version: 66.06
glider: 167
mission: 3
dive: 6
start: 5 26 110 23 33 15
data:
$ID,167
$MISSION,3
$DIVE,6
$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,0
$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,-25853.07
$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,62
$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,10
$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
$GPS1,232501,4806.447,-12222.082,12,1.5,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-77.0
$GPS2,233220,4806.417,-12222.014,15,1.4,15,18.3
$SPEED_LIMITS,0.131,0.198
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.006,-0.198
$KALMAN_X,393.9,184.4,98.1,437.1,30.9
$KALMAN_Y,783.7,258.0,26.2,-1986.8,412.4
$MHEAD_RNG_PITCHd_Wd,145.6,773,-17.8,-7.576
$D_GRID,150
$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,17,-0.71,-97.3,0.0,0.0,0,118,0.00,0.00,-98.12,0.000,2,0.000,0.000,134,2412,3655,0,0,0,0,0,0
$GC,121,-0.71,-97.3,5.1,-6.8,18,141,10.40,1.92,-5.25,0.000,4,0.264,0.051,2610,1173,3879,0,0,0,0,0,0
$GC,399,-0.71,-97.3,35.3,-11.3,78,406,0.00,1.92,0.00,0.000,6,0.000,0.041,2605,2406,3881,0,0,0,0,0,0
$GC,476,-0.71,-97.3,44.8,-12.1,94,482,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,2406,3881,0,0,0,0,0,0
$GC,624,-0.71,-97.3,64.1,-13.1,125,629,0.00,1.83,0.00,0.000,4,0.000,0.035,2605,1175,3881,0,0,0,0,0,0
$GC,734,-0.71,-97.3,78.8,-13.1,148,741,0.00,1.90,0.00,0.000,6,0.000,0.042,2600,2395,3881,0,0,0,0,0,0
$STATE,765,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,765,begin apogee
$GC,770,-0.17,0.0,83.2,13.0,154,846,0.62,0.00,69.82,0.739,6,0.182,0.000,2785,2395,3479,0,0,0,0,0,0
$STATE,846,end apogee,CONTROL_FINISHED_OK
$STATE,847,begin climb
$GC,850,0.71,97.3,86.3,0.0,168,931,0.85,2.05,70.80,0.711,4,0.110,0.053,3068,3629,3082,0,0,0,0,0,0
$GC,985,0.71,97.3,72.5,14.9,194,992,0.00,1.90,0.00,0.000,6,0.000,0.030,3076,2406,3081,0,0,0,0,0,0
$GC,1138,0.71,97.3,52.7,12.4,225,1142,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2406,3080,0,0,0,0,0,0
$GC,1283,0.71,97.3,35.1,12.4,256,1290,0.00,1.95,0.00,0.000,4,0.000,0.054,3077,3621,3080,0,0,0,0,0,0
$GC,1378,0.71,97.3,22.0,13.8,276,1386,0.00,1.83,0.00,0.000,6,0.000,0.030,3086,2411,3079,0,0,0,0,0,0
$GC,1456,0.71,97.3,13.9,9.9,292,1464,0.00,1.88,0.00,0.000,4,0.000,0.035,3094,1170,3079,0,0,0,0,0,0
$GC,1486,0.71,97.3,11.4,8.9,297,1493,0.00,1.92,0.00,0.000,6,0.000,0.039,3094,2411,3079,0,0,0,0,0,0
$GC,1564,0.75,129.7,5.2,5.9,313,1596,0.00,1.95,23.92,0.690,4,0.000,0.054,3094,3625,2949,0,0,0,0,0,0
$STATE,1781,end climb,NO_VERTICAL_VELOCITY
$STATE,1781,begin surface
$SM_CCo,1785,449.33,0.656,0,0,489,733.45
$SM_GC,1.43,8.27,0.00,0.00,0.058,0.000,0.000,136,2401,485,-8.44,0.03,734.67
$IRIDIUM_FIX,4748.51,-12233.46,200899,222257
$TT8_MAMPS,0.029146
$HUMID,33.14
$INTERNAL_PRESSURE,9.10191
$TCM_TEMP,18.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.7,12.1
$24V_AH,24.5,1.120
$10V_AH,10.5,1.905
$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,20.150,22.975,164.550,449.325,0.000,25.569,29.548,226.525,0.500,0.000,16.035,597.573,195.706,654.287,890.429,454.619,33.314,1035.749,0.000,893.515,0.000,5.447,0.000
$DEVICE_MAMPS,263.848,53.690,739.388,655.785,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,240.581,284.088,708.521,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,324456
$DATA_FILE_SIZE,19220,358
$CAP_FILE_SIZE,45954,0
$CFSIZE,260165632,171892736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.091,353.3,1
$GPS,270510,001328,4806.411,-12221.928,10,99.0,29,18.3