717,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,280.562,306.539,763.867,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,324660
$DATA_FILE_SIZE,25518,417
$CAP_FILE_SIZE,55408,0
$CFSIZE,260165632,171225088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.140,151.2,1
$GPS,270510,171656,4806.730,-12222.617,12,1.4,12,18.3