version: 66.07
glider: 165
mission: 3
dive: 17
start: 5 27 110 10 11 31
data:
$ID,165
$MISSION,3
$DIVE,17
$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,-136376.88
$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,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
$GPS1,270510,095736,4806.828,-12222.375,14,1.0,30,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-79.6
$GPS2,270510,101032,4806.983,-12222.578,12,0.9,12,18.3
$SPEED_LIMITS,0.131,0.198
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.005,-0.198
$KALMAN_X,-14.1,-9.2,233.5,74.2,24.0
$KALMAN_Y,9463.7,-47.4,-450.5,-8883.5,469.0
$MHEAD_RNG_PITCHd_Wd,142.8,1956,-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,15,-0.57,-97.3,0.0,0.0,0,114,0.00,0.00,-96.00,0.000,2,0.000,0.000,176,2118,3349,0,0,0,0,0,0
$GC,118,-0.57,-97.3,5.2,-5.3,14,142,10.23,0.00,-9.05,0.000,6,0.247,0.000,2761,2110,3728,0,0,0,0,0,0
$GC,221,-0.57,-97.3,16.6,-13.5,32,229,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2111,3729,0,0,0,0,0,0
$GC,309,-0.57,-97.3,28.1,-14.1,48,318,0.00,2.40,0.00,0.000,4,0.000,0.067,2752,3557,3729,0,0,0,0,0,0
$GC,352,-0.57,-97.3,34.3,-14.0,55,360,0.00,2.25,0.00,0.000,6,0.000,0.046,2752,2150,3729,0,0,0,0,0,0
$GC,439,-0.57,-97.3,46.6,-14.4,71,445,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2150,3728,0,0,0,0,0,0
$GC,591,-0.57,-97.3,68.5,-14.3,102,598,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2149,3729,0,0,0,0,0,0
$GC,751,-0.57,-97.3,90.4,-13.0,133,758,0.00,2.22,0.00,0.000,4,0.000,0.054,2752,736,3729,0,0,0,0,0,0
$GC,770,-0.57,-97.3,93.7,-13.9,136,779,0.00,2.28,0.00,0.000,6,0.000,0.054,2743,2137,3729,0,0,0,0,0,0
$STATE,871,end dive,TARGET_DEPTH_EXCEEDED
$STATE,871,begin apogee
$GC,878,-0.13,0.0,108.1,13.8,156,955,0.52,0.00,73.35,0.660,6,0.170,0.000,2903,2068,3328,0,0,0,0,0,0
$STATE,956,end apogee,CONTROL_FINISHED_OK
$STATE,956,begin loiter
$STATE,979,end loiter,LOITER_COMPLETE
$STATE,979,begin climb
$GC,981,0.57,97.3,112.7,0.0,171,1063,0.68,0.00,74.30,0.641,6,0.104,0.000,3135,2068,2930,0,0,0,0,0,0
$GC,1209,0.57,97.3,94.2,10.8,213,1216,0.00,2.35,0.00,0.000,4,0.000,0.065,3135,3489,2929,0,0,0,0,0,0
$GC,1259,0.57,97.3,88.5,11.1,222,1267,0.00,2.28,0.00,0.000,6,0.000,0.047,3144,2098,2929,0,0,0,0,0,0
$GC,1415,0.57,97.3,72.2,10.2,253,1421,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,2098,2929,0,0,0,0,0,0
$GC,1572,0.57,97.3,57.3,9.7,284,1580,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,2098,2929,0,0,0,0,0,0
$GC,1730,0.57,97.3,42.2,9.3,315,1737,0.00,2.28,0.00,0.000,4,0.000,0.062,3144,3494,2929,0,0,0,0,0,0
$GC,1774,0.57,97.3,38.1,9.7,322,1782,0.00,2.22,0.00,0.000,6,0.000,0.048,3153,2111,2928,0,0,0,0,0,0
$GC,1862,0.57,97.3,30.0,8.9,338,1869,0.00,0.00,0.00,0.000,6,0.000,0.000,3153,2111,2928,0,0,0,0,0,0
$GC,1948,0.59,109.0,23.5,7.0,354,1964,0.00,2.33,9.73,0.578,4,0.000,0.056,3164,656,2884,0,0,0,0,0,0
$GC,1984,0.63,141.5,21.5,5.9,359,2015,0.00,2.38,25.60,0.601,6,0.000,0.053,3164,2114,2751,0,0,0,0,0,0
$GC,2096,0.63,141.5,11.7,9.4,378,2104,0.00,2.28,0.00,0.000,4,0.000,0.064,3164,3494,2750,0,0,0,0,0,0
$GC,2135,0.63,141.5,8.3,8.8,384,2143,0.00,2.30,0.00,0.000,6,0.000,0.049,3174,2071,2750,0,0,0,0,0,0
$GC,2223,0.83,302.8,4.5,-0.9,400,2310,0.15,0.00,83.50,0.593,2,0.096,0.000,3234,2069,2306,0,0,0,0,0,0
$STATE,2311,end climb,SURFACE_DEPTH_REACHED
$STATE,2311,begin surface coast
$FINISH,4.2,1.006944
$STATE,2580,end surface coast,CONTROL_FINISHED_OK
$STATE,2580,begin surface
$SM_CCo,2583,284.90,0.565,0,0,484,697.63
$SM_GC,1.54,8.45,0.00,0.00,0.052,0.000,0.000,177,2170,468,-8.63,0.57,701.80
$IRIDIUM_FIX,4748.51,-12224.57,201111,040423
$TT8_MAMPS,0.023219
$HUMID,1078168377
$INTERNAL_PRESSURE,9.0925
$TCM_TEMP,17.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,75.6,7.8
$24V_AH,24.4,1.873
$10V_AH,10.4,2.375
$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,20.025,27.800,266.475,284.900,0.000,83.520,188.734,238.592,0.500,0.000,16.345,1070.427,282.656,619.394,1593.794,196.324,33.313,1088.685,0.000,1104.223,0.000,5.442,0.000
$DEVICE_MAMPS,247.095,91.035,660.195,565.335,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,300.148,340.408,847.552,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323988
$DATA_FILE_SIZE,26941,461
$CAP_FILE_SIZE,58707,0
$CFSIZE,260165632,202444800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.096,340.5,1
$GPS,270510,110206,4806.938,-12222.560,11,1.7,21,18.3