version: 66.06
glider: 167
mission: 3
dive: 9
start: 5 27 110 1 59 57
data:
$ID,167
$MISSION,3
$DIVE,9
$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,-25934.391
$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,56
$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,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
$GPS1,015249,4806.350,-12222.047,10,1.2,15,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-73.9
$GPS2,015902,4806.391,-12222.106,14,1.2,14,18.3
$SPEED_LIMITS,0.131,0.198
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.022,-0.197
$KALMAN_X,567.8,221.8,-49.5,261.1,29.4
$KALMAN_Y,2655.2,450.1,235.0,-4299.9,1099.3
$MHEAD_RNG_PITCHd_Wd,146.7,736,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.71,-97.3,0.0,0.0,0,156,0.00,0.00,-131.60,0.000,6,0.000,0.000,130,2409,3877,0,0,0,0,0,0
$GC,159,-0.71,-97.3,4.0,-3.4,24,179,10.38,1.90,0.00,0.000,4,0.264,0.034,2614,1172,3879,0,0,0,0,0,0
$GC,349,-0.71,-97.3,24.5,-10.3,64,356,0.00,1.92,0.00,0.000,6,0.000,0.041,2608,2401,3880,0,0,0,0,0,0
$GC,425,-0.71,-97.3,32.9,-11.2,80,431,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2401,3879,0,0,0,0,0,0
$GC,500,-0.71,-97.3,41.9,-12.1,96,506,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2401,3879,0,0,0,0,0,0
$GC,650,-0.71,-97.3,61.1,-13.4,127,656,0.00,1.83,0.00,0.000,4,0.000,0.035,2609,1167,3880,0,0,0,0,0,0
$GC,712,-0.71,-97.3,69.5,-13.0,140,719,0.00,1.92,0.00,0.000,6,0.000,0.041,2602,2407,3880,0,0,0,0,0,0
$STATE,817,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,817,begin apogee
$GC,823,-0.17,0.0,83.1,13.6,161,898,0.60,0.00,69.53,0.733,6,0.176,0.000,2782,2408,3480,0,0,0,0,0,0
$STATE,899,end apogee,CONTROL_FINISHED_OK
$STATE,899,begin climb
$GC,903,0.71,97.3,87.6,0.0,175,981,0.85,2.03,70.95,0.703,4,0.107,0.052,3068,3638,3082,0,0,0,0,0,0
$GC,1060,0.71,97.3,72.3,14.0,206,1067,0.00,1.92,0.00,0.000,6,0.000,0.031,3076,2403,3080,0,0,0,0,0,0
$GC,1211,0.71,97.3,52.5,12.6,237,1216,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2402,3080,0,0,0,0,0,0
$GC,1357,0.71,97.3,33.9,12.5,268,1363,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2402,3079,0,0,0,0,0,0
$GC,1434,0.71,97.3,24.4,12.2,284,1441,0.00,1.98,0.00,0.000,4,0.000,0.055,3078,3631,3080,0,0,0,0,0,0
$GC,1566,0.71,97.3,8.1,10.3,312,1573,0.00,1.88,0.00,0.000,6,0.000,0.032,3085,2400,3079,0,0,0,0,0,0
$STATE,1609,end climb,SURFACE_DEPTH_REACHED
$STATE,1609,begin surface coast
$FINISH,4.1,1.019939
$STATE,1665,end surface coast,CONTROL_FINISHED_OK
$STATE,1665,begin surface
$SM_CCo,1668,472.85,0.648,0,0,490,733.45
$SM_GC,1.47,8.30,0.00,0.00,0.058,0.000,0.000,130,2394,485,-8.45,-0.17,734.67
$IRIDIUM_FIX,4748.51,-12220.12,210899,010125
$TT8_MAMPS,0.029146
$HUMID,32.83
$INTERNAL_PRESSURE,9.10191
$TCM_TEMP,18.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.4,12.2
$24V_AH,24.5,1.509
$10V_AH,10.5,2.066
$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,20.125,15.375,140.475,472.850,0.000,28.892,26.252,179.498,0.500,0.000,14.534,546.968,201.819,673.846,814.478,394.265,33.324,1038.132,0.000,817.100,0.000,5.447,0.000
$DEVICE_MAMPS,263.848,55.224,733.252,648.115,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,222.432,254.347,634.852,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,324440
$DATA_FILE_SIZE,19237,332
$CAP_FILE_SIZE,42046,0
$CFSIZE,260165632,171802624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.088,349.6,1
$GPS,270510,023814,4806.361,-12222.037,11,2.0,11,18.3