version: 66.06
glider: 167
mission: 3
dive: 18
start: 5 27 110 9 25 21
data:
$ID,167
$MISSION,3
$DIVE,18
$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,-26102.408
$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,61
$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,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
$GPS1,090834,4806.451,-12222.068,7,2.1,26,18.3
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-75.2
$GPS2,092425,4806.625,-12222.224,11,1.8,16,18.3
$SPEED_LIMITS,0.131,0.198
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.035,-0.195
$KALMAN_X,3131.8,-53.3,111.1,-2333.1,83.7
$KALMAN_Y,9590.2,-155.9,-764.2,-9201.8,617.7
$MHEAD_RNG_PITCHd_Wd,152.0,1189,-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,-102.75,0.000,2,0.000,0.000,131,2446,3168,0,0,0,0,0,0
$GC,126,-0.71,-97.3,5.4,-6.1,19,159,10.25,1.92,-14.05,0.000,4,0.258,0.048,2611,1183,3878,0,0,0,0,0,0
$GC,232,-0.71,-97.3,13.6,-4.7,39,239,0.00,1.90,0.00,0.000,6,0.000,0.040,2605,2396,3878,0,0,0,0,0,0
$GC,310,-0.71,-97.3,21.4,-10.9,55,316,0.00,1.85,0.00,0.000,4,0.000,0.033,2605,1175,3879,0,0,0,0,0,0
$GC,394,-0.71,-97.3,31.9,-12.2,73,401,0.00,1.90,0.00,0.000,6,0.000,0.041,2600,2388,3879,0,0,0,0,0,0
$GC,473,-0.71,-97.3,42.1,-13.3,89,480,0.00,1.80,0.00,0.000,4,0.000,0.032,2600,1176,3879,0,0,0,0,0,0
$GC,534,-0.71,-97.3,51.1,-14.4,102,541,0.00,1.88,0.00,0.000,6,0.000,0.040,2594,2377,3879,0,0,0,0,0,0
$GC,681,-0.71,-97.3,72.0,-14.4,133,687,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2377,3879,0,0,0,0,0,0
$GC,827,-0.71,-97.3,93.1,-13.7,164,833,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2377,3879,0,0,0,0,0,0
$STATE,940,end dive,TARGET_DEPTH_EXCEEDED
$STATE,940,begin apogee
$GC,947,-0.17,0.0,108.2,13.0,189,1022,0.62,0.00,69.78,0.758,6,0.174,0.000,2783,2377,3479,0,0,0,0,0,0
$STATE,1023,end apogee,CONTROL_FINISHED_OK
$STATE,1023,begin climb
$GC,1025,0.71,97.3,111.5,0.0,203,1107,0.85,2.08,71.55,0.727,4,0.106,0.051,3068,3617,3082,0,0,0,0,0,0
$GC,1162,0.71,97.3,96.7,15.8,229,1169,0.00,1.88,0.00,0.000,6,0.000,0.029,3075,2402,3080,0,0,0,0,0,0
$GC,1305,0.71,97.3,75.9,14.0,260,1311,0.00,1.88,0.00,0.000,4,0.000,0.036,3081,1175,3079,0,0,0,0,0,0
$GC,1333,0.71,97.3,72.5,13.6,265,1340,0.00,1.92,0.00,0.000,6,0.000,0.040,3081,2403,3079,0,0,0,0,0,0
$GC,1476,0.71,97.3,53.8,12.4,296,1482,0.00,1.95,0.00,0.000,4,0.000,0.053,3081,3627,3078,0,0,0,0,0,0
$GC,1585,0.71,97.3,39.1,13.8,319,1593,0.00,1.88,0.00,0.000,6,0.000,0.029,3089,2387,3079,0,0,0,0,0,0
$GC,1662,0.71,97.3,29.0,12.8,335,1668,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2386,3078,0,0,0,0,0,0
$GC,1739,0.71,97.3,20.5,10.7,351,1745,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2385,3078,0,0,0,0,0,0
$GC,1817,0.71,97.3,13.1,8.9,367,1823,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2386,3078,0,0,0,0,0,0
$GC,1891,0.71,97.3,6.5,8.4,383,1898,0.00,2.00,0.00,0.000,4,0.000,0.050,3089,3635,3078,0,0,0,0,0,0
$GC,2087,0.91,260.6,7.1,-1.0,424,2214,0.10,1.83,117.12,0.689,6,0.093,0.029,3143,2401,2416,0,0,0,0,0,0
$GC,2289,1.07,390.2,4.4,0.8,460,2361,0.15,0.00,69.18,0.660,2,0.096,0.000,3198,2399,2033,0,0,0,0,0,0
$STATE,2362,end climb,NO_VERTICAL_VELOCITY
$STATE,2362,begin surface
$SM_CCo,2365,287.98,0.638,0,0,489,733.45
$SM_GC,1.41,8.65,0.00,0.00,0.059,0.000,0.000,131,2398,486,-8.45,-0.06,734.43
$IRIDIUM_FIX,4751.72,-12219.12,210899,090925
$TT8_MAMPS,0.029146
$HUMID,31.49
$INTERNAL_PRESSURE,9.09215
$TCM_TEMP,18.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.1,12.2
$24V_AH,24.4,2.641
$10V_AH,10.5,2.571
$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,20.625,26.650,327.625,287.975,0.000,103.199,266.494,240.035,0.500,0.000,16.717,745.782,400.660,604.365,1154.689,816.971,33.307,1139.920,0.000,1157.267,0.000,5.452,0.000
$DEVICE_MAMPS,257.712,52.923,757.796,638.144,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,314.595,362.872,904.539,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,324716
$DATA_FILE_SIZE,28724,471
$CAP_FILE_SIZE,58925,0
$CFSIZE,260165632,171507712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.113,339.9,1
$GPS,270510,101228,4806.608,-12222.238,9,2.7,28,18.3