version: 66.07
glider: 165
mission: 3
dive: 5
start: 5 27 110 0 4 34
data:
$ID,165
$MISSION,3
$DIVE,5
$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,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,100
$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,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,-136358.88
$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,2990
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,32
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,200
$ROLL_MAX,3692
$ROLL_DEG,40
$C_ROLL_DIVE,2150
$C_ROLL_CLIMB,2080
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,19
$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,10
$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
$GPS1,260510,235714,4806.780,-12222.653,12,1.1,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-77.6
$GPS2,270510,000338,4806.809,-12222.652,7,1.2,7,18.3
$SPEED_LIMITS,0.131,0.198
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.089,-0.176
$KALMAN_X,-427.9,-94.2,-8.9,720.8,-332.2
$KALMAN_Y,979.5,304.7,34.6,-1557.2,658.1
$MHEAD_RNG_PITCHd_Wd,141.1,1701,-17.8,-7.576
$D_GRID,150
$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,15,-0.67,-97.3,0.0,0.0,0,114,0.00,0.00,-95.95,0.000,2,0.000,0.000,180,2141,3377,0,0,0,0,0,0
$GC,117,-0.67,-97.3,5.0,-5.1,14,148,10.40,2.30,-8.45,0.000,4,0.254,0.067,2765,732,3728,0,0,0,0,0,0
$GC,357,-0.67,-97.3,34.6,-12.0,58,365,0.00,2.35,0.00,0.000,6,0.000,0.062,2759,2149,3730,0,0,0,0,0,0
$GC,441,-0.67,-97.3,45.7,-13.4,74,449,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,2149,3730,0,0,0,0,0,0
$GC,596,-0.67,-97.3,67.0,-14.1,105,602,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,2149,3731,0,0,0,0,0,0
$GC,752,-0.67,-97.3,89.0,-13.9,136,759,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,2149,3731,0,0,0,0,0,0
$GC,907,-0.67,-97.3,108.9,-12.6,167,913,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,2149,3731,0,0,0,0,0,0
$STATE,942,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,942,begin apogee
$GC,948,-0.16,0.0,114.1,12.7,174,1028,0.55,0.00,73.32,0.659,6,0.164,0.000,2930,2072,3329,0,0,0,0,0,0
$STATE,1029,end apogee,CONTROL_FINISHED_OK
$STATE,1029,begin loiter
$STATE,1050,end loiter,LOITER_COMPLETE
$STATE,1050,begin climb
$GC,1052,0.67,97.3,117.1,0.0,190,1133,0.77,0.00,73.93,0.640,6,0.086,0.000,3206,2073,2931,0,0,0,0,0,0
$GC,1279,0.67,97.3,93.3,14.3,232,1287,0.00,2.42,0.00,0.000,4,0.000,0.073,3206,3490,2930,0,0,0,0,0,0
$GC,1356,0.67,97.3,82.1,14.6,247,1363,0.00,2.30,0.00,0.000,6,0.000,0.054,3215,2082,2930,0,0,0,0,0,0
$GC,1509,0.67,97.3,62.0,12.7,278,1516,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,2082,2930,0,0,0,0,0,0
$GC,1662,0.67,97.3,43.4,12.2,309,1669,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,2082,2929,0,0,0,0,0,0
$GC,1826,0.67,97.3,24.8,11.3,340,1834,0.00,2.35,0.00,0.000,4,0.000,0.071,3215,3491,2929,0,0,0,0,0,0
$GC,2135,0.90,281.5,7.1,-2.0,398,2285,0.12,2.28,139.68,0.592,6,0.082,0.053,3281,2076,2179,0,0,0,0,0,0
$STATE,2301,end climb,SURFACE_DEPTH_REACHED
$STATE,2301,begin surface coast
$FINISH,3.4,1.006959
$STATE,2463,end surface coast,NO_VERTICAL_VELOCITY
$STATE,2463,begin surface
$SM_CCo,2481,164.32,0.565,0,0,883,600.00
$SM_GC,2.10,0.00,0.00,164.32,0.000,0.000,0.565,179,2167,883,-8.79,0.48,600.00
$IRIDIUM_FIX,4748.51,-12221.84,191111,171748
$TT8_MAMPS,0.023968
$HUMID,1078240635
$INTERNAL_PRESSURE,9.14133
$TCM_TEMP,17.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.6,43.5
$24V_AH,24.5,0.697
$10V_AH,10.4,1.670
$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,20.700,14.275,286.925,164.325,0.000,24.597,22.903,201.322,0.500,0.000,11.618,1022.909,46.520,489.644,1310.159,171.639,33.311,937.548,0.000,1078.733,0.000,5.539,0.000
$DEVICE_MAMPS,253.980,97.155,658.665,565.335,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,293.576,334.236,832.390,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323836
$DATA_FILE_SIZE,26970,451
$CAP_FILE_SIZE,49072,0
$CFSIZE,260165632,202838016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.087,352.1,1
$GPS,270510,004949,4806.762,-12222.540,13,1.9,30,18.3