version: 66.06
glider: 167
mission: 3
dive: 13
start: 5 27 110 5 3 40
data:
$ID,167
$MISSION,3
$DIVE,13
$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,-25999.631
$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,57
$R_STBD_OVSHOOT,41
$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
$GPS1,045556,4806.340,-12222.104,32,1.9,32,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-74.2
$GPS2,050244,4806.413,-12222.150,13,1.5,13,18.3
$SPEED_LIMITS,0.131,0.198
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.057,-0.189
$KALMAN_X,2248.9,-7.4,-165.1,-1131.0,632.6
$KALMAN_Y,4550.6,746.9,533.3,-6745.9,700.0
$MHEAD_RNG_PITCHd_Wd,143.6,787,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.71,-97.3,0.0,0.0,0,164,0.00,0.00,-135.32,0.000,6,0.000,0.000,128,2421,3878,0,0,0,0,0,0
$GC,167,-0.71,-97.3,5.0,-4.3,25,180,10.38,0.00,0.00,0.000,6,0.262,0.000,2611,2419,3879,0,0,0,0,0,0
$GC,253,-0.71,-97.3,17.2,-9.7,42,258,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2419,3880,0,0,0,0,0,0
$GC,328,-0.71,-97.3,25.4,-11.0,58,334,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2419,3880,0,0,0,0,0,0
$GC,402,-0.71,-97.3,33.8,-11.8,74,409,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2419,3880,0,0,0,0,0,0
$GC,479,-0.71,-97.3,43.0,-12.1,90,486,0.00,1.88,0.00,0.000,4,0.000,0.035,2611,1177,3880,0,0,0,0,0,0
$GC,501,-0.71,-97.3,45.9,-12.3,94,508,0.00,1.90,0.00,0.000,6,0.000,0.041,2605,2395,3880,0,0,0,0,0,0
$GC,647,-0.71,-97.3,64.6,-13.7,125,652,0.00,1.83,0.00,0.000,4,0.000,0.034,2605,1167,3881,0,0,0,0,0,0
$GC,695,-0.71,-97.3,70.9,-13.2,135,702,0.00,1.90,0.00,0.000,6,0.000,0.041,2601,2402,3881,0,0,0,0,0,0
$GC,843,-0.71,-97.3,91.4,-13.5,166,849,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,2402,3880,0,0,0,0,0,0
$STATE,981,end dive,TARGET_DEPTH_EXCEEDED
$STATE,981,begin apogee
$GC,987,-0.17,0.0,108.1,11.9,195,1063,0.60,0.00,69.65,0.759,6,0.174,0.000,2781,2402,3481,0,0,0,0,0,0
$STATE,1064,end apogee,CONTROL_FINISHED_OK
$STATE,1064,begin climb
$GC,1068,0.71,97.3,111.4,0.0,209,1148,0.85,2.00,71.60,0.730,4,0.107,0.051,3066,3630,3082,0,0,0,0,0,0
$GC,1231,0.71,97.3,92.5,16.4,242,1238,0.00,1.92,0.00,0.000,6,0.000,0.030,3075,2393,3080,0,0,0,0,0,0
$GC,1374,0.71,97.3,73.2,13.0,273,1379,0.00,1.98,0.00,0.000,4,0.000,0.048,3075,3637,3079,0,0,0,0,0,0
$GC,1422,0.71,97.3,66.3,15.0,283,1428,0.00,1.88,0.00,0.000,6,0.000,0.029,3083,2396,3078,0,0,0,0,0,0
$GC,1566,0.71,97.3,46.5,13.1,314,1573,0.00,2.00,0.00,0.000,4,0.000,0.051,3085,3626,3078,0,0,0,0,0,0
$GC,1617,0.71,97.3,39.1,15.7,324,1624,0.00,1.85,0.00,0.000,6,0.000,0.031,3092,2407,3078,0,0,0,0,0,0
$GC,1695,0.71,97.3,28.8,12.8,340,1701,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2406,3078,0,0,0,0,0,0
$GC,1772,0.71,97.3,19.2,11.9,356,1778,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2406,3078,0,0,0,0,0,0
$GC,1850,0.71,97.3,9.9,12.1,372,1856,0.00,1.98,0.00,0.000,4,0.000,0.053,3094,3629,3078,0,0,0,0,0,0
$STATE,1897,end climb,SURFACE_DEPTH_REACHED
$STATE,1897,begin surface coast
$FINISH,3.2,1.020955
$STATE,1908,end surface coast,CONTROL_FINISHED_OK
$STATE,1908,begin surface
$SM_CCo,1930,378.08,0.648,1,0,1033,600.00
$SM_GC,1.42,0.00,0.00,378.08,0.000,0.000,0.648,135,2391,1033,-8.48,-0.28,600.00
$IRIDIUM_FIX,4748.51,-12224.57,210899,040418
$TT8_MAMPS,0.029146
$HUMID,30.70
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,17.80
$XPDR_PINGS,0
$24V_AH,24.4,1.999
$10V_AH,10.5,2.272
$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,20.650,22.975,141.250,378.075,0.000,30.620,36.208,203.739,1.500,0.000,13.232,637.124,127.326,607.308,913.626,448.269,33.322,1020.715,0.000,914.855,0.000,13.949,0.000
$DEVICE_MAMPS,262.314,52.923,758.563,648.115,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,257.701,270.860,675.223,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,324460
$DATA_FILE_SIZE,22408,384
$CAP_FILE_SIZE,48849,0
$CFSIZE,260165632,171679744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.070,344.2,1
$GPS,270510,054322,4806.324,-12222.057,10,2.2,29,18.3