version: 66.07
glider: 165
mission: 3
dive: 15
start: 5 27 110 8 6 31
data:
$ID,165
$MISSION,3
$DIVE,15
$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,-136372.95
$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,2956
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,39
$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,38
$R_STBD_OVSHOOT,27
$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,75
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,3
$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
$GPS1,270510,075822,4806.785,-12222.434,8,3.0,27,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-76.0
$GPS2,270510,080534,4806.826,-12222.454,10,2.4,29,18.3
$SPEED_LIMITS,0.131,0.198
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.062,-0.188
$KALMAN_X,269.2,-330.9,119.9,376.0,256.1
$KALMAN_Y,7270.2,622.2,-259.2,-7834.7,319.0
$MHEAD_RNG_PITCHd_Wd,143.1,1629,-17.8,-7.576
$D_GRID,108
$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,16,-0.57,-97.3,0.0,0.0,0,128,0.00,0.00,-110.32,0.000,2,0.000,0.000,180,2129,3145,0,0,0,0,0,0
$GC,131,-0.57,-97.3,5.0,-5.4,16,163,10.75,2.22,-11.30,0.000,4,0.267,0.067,2761,735,3726,0,0,0,0,0,0
$GC,213,-0.57,-97.3,13.3,-1.4,29,221,0.00,2.33,0.00,0.000,6,0.000,0.055,2754,2145,3727,0,0,0,0,0,0
$GC,301,-0.57,-97.3,23.4,-13.1,45,308,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2145,3727,0,0,0,0,0,0
$GC,390,-0.57,-97.3,37.5,-16.4,61,398,0.00,2.33,0.00,0.000,4,0.000,0.068,2744,3557,3728,0,0,0,0,0,0
$GC,453,-0.57,-97.3,48.7,-18.0,73,460,0.00,2.22,0.00,0.000,6,0.000,0.047,2743,2154,3728,0,0,0,0,0,0
$GC,603,-0.57,-97.3,73.3,-16.5,104,611,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2154,3728,0,0,0,0,0,0
$GC,764,-0.57,-97.3,98.2,-15.0,135,771,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2153,3728,0,0,0,0,0,0
$STATE,834,end dive,TARGET_DEPTH_EXCEEDED
$STATE,834,begin apogee
$GC,841,-0.13,0.0,108.3,13.8,149,921,0.52,0.00,73.12,0.659,6,0.175,0.000,2901,2072,3328,0,0,0,0,0,0
$STATE,922,end apogee,CONTROL_FINISHED_OK
$STATE,922,begin loiter
$STATE,943,end loiter,LOITER_COMPLETE
$STATE,943,begin climb
$GC,945,0.57,97.3,113.0,0.0,165,1026,0.68,0.00,74.18,0.641,6,0.107,0.000,3133,2072,2931,0,0,0,0,0,0
$GC,1171,0.57,97.3,93.8,10.9,207,1178,0.00,2.38,0.00,0.000,4,0.000,0.066,3133,3500,2930,0,0,0,0,0,0
$GC,1228,0.57,97.3,86.5,12.5,218,1236,0.00,2.33,0.00,0.000,6,0.000,0.050,3143,2082,2930,0,0,0,0,0,0
$GC,1383,0.57,97.3,69.4,10.5,249,1389,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,2083,2930,0,0,0,0,0,0
$GC,1534,0.57,97.3,54.1,9.8,280,1542,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,2083,2929,0,0,0,0,0,0
$GC,1688,0.57,97.3,40.1,8.5,311,1695,0.00,2.30,0.00,0.000,4,0.000,0.063,3143,3493,2929,0,0,0,0,0,0
$GC,1750,0.57,97.3,34.2,9.2,322,1758,0.00,2.28,0.00,0.000,6,0.000,0.049,3152,2083,2929,0,0,0,0,0,0
$GC,1839,0.57,97.3,25.5,10.3,338,1846,0.00,0.00,0.00,0.000,6,0.000,0.000,3152,2083,2929,0,0,0,0,0,0
$GC,1925,0.57,97.3,18.3,7.6,354,1933,0.00,0.00,0.00,0.000,6,0.000,0.000,3152,2083,2929,0,0,0,0,0,0
$GC,2012,0.62,130.6,11.9,5.8,370,2043,0.00,2.38,25.48,0.607,4,0.000,0.061,3152,3495,2795,0,0,0,0,0,0
$GC,2345,0.87,334.9,8.6,-3.1,431,2516,0.17,2.28,157.88,0.594,6,0.073,0.049,3237,2078,1960,0,0,0,0,0,0
$GC,2599,1.06,488.9,4.5,-0.5,468,2631,0.17,0.00,29.25,0.567,2,0.084,0.000,3308,2078,1812,0,0,0,0,0,0
$STATE,2632,end climb,SURFACE_DEPTH_REACHED
$STATE,2632,begin surface coast
$FINISH,0.7,1.003236
$STATE,2893,end surface coast,CONTROL_FINISHED_OK
$STATE,2893,begin surface
$SM_CCo,2912,153.15,0.569,0,0,883,600.00
$SM_GC,1.72,0.00,0.00,153.15,0.000,0.000,0.569,173,2167,883,-8.70,0.48,600.00
$IRIDIUM_FIX,4751.72,-12219.12,201111,010118
$TT8_MAMPS,0.023968
$HUMID,1078217410
$INTERNAL_PRESSURE,9.1511
$TCM_TEMP,18.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,90.1,44.7
$24V_AH,24.5,1.653
$10V_AH,10.4,2.233
$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,20.900,23.250,359.900,153.150,0.000,28.286,24.960,219.226,1.500,0.000,33.028,1175.163,43.413,554.890,1538.830,196.313,33.329,1087.428,0.000,1266.741,0.000,13.026,0.000
$DEVICE_MAMPS,266.985,98.685,659.430,569.160,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,339.469,405.637,1010.492,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323960
$DATA_FILE_SIZE,30260,522
$CAP_FILE_SIZE,58717,0
$CFSIZE,260165632,202514432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.094,344.6,1
$GPS,270510,085826,4806.785,-12222.387,10,1.2,10,18.3