version: 66.07
glider: 165
mission: 3
dive: 12
start: 5 27 110 5 30 52
data:
$ID,165
$MISSION,3
$DIVE,12
$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,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,-136367.62
$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,37
$R_STBD_OVSHOOT,31
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$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
$GPS1,270510,051714,4806.650,-12222.395,9,1.5,9,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-77.5
$GPS2,270510,052956,4806.795,-12222.492,10,1.5,10,18.3
$SPEED_LIMITS,0.131,0.198
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.086,-0.178
$KALMAN_X,42.5,-593.9,-200.4,1135.6,284.4
$KALMAN_Y,4374.0,1254.4,473.7,-6353.8,402.4
$MHEAD_RNG_PITCHd_Wd,142.8,1594,-17.8,-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,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,-118.53,0.000,6,0.000,0.000,180,2154,3726,0,0,0,0,0,0
$GC,146,-0.67,-97.3,4.4,-3.4,18,162,10.55,0.00,0.00,0.000,6,0.261,0.000,2763,2148,3728,0,0,0,0,0,0
$GC,242,-0.67,-97.3,21.7,-12.4,35,250,0.00,2.35,0.00,0.000,4,0.000,0.070,2755,3556,3728,0,0,0,0,0,0
$GC,263,-0.67,-97.3,24.5,-12.6,38,271,0.00,2.20,0.00,0.000,6,0.000,0.047,2755,2185,3728,0,0,0,0,0,0
$GC,353,-0.67,-97.3,36.0,-13.0,54,361,0.00,2.28,0.00,0.000,4,0.000,0.068,2745,3554,3728,0,0,0,0,0,0
$GC,369,-0.67,-97.3,38.4,-13.6,56,378,0.00,2.20,0.00,0.000,6,0.000,0.047,2746,2177,3728,0,0,0,0,0,0
$GC,454,-0.67,-97.3,50.9,-14.4,72,463,0.00,2.30,0.00,0.000,4,0.000,0.055,2748,741,3729,0,0,0,0,0,0
$GC,469,-0.67,-97.3,53.3,-14.3,74,478,0.08,2.33,0.00,0.000,6,0.197,0.057,2761,2155,3729,0,0,0,0,0,0
$GC,630,-0.67,-97.3,74.7,-13.4,105,636,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2157,3729,0,0,0,0,0,0
$GC,784,-0.67,-97.3,95.5,-12.9,136,793,0.00,2.33,0.00,0.000,4,0.000,0.073,2753,3567,3729,0,0,0,0,0,0
$GC,800,-0.67,-97.3,97.7,-12.9,138,808,0.00,2.22,0.00,0.000,6,0.000,0.047,2753,2171,3729,0,0,0,0,0,0
$STATE,871,end dive,TARGET_DEPTH_EXCEEDED
$STATE,871,begin apogee
$GC,877,-0.16,0.0,107.3,12.3,152,959,0.57,0.00,73.43,0.658,6,0.168,0.000,2930,2070,3329,0,0,0,0,0,0
$STATE,959,end apogee,CONTROL_FINISHED_OK
$STATE,959,begin loiter
$STATE,980,end loiter,LOITER_COMPLETE
$STATE,980,begin climb
$GC,982,0.67,97.3,110.7,0.0,168,1064,0.77,2.40,74.32,0.640,4,0.088,0.060,3213,678,2931,0,0,0,0,0,0
$GC,1102,0.67,97.3,102.5,11.6,187,1109,0.00,2.35,0.00,0.000,6,0.000,0.059,3212,2083,2930,0,0,0,0,0,0
$GC,1256,0.67,97.3,80.2,14.1,218,1264,0.00,2.38,0.00,0.000,4,0.000,0.070,3212,3493,2929,0,0,0,0,0,0
$GC,1353,0.67,97.3,66.3,15.2,237,1360,0.00,2.28,0.00,0.000,6,0.000,0.051,3221,2088,2929,0,0,0,0,0,0
$GC,1510,0.67,97.3,45.0,13.3,268,1519,0.00,0.00,0.00,0.000,6,0.000,0.000,3221,2088,2929,0,0,0,0,0,0
$GC,1674,0.67,97.3,25.5,11.8,299,1682,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,2088,2929,0,0,0,0,0,0
$GC,1762,0.67,97.3,16.2,9.3,315,1770,0.00,2.33,0.00,0.000,4,0.000,0.066,3222,3491,2928,0,0,0,0,0,0
$STATE,1900,end climb,SURFACE_DEPTH_REACHED
$STATE,1900,begin surface coast
$FINISH,3.3,1.007138
$STATE,1927,end surface coast,CONTROL_FINISHED_OK
$STATE,1928,begin surface
$SM_CCo,1948,301.35,0.575,0,0,881,600.00
$SM_GC,1.71,0.00,0.00,301.35,0.000,0.000,0.575,175,2138,881,-8.80,-0.34,600.00
$IRIDIUM_FIX,4751.72,-12219.12,191111,232359
$TT8_MAMPS,0.023968
$HUMID,1078183861
$INTERNAL_PRESSURE,9.11204
$TCM_TEMP,17.30
$XPDR_PINGS,0
$24V_AH,24.4,1.341
$10V_AH,10.5,2.038
$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,20.800,32.225,147.750,301.350,0.000,88.468,191.098,223.334,0.000,0.000,12.633,810.208,176.148,564.533,1308.819,162.350,33.317,931.915,0.000,817.451,0.000,0.537,0.000
$DEVICE_MAMPS,260.865,94.095,657.900,575.280,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,224.702,242.207,603.264,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20413,346
$CAP_FILE_SIZE,48229,0
$CFSIZE,260165632,202633216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.070,346.7,1
$GPS,270510,060908,4806.704,-12222.427,7,2.0,7,18.3