version: 66.07
glider: 165
mission: 3
dive: 9
start: 5 27 110 3 7 43
data:
$ID,165
$MISSION,3
$DIVE,9
$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,-136363.88
$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,25
$R_STBD_OVSHOOT,20
$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
$GPS1,270510,030044,4806.691,-12222.473,12,1.5,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-75.9
$GPS2,270510,030644,4806.723,-12222.523,12,1.5,12,18.3
$SPEED_LIMITS,0.131,0.198
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.008,-0.198
$KALMAN_X,-781.8,-379.3,-103.6,1610.6,-224.5
$KALMAN_Y,2890.0,918.5,254.2,-4447.7,1186.1
$MHEAD_RNG_PITCHd_Wd,137.2,1487,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.67,-97.3,0.0,0.0,0,134,0.00,0.00,-113.10,0.000,6,0.000,0.000,176,2149,3727,0,0,0,0,0,0
$GC,137,-0.67,-97.3,4.4,-3.4,17,153,10.50,2.33,0.00,0.000,4,0.256,0.052,2775,730,3728,0,0,0,0,0,0
$GC,162,-0.67,-97.3,9.7,-9.8,20,169,0.00,2.35,0.00,0.000,6,0.000,0.059,2769,2144,3730,0,0,0,0,0,0
$GC,250,-0.67,-97.3,20.9,-10.9,36,258,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2144,3730,0,0,0,0,0,0
$GC,338,-0.67,-97.3,31.3,-12.2,52,346,0.00,2.38,0.00,0.000,4,0.000,0.073,2758,3569,3730,0,0,0,0,0,0
$GC,369,-0.67,-97.3,35.7,-13.2,57,377,0.00,2.25,0.00,0.000,6,0.000,0.047,2758,2170,3730,0,0,0,0,0,0
$GC,453,-0.67,-97.3,47.1,-13.6,73,459,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,2170,3730,0,0,0,0,0,0
$GC,603,-0.67,-97.3,68.4,-14.3,104,611,0.00,2.30,0.00,0.000,4,0.000,0.058,2758,738,3730,0,0,0,0,0,0
$GC,656,-0.67,-97.3,75.9,-14.2,114,664,0.00,2.35,0.00,0.000,6,0.000,0.062,2756,2157,3730,0,0,0,0,0,0
$STATE,691,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,691,begin apogee
$GC,697,-0.16,0.0,80.6,13.6,120,778,0.57,0.00,73.25,0.633,6,0.173,0.000,2930,2077,3328,0,0,0,0,0,0
$STATE,778,end apogee,CONTROL_FINISHED_OK
$STATE,779,begin loiter
$STATE,800,end loiter,LOITER_COMPLETE
$STATE,800,begin climb
$GC,802,0.67,97.3,85.0,0.0,136,883,0.77,0.00,73.93,0.618,6,0.095,0.000,3199,2077,2931,0,0,0,0,0,0
$GC,1028,0.67,97.3,64.7,12.7,178,1035,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,2077,2930,0,0,0,0,0,0
$GC,1179,0.67,97.3,46.7,11.9,209,1186,0.00,2.38,0.00,0.000,4,0.000,0.070,3199,3498,2929,0,0,0,0,0,0
$GC,1233,0.67,97.3,39.5,13.3,219,1242,0.00,2.30,0.00,0.000,6,0.000,0.053,3209,2090,2929,0,0,0,0,0,0
$GC,1322,0.67,97.3,29.3,11.3,235,1330,0.00,0.00,0.00,0.000,6,0.000,0.000,3209,2090,2930,0,0,0,0,0,0
$GC,1409,0.67,97.3,19.6,10.8,251,1418,0.00,2.35,0.00,0.000,4,0.000,0.068,3209,3498,2929,0,0,0,0,0,0
$GC,1540,0.67,97.3,6.5,8.4,275,1548,0.00,2.22,0.00,0.000,6,0.000,0.052,3218,2120,2929,0,0,0,0,0,0
$GC,1629,0.90,282.3,5.0,-2.1,291,1707,0.17,0.00,75.57,0.594,2,0.097,0.000,3285,2120,2520,0,0,0,0,0,0
$STATE,1708,end climb,SURFACE_DEPTH_REACHED
$STATE,1708,begin surface coast
$FINISH,3.3,1.007043
$STATE,1904,end surface coast,NO_VERTICAL_VELOCITY
$STATE,1904,begin surface
$SM_CCo,1924,212.68,0.564,0,0,882,600.00
$SM_GC,1.81,0.00,0.00,212.68,0.000,0.000,0.564,173,2152,882,-8.81,0.06,600.00
$IRIDIUM_FIX,4748.51,-12226.29,191111,202028
$TT8_MAMPS,0.023968
$HUMID,1078213539
$INTERNAL_PRESSURE,9.13157
$TCM_TEMP,17.60
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,80.6,6.7
$24V_AH,24.5,1.055
$10V_AH,10.5,1.878
$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,21.100,23.375,222.750,212.675,0.000,30.949,25.702,176.470,0.750,0.000,14.926,774.123,24.396,512.785,1050.191,150.856,33.302,885.924,0.000,830.399,0.000,5.434,0.000
$DEVICE_MAMPS,256.275,147.645,632.655,563.805,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,218.788,265.642,661.731,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323772
$DATA_FILE_SIZE,20363,338
$CAP_FILE_SIZE,44914,0
$CFSIZE,260165632,202727424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.061,332.9,1
$GPS,270510,034408,4806.655,-12222.455,9,1.3,9,18.3