version: 66.07
glider: 165
mission: 3
dive: 10
start: 5 27 110 3 51 28
data:
$ID,165
$MISSION,3
$DIVE,10
$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,-136365.12
$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,29
$R_STBD_OVSHOOT,28
$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
$GPS1,270510,034408,4806.655,-12222.455,9,1.3,9,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-74.3
$GPS2,270510,035032,4806.702,-12222.502,16,1.3,16,18.3
$SPEED_LIMITS,0.131,0.198
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.029,-0.196
$KALMAN_X,-640.2,-470.9,-135.0,1618.5,-77.6
$KALMAN_Y,3277.7,1110.2,374.0,-5186.6,1177.9
$MHEAD_RNG_PITCHd_Wd,135.7,1441,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.67,-97.3,0.0,0.0,0,142,0.00,0.00,-118.32,0.000,6,0.000,0.000,171,2155,3726,0,0,0,0,0,0
$GC,145,-0.67,-97.3,4.7,-3.9,17,160,10.52,0.00,0.00,0.000,6,0.257,0.000,2766,2152,3727,0,0,0,0,0,0
$GC,240,-0.67,-97.3,22.0,-12.0,34,248,0.00,2.35,0.00,0.000,4,0.000,0.073,2758,3555,3729,0,0,0,0,0,0
$GC,283,-0.67,-97.3,27.0,-12.4,41,290,0.00,2.28,0.00,0.000,6,0.000,0.050,2758,2149,3729,0,0,0,0,0,0
$GC,372,-0.67,-97.3,38.7,-13.3,57,379,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,2149,3730,0,0,0,0,0,0
$GC,454,-0.67,-97.3,50.0,-13.8,73,461,0.00,2.25,0.00,0.000,4,0.000,0.059,2758,738,3730,0,0,0,0,0,0
$GC,493,-0.67,-97.3,55.7,-14.3,80,502,0.00,2.33,0.00,0.000,6,0.000,0.061,2752,2138,3730,0,0,0,0,0,0
$GC,656,-0.67,-97.3,79.0,-14.4,111,667,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2138,3730,0,0,0,0,0,0
$STATE,673,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,673,begin apogee
$GC,680,-0.16,0.0,81.9,14.3,113,761,0.60,0.00,73.60,0.635,6,0.172,0.000,2934,2076,3329,0,0,0,0,0,0
$STATE,762,end apogee,CONTROL_FINISHED_OK
$STATE,762,begin loiter
$STATE,782,end loiter,LOITER_COMPLETE
$STATE,783,begin climb
$GC,785,0.67,97.3,85.8,0.0,129,865,0.77,0.00,73.97,0.620,6,0.091,0.000,3205,2076,2932,0,0,0,0,0,0
$GC,1015,0.67,97.3,65.1,12.5,171,1021,0.00,2.38,0.00,0.000,4,0.000,0.070,3205,3495,2930,0,0,0,0,0,0
$GC,1072,0.67,97.3,57.2,13.4,182,1080,0.00,2.33,0.00,0.000,6,0.000,0.053,3214,2086,2930,0,0,0,0,0,0
$GC,1229,0.67,97.3,37.4,12.4,213,1237,0.00,2.33,0.00,0.000,4,0.000,0.060,3225,660,2930,0,0,0,0,0,0
$GC,1287,0.67,97.3,30.5,11.7,223,1295,0.00,2.33,0.00,0.000,6,0.000,0.058,3225,2067,2930,0,0,0,0,0,0
$GC,1376,0.67,97.3,20.8,11.2,239,1384,0.00,2.35,0.00,0.000,4,0.000,0.070,3225,3485,2930,0,0,0,0,0,0
$STATE,1549,end climb,SURFACE_DEPTH_REACHED
$STATE,1550,begin surface coast
$FINISH,6.2,1.007159
$STATE,1643,end surface coast,CONTROL_FINISHED_OK
$STATE,1643,begin surface
$SM_CCo,1647,360.17,0.568,0,0,485,697.63
$SM_GC,1.74,8.50,0.00,0.00,0.058,0.000,0.000,178,2131,477,-8.74,-0.54,699.60
$IRIDIUM_FIX,4748.51,-12221.84,191111,212130
$TT8_MAMPS,0.023219
$HUMID,1078235474
$INTERNAL_PRESSURE,9.10227
$TCM_TEMP,17.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.3,6.7
$24V_AH,24.4,1.153
$10V_AH,10.5,1.925
$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,20.400,23.275,147.575,360.175,0.000,30.663,25.334,195.202,0.500,0.000,18.583,680.110,131.902,609.279,946.107,144.661,33.307,926.899,0.000,702.929,0.000,5.423,0.000
$DEVICE_MAMPS,257.040,92.565,634.950,567.630,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,187.285,217.645,542.120,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,17053,289
$CAP_FILE_SIZE,40793,0
$CFSIZE,260165632,202706944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.105,339.3,1
$GPS,270510,042806,4806.668,-12222.451,37,1.9,42,18.3