version: 66.07
glider: 165
mission: 3
dive: 7
start: 5 27 110 1 43 29
data:
$ID,165
$MISSION,3
$DIVE,7
$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,-136361.38
$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,24
$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
$GPS1,270510,013606,4806.762,-12222.511,29,1.0,33,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-78.0
$GPS2,270510,014231,4806.801,-12222.546,10,2.0,15,18.3
$SPEED_LIMITS,0.131,0.198
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.054,-0.190
$KALMAN_X,-759.3,-174.0,-66.0,1318.7,-348.4
$KALMAN_Y,2195.4,448.2,110.7,-2999.0,1050.6
$MHEAD_RNG_PITCHd_Wd,142.9,1630,-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,-97.3,0.0,0.0,0,121,0.00,0.00,-102.90,0.000,2,0.000,0.000,171,2160,3620,0,0,0,0,0,0
$GC,124,-0.67,-97.3,5.0,-5.5,15,149,10.35,2.38,-2.60,0.000,4,0.252,0.085,2755,3565,3729,0,0,0,0,0,0
$GC,194,-0.67,-97.3,14.0,-12.7,26,202,0.00,2.30,0.00,0.000,6,0.000,0.051,2755,2149,3730,0,0,0,0,0,0
$GC,281,-0.67,-97.3,24.8,-12.5,42,289,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2149,3731,0,0,0,0,0,0
$GC,369,-0.67,-97.3,36.2,-13.4,58,376,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2149,3731,0,0,0,0,0,0
$GC,452,-0.67,-97.3,48.1,-14.2,74,459,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2149,3732,0,0,0,0,0,0
$GC,604,-0.67,-97.3,70.1,-14.5,105,611,0.00,2.25,0.00,0.000,4,0.000,0.060,2755,736,3733,0,0,0,0,0,0
$GC,642,-0.67,-97.3,76.1,-15.0,112,651,0.00,2.33,0.00,0.000,6,0.000,0.065,2752,2136,3732,0,0,0,0,0,0
$STATE,674,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,674,begin apogee
$GC,681,-0.16,0.0,80.1,14.3,117,761,0.60,0.00,73.62,0.632,6,0.172,0.000,2933,2075,3328,0,0,0,0,0,0
$STATE,762,end apogee,CONTROL_FINISHED_OK
$STATE,762,begin loiter
$STATE,782,end loiter,LOITER_COMPLETE
$STATE,782,begin climb
$GC,785,0.67,97.3,84.9,0.0,133,864,0.77,0.00,73.82,0.617,6,0.090,0.000,3205,2075,2931,0,0,0,0,0,0
$GC,1010,0.67,97.3,64.9,12.4,175,1017,0.00,2.40,0.00,0.000,4,0.000,0.073,3204,3492,2931,0,0,0,0,0,0
$GC,1068,0.67,97.3,57.0,13.6,186,1076,0.00,2.30,0.00,0.000,6,0.000,0.054,3214,2095,2930,0,0,0,0,0,0
$GC,1225,0.67,97.3,37.2,12.7,217,1233,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2094,2930,0,0,0,0,0,0
$GC,1313,0.67,97.3,26.8,12.2,233,1322,0.00,2.35,0.00,0.000,4,0.000,0.070,3214,3495,2930,0,0,0,0,0,0
$GC,1479,0.67,97.3,8.5,8.0,264,1487,0.00,2.30,0.00,0.000,6,0.000,0.054,3224,2073,2929,0,0,0,0,0,0
$GC,1570,0.86,248.3,6.4,-0.3,280,1686,0.12,0.00,113.45,0.589,2,0.116,0.000,3271,2072,2319,0,0,0,0,0,0
$STATE,1687,end climb,SURFACE_DEPTH_REACHED
$STATE,1687,begin surface coast
$FINISH,3.6,1.006981
$STATE,1773,end surface coast,CONTROL_FINISHED_OK
$STATE,1774,begin surface
$SM_CCo,1792,209.25,0.562,0,0,882,600.00
$SM_GC,2.39,0.00,0.00,209.25,0.000,0.000,0.562,179,2158,882,-8.79,0.23,600.00
$IRIDIUM_FIX,4748.51,-12217.40,191111,191959
$TT8_MAMPS,0.023968
$HUMID,1078209668
$INTERNAL_PRESSURE,9.13157
$TCM_TEMP,17.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.1,7.0
$24V_AH,24.5,0.880
$10V_AH,10.4,1.775
$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,20.825,18.850,260.900,209.250,0.000,30.306,25.064,199.484,0.500,0.000,18.318,696.462,28.010,519.551,1010.891,145.589,33.329,879.748,0.000,762.815,0.000,5.436,0.000
$DEVICE_MAMPS,251.685,93.330,631.890,562.275,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,200.505,240.208,598.147,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,16947,311
$CAP_FILE_SIZE,42609,0
$CFSIZE,260165632,202784768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.053,357.7,1
$GPS,270510,021743,4806.735,-12222.470,7,1.2,12,18.3