version: 66.06
glider: 167
mission: 3
dive: 19
start: 5 27 110 10 21 14
data:
$ID,167
$MISSION,3
$DIVE,19
$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,-26135.041
$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,73
$R_STBD_OVSHOOT,35
$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
$GPS1,101228,4806.608,-12222.238,9,2.7,28,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-75.5
$GPS2,102019,4806.724,-12222.336,14,1.7,31,18.3
$SPEED_LIMITS,0.131,0.198
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.027,-0.196
$KALMAN_X,3132.1,-67.9,88.2,-2434.4,20.2
$KALMAN_Y,10489.2,-357.4,-724.6,-9754.7,741.3
$MHEAD_RNG_PITCHd_Wd,142.9,1403,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.71,-97.3,0.0,0.0,0,133,0.00,0.00,-113.78,0.000,2,0.000,0.000,130,2399,3375,0,0,0,0,0,0
$GC,138,-0.71,-97.3,5.3,-6.1,21,164,10.23,0.00,-12.52,0.000,6,0.256,0.000,2610,2397,3878,0,0,0,0,0,0
$GC,236,-0.71,-97.3,12.3,-8.6,40,243,0.00,1.98,0.00,0.000,4,0.000,0.051,2603,3628,3879,0,0,0,0,0,0
$GC,316,-0.71,-97.3,22.3,-12.0,57,323,0.00,1.85,0.00,0.000,6,0.000,0.030,2602,2413,3879,0,0,0,0,0,0
$GC,394,-0.71,-97.3,31.9,-12.0,73,400,0.00,1.98,0.00,0.000,4,0.000,0.050,2594,3633,3880,0,0,0,0,0,0
$GC,420,-0.71,-97.3,35.3,-12.6,77,426,0.00,1.85,0.00,0.000,6,0.000,0.030,2594,2412,3880,0,0,0,0,0,0
$GC,495,-0.71,-97.3,45.3,-12.8,93,500,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2411,3880,0,0,0,0,0,0
$GC,637,-0.71,-97.3,64.5,-13.9,124,644,0.00,1.85,0.00,0.000,4,0.000,0.032,2594,1166,3880,0,0,0,0,0,0
$GC,731,-0.71,-97.3,77.7,-13.8,144,738,0.08,1.95,0.00,0.000,6,0.187,0.041,2610,2418,3880,0,0,0,0,0,0
$GC,882,-0.71,-97.3,97.1,-13.1,175,888,0.00,1.85,0.00,0.000,4,0.000,0.033,2610,1170,3880,0,0,0,0,0,0
$GC,944,-0.71,-97.3,104.7,-12.0,188,952,0.00,1.92,0.00,0.000,6,0.000,0.041,2609,2411,3880,0,0,0,0,0,0
$STATE,972,end dive,TARGET_DEPTH_EXCEEDED
$STATE,973,begin apogee
$GC,979,-0.17,0.0,108.5,12.0,194,1055,0.57,0.00,69.80,0.757,6,0.170,0.000,2784,2411,3480,0,0,0,0,0,0
$STATE,1056,end apogee,CONTROL_FINISHED_OK
$STATE,1056,begin climb
$GC,1059,0.71,97.3,111.7,0.0,208,1138,0.85,0.00,71.32,0.727,6,0.105,0.000,3069,2411,3084,0,0,0,0,0,0
$GC,1277,0.71,97.3,87.6,13.3,253,1283,0.00,1.92,0.00,0.000,4,0.000,0.052,3069,3634,3081,0,0,0,0,0,0
$GC,1384,0.71,97.3,71.8,14.9,276,1391,0.00,1.88,0.00,0.000,6,0.000,0.029,3077,2403,3081,0,0,0,0,0,0
$GC,1529,0.71,97.3,51.9,13.4,307,1535,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2402,3081,0,0,0,0,0,0
$GC,1675,0.71,97.3,34.0,12.5,338,1681,0.00,1.85,0.00,0.000,4,0.000,0.035,3086,1171,3080,0,0,0,0,0,0
$GC,1702,0.71,97.3,30.4,11.7,343,1710,0.00,1.92,0.00,0.000,6,0.000,0.040,3086,2408,3080,0,0,0,0,0,0
$GC,1781,0.71,97.3,21.4,10.8,359,1788,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2408,3080,0,0,0,0,0,0
$GC,1859,0.71,97.3,13.8,9.9,375,1866,0.00,1.95,0.00,0.000,4,0.000,0.052,3086,3631,3080,0,0,0,0,0,0
$GC,2130,0.90,253.0,6.4,-0.6,433,2250,0.10,1.85,112.03,0.692,6,0.081,0.028,3141,2379,2447,0,0,0,0,0,0
$STATE,2255,end climb,SURFACE_DEPTH_REACHED
$STATE,2256,begin surface coast
$FINISH,3.1,1.018638
$STATE,2418,end surface coast,NO_VERTICAL_VELOCITY
$STATE,2418,begin surface
$SM_CCo,2436,266.52,0.631,1,0,1033,600.00
$SM_GC,1.46,0.00,0.00,266.52,0.000,0.000,0.631,130,2376,1033,-8.50,-0.68,600.00
$IRIDIUM_FIX,4748.51,-12217.40,210899,090906
$TT8_MAMPS,0.029146
$HUMID,31.45
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,18.60
$XPDR_PINGS,0
$24V_AH,24.4,2.757
$10V_AH,10.5,2.640
$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,20.475,26.600,253.150,266.525,0.000,30.970,24.702,242.561,1.500,0.000,32.004,788.448,137.396,547.817,1215.263,498.132,33.306,1066.369,0.000,1199.008,0.000,16.798,0.000
$DEVICE_MAMPS,256.178,52.156,757.029,631.241,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,328.389,375.959,936.619,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,324640
$DATA_FILE_SIZE,28726,489
$CAP_FILE_SIZE,57279,0
$CFSIZE,260165632,171474944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.097,345.5,1
$GPS,270510,110735,4806.695,-12222.251,27,2.0,36,18.3