version: 66.07
glider: 165
mission: 3
dive: 2
start: 5 26 110 21 10 31
data:
$ID,165
$MISSION,3
$DIVE,2
$D_SURF,4
$D_FLARE,5
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,100
$D_BOOST,0
$T_BOOST,0
$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,5
$T_NO_W,120
$T_LOITER,22
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0273
$MASS,52067
$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,700
$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,-136324.41
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,180
$PITCH_MAX,3922
$C_PITCH,3027
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,200
$ROLL_MAX,3692
$ROLL_DEG,40
$C_ROLL_DIVE,2150
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.75
$ROLL_ADJ_DBAND,0.025
$VBD_MIN,485
$VBD_MAX,3959
$C_VBD,3329
$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,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$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,-20.366472
$PRESSURE_SLOPE,0.000116182
$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,25
$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,2
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.85000002
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,53
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-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,0.0043368833
$SEABIRD_T_H,0.00062128826
$SEABIRD_T_I,2.0815467e-05
$SEABIRD_T_J,1.8636994e-06
$SEABIRD_C_G,-9.9289675
$SEABIRD_C_H,1.1053493
$SEABIRD_C_I,-0.00075226114
$SEABIRD_C_J,0.00014976546
$GPS1,260510,210508,4806.877,-12222.688,12,1.6,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-74.5
$GPS2,260510,210937,4806.868,-12222.666,12,1.6,23,18.3
$SPEED_LIMITS,0.131,0.237
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.061,-0.229
$KALMAN_X,92.8,92.8,92.8,-116.2,230.9
$KALMAN_Y,-55.6,-55.6,-55.6,50.2,-138.3
$MHEAD_RNG_PITCHd_Wd,179.6,1807,-14.2,-7.576
$D_GRID,107
$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,-0.65,-146.0,0.0,0.0,0,149,0.00,0.00,-129.85,0.000,6,0.000,0.000,177,2142,3925,0,0,0,0,0,0
$GC,153,-0.65,-146.0,5.0,-5.7,19,170,10.18,2.35,0.00,0.000,4,0.244,0.074,2798,3562,3927,0,0,0,0,0,0
$GC,385,-0.58,-146.0,36.6,-10.4,62,394,0.10,2.28,0.00,0.000,6,0.145,0.053,2832,2139,3929,0,0,0,0,0,0
$GC,472,-0.58,-146.0,44.1,-8.0,78,480,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2139,3930,0,0,0,0,0,0
$GC,629,-0.64,-146.0,56.2,-7.5,109,636,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2139,3930,0,0,0,0,0,0
$GC,785,-0.70,-146.0,68.0,-7.2,140,792,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2138,3930,0,0,0,0,0,0
$GC,941,-0.78,-146.0,78.5,-6.8,171,948,0.17,0.00,0.00,0.000,6,0.087,0.000,2762,2139,3930,0,0,0,0,0,0
$GC,1102,-0.60,-146.0,99.3,-13.8,202,1111,0.25,0.00,0.00,0.000,6,0.163,0.000,2839,2137,3930,0,0,0,0,0,0
$STATE,1116,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1116,begin apogee
$GC,1122,-0.17,0.0,101.4,13.5,204,1233,0.38,0.00,107.62,0.649,6,0.129,0.000,2969,2209,3329,0,0,0,0,0,0
$STATE,1236,end apogee,CONTROL_FINISHED_OK
$STATE,1236,begin loiter
$STATE,1257,end loiter,LOITER_COMPLETE
$STATE,1258,begin climb
$GC,1260,0.65,146.0,105.8,0.0,224,1381,0.70,2.45,110.15,0.629,4,0.054,0.062,3260,792,2732,0,0,0,0,0,0
$GC,1494,0.01,146.0,78.7,20.0,264,1503,0.75,2.40,0.00,0.000,6,0.190,0.069,3038,2198,2731,0,0,0,0,0,0
$GC,1653,0.06,188.4,66.6,6.1,295,1695,0.00,2.42,32.72,0.609,4,0.000,0.079,3038,3621,2559,0,0,0,0,0,0
$GC,1717,0.19,235.2,62.8,5.9,305,1765,0.12,2.30,37.60,0.598,6,0.097,0.054,3099,2198,2368,0,0,0,0,0,0
$GC,1913,0.12,235.2,43.3,10.4,342,1921,0.12,2.33,0.00,0.000,4,0.168,0.061,3076,786,2364,0,0,0,0,0,0
$GC,1994,0.24,240.6,37.0,7.4,357,2010,0.00,2.35,4.68,0.456,6,0.000,0.063,3076,2192,2348,0,0,0,0,0,0
$GC,2091,0.28,240.6,29.8,7.7,374,2100,0.12,2.40,0.00,0.000,4,0.104,0.080,3129,3605,2348,0,0,0,0,0,0
$GC,2130,0.21,240.6,25.8,9.6,380,2140,0.12,2.30,0.00,0.000,6,0.158,0.054,3099,2194,2348,0,0,0,0,0,0
$GC,2221,0.17,240.6,17.5,8.4,396,2229,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2193,2347,0,0,0,0,0,0
$GC,2308,0.17,240.6,10.5,7.6,412,2317,0.00,2.25,0.00,0.000,4,0.000,0.059,3107,788,2346,0,0,0,0,0,0
$STATE,2559,end climb,NO_VERTICAL_VELOCITY
$STATE,2559,begin surface
$SM_CCo,2562,277.15,0.571,0,0,484,697.63
$SM_GC,1.89,8.05,0.00,0.00,0.056,0.000,0.000,173,2162,467,-8.87,0.34,702.05
$IRIDIUM_FIX,4748.51,-12224.57,191111,151555
$TT8_MAMPS,0.023219
$HUMID,1078258700
$INTERNAL_PRESSURE,9.1218
$TCM_TEMP,17.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.4,45.4
$24V_AH,24.6,0.392
$10V_AH,10.5,1.480
$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,21.075,28.300,292.775,277.150,0.000,0.000,0.000,0.000,0.500,0.000,25.828,1042.199,156.648,649.279,1089.880,96.071,30.175,1119.608,0.000,1082.655,0.000,5.548,0.000
$DEVICE_MAMPS,244.035,107.865,648.720,571.455,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,298.613,326.019,811.961,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324256
$DATA_FILE_SIZE,26942,460
$CAP_FILE_SIZE,77877,0
$CFSIZE,260165632,202915840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.080,338.7,1
$GPS,260510,220100,4806.734,-12222.958,36,1.1,41,18.3