version: 66.06
glider: 167
mission: 3
dive: 20
start: 5 27 110 11 16 15
data:
$ID,167
$MISSION,3
$DIVE,20
$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,-26150.586
$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,71
$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
$GPS1,110735,4806.695,-12222.251,27,2.0,36,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-76.2
$GPS2,111520,4806.791,-12222.309,14,1.6,14,18.3
$SPEED_LIMITS,0.131,0.198
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.025,-0.196
$KALMAN_X,3390.3,-150.7,18.8,-2509.9,16.1
$KALMAN_Y,11042.5,-444.2,-504.9,-10314.3,769.9
$MHEAD_RNG_PITCHd_Wd,147.1,1513,-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,13,begin dive
$GC,16,-0.71,-97.3,0.0,0.0,0,122,0.00,0.00,-102.93,0.000,2,0.000,0.000,130,2377,3717,0,0,0,0,0,0
$GC,125,-0.71,-97.3,5.4,-6.6,19,145,10.15,0.00,-4.07,0.000,6,0.252,0.000,2611,2374,3877,0,0,0,0,0,0
$GC,217,-0.71,-97.3,13.6,-10.2,37,224,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2374,3877,0,0,0,0,0,0
$GC,293,-0.71,-97.3,22.6,-11.8,53,299,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2374,3877,0,0,0,0,0,0
$GC,369,-0.71,-97.3,31.5,-12.2,69,377,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2374,3878,0,0,0,0,0,0
$GC,446,-0.71,-97.3,41.0,-11.8,85,453,0.00,1.75,0.00,0.000,4,0.000,0.034,2611,1187,3877,0,0,0,0,0,0
$GC,487,-0.71,-97.3,46.1,-12.6,93,493,0.00,1.88,0.00,0.000,6,0.000,0.041,2608,2407,3878,0,0,0,0,0,0
$GC,632,-0.71,-97.3,64.7,-13.2,124,639,0.00,1.85,0.00,0.000,4,0.000,0.032,2608,1177,3878,0,0,0,0,0,0
$GC,712,-0.71,-97.3,75.5,-12.7,141,718,0.00,1.85,0.00,0.000,6,0.000,0.041,2603,2382,3878,0,0,0,0,0,0
$GC,859,-0.71,-97.3,94.9,-12.6,172,866,0.00,1.80,0.00,0.000,4,0.000,0.034,2603,1184,3878,0,0,0,0,0,0
$GC,890,-0.71,-97.3,98.8,-12.9,178,897,0.00,1.88,0.00,0.000,6,0.000,0.041,2600,2386,3878,0,0,0,0,0,0
$STATE,962,end dive,TARGET_DEPTH_EXCEEDED
$STATE,962,begin apogee
$GC,969,-0.17,0.0,108.2,12.7,194,1045,0.62,0.00,69.78,0.757,6,0.175,0.000,2787,2387,3480,0,0,0,0,0,0
$STATE,1046,end apogee,CONTROL_FINISHED_OK
$STATE,1046,begin climb
$GC,1048,0.71,97.3,111.5,0.0,208,1130,0.85,2.08,71.47,0.726,4,0.104,0.051,3073,3627,3083,0,0,0,0,0,0
$GC,1171,0.71,97.3,99.2,15.2,231,1177,0.00,1.88,0.00,0.000,6,0.000,0.028,3081,2406,3080,0,0,0,0,0,0
$GC,1313,0.71,97.3,78.2,14.5,262,1319,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2405,3079,0,0,0,0,0,0
$GC,1459,0.71,97.3,58.6,13.4,293,1465,0.00,1.95,0.00,0.000,4,0.000,0.052,3082,3632,3079,0,0,0,0,0,0
$GC,1536,0.71,97.3,47.3,14.4,309,1542,0.00,1.83,0.00,0.000,6,0.000,0.029,3090,2400,3079,0,0,0,0,0,0
$GC,1680,0.71,97.3,27.4,13.3,340,1686,0.00,1.83,0.00,0.000,4,0.000,0.034,3099,1177,3079,0,0,0,0,0,0
$GC,1747,0.71,97.3,19.6,11.7,354,1754,0.00,1.90,0.00,0.000,6,0.000,0.038,3099,2399,3079,0,0,0,0,0,0
$GC,1828,0.71,97.3,11.3,10.2,370,1834,0.00,1.92,0.00,0.000,4,0.000,0.052,3099,3623,3078,0,0,0,0,0,0
$GC,1868,0.71,97.3,6.4,11.2,378,1875,0.00,1.83,0.00,0.000,6,0.000,0.028,3108,2404,3078,0,0,0,0,0,0
$STATE,1890,end climb,SURFACE_DEPTH_REACHED
$STATE,1890,begin surface coast
$FINISH,4.8,1.019632
$STATE,1932,end surface coast,CONTROL_FINISHED_OK
$STATE,1932,begin surface
$SM_CCo,1935,474.65,0.653,0,0,489,733.45
$SM_GC,1.28,8.32,0.00,0.00,0.052,0.000,0.000,129,2400,485,-8.46,0.00,734.43
$IRIDIUM_FIX,4811.07,-12204.11,210899,101044
$TT8_MAMPS,0.029146
$HUMID,31.84
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,17.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.4,12.2
$24V_AH,24.4,2.891
$10V_AH,10.5,2.697
$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,19.950,26.200,141.250,474.650,0.000,30.019,38.282,241.211,0.500,0.000,14.915,656.535,220.134,683.156,931.983,496.001,33.305,1097.529,0.000,935.548,0.000,5.450,0.000
$DEVICE_MAMPS,252.343,52.156,757.029,652.717,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,263.005,279.032,695.688,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,324684
$DATA_FILE_SIZE,22397,391
$CAP_FILE_SIZE,52180,0
$CFSIZE,260165632,171450368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.094,349.5,1
$GPS,270510,115901,4806.732,-12222.253,8,2.0,13,18.3