version: 66.07
glider: 165
mission: 3
dive: 18
start: 5 27 110 11 10 33
data:
$ID,165
$MISSION,3
$DIVE,18
$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,-136378.12
$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,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,34
$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,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
$GPS1,270510,110206,4806.938,-12222.560,11,1.7,21,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-78.2
$GPS2,270510,110936,4807.032,-12222.613,10,1.7,26,18.3
$SPEED_LIMITS,0.131,0.198
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.024,-0.196
$KALMAN_X,-149.2,117.2,187.9,82.6,-88.5
$KALMAN_Y,10259.1,-306.1,-338.7,-9436.4,610.1
$MHEAD_RNG_PITCHd_Wd,141.1,2056,-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,-97.3,0.0,0.0,0,148,0.00,0.00,-130.35,0.000,2,0.000,0.000,177,2170,3711,0,0,0,0,0,0
$GC,151,-0.57,-97.3,5.2,-5.6,19,168,10.60,0.00,-0.35,0.000,6,0.260,0.000,2763,2164,3728,0,0,0,0,0,0
$GC,248,-0.57,-97.3,20.9,-12.4,36,256,0.00,2.30,0.00,0.000,4,0.000,0.066,2755,3554,3730,0,0,0,0,0,0
$GC,295,-0.57,-97.3,26.9,-12.6,44,303,0.00,2.25,0.00,0.000,6,0.000,0.046,2755,2150,3730,0,0,0,0,0,0
$GC,385,-0.57,-97.3,38.8,-14.0,60,392,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2150,3731,0,0,0,0,0,0
$GC,464,-0.57,-97.3,50.6,-14.5,76,472,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2150,3731,0,0,0,0,0,0
$GC,613,-0.57,-97.3,71.9,-14.6,107,619,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2150,3732,0,0,0,0,0,0
$GC,769,-0.57,-97.3,93.9,-13.8,138,777,0.00,2.25,0.00,0.000,4,0.000,0.055,2755,738,3731,0,0,0,0,0,0
$GC,793,-0.57,-97.3,97.7,-14.3,142,802,0.00,2.28,0.00,0.000,6,0.000,0.054,2747,2135,3731,0,0,0,0,0,0
$STATE,867,end dive,TARGET_DEPTH_EXCEEDED
$STATE,867,begin apogee
$GC,874,-0.13,0.0,108.3,14.2,157,957,0.52,0.00,74.05,0.658,6,0.174,0.000,2904,2065,3328,0,0,0,0,0,0
$STATE,958,end apogee,CONTROL_FINISHED_OK
$STATE,958,begin loiter
$STATE,982,end loiter,LOITER_COMPLETE
$STATE,982,begin climb
$GC,984,0.57,97.3,113.6,0.0,174,1065,0.68,0.00,74.38,0.640,6,0.106,0.000,3135,2065,2931,0,0,0,0,0,0
$GC,1212,0.57,97.3,95.8,10.3,216,1219,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,2065,2930,0,0,0,0,0,0
$GC,1364,0.57,97.3,81.5,8.8,247,1371,0.00,2.38,0.00,0.000,4,0.000,0.065,3135,3499,2929,0,0,0,0,0,0
$GC,1416,0.57,97.3,76.0,10.9,257,1424,0.00,2.28,0.00,0.000,6,0.000,0.048,3145,2085,2929,0,0,0,0,0,0
$GC,1570,0.57,97.3,61.2,9.4,288,1577,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,2086,2929,0,0,0,0,0,0
$GC,1723,0.57,97.3,47.6,8.9,319,1728,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,2086,2929,0,0,0,0,0,0
$GC,1880,0.57,97.3,33.6,8.6,350,1888,0.00,2.28,0.00,0.000,4,0.000,0.057,3156,665,2928,0,0,0,0,0,0
$GC,1942,0.57,97.3,27.8,8.9,361,1950,0.00,2.30,0.00,0.000,6,0.000,0.052,3155,2087,2928,0,0,0,0,0,0
$GC,2030,0.57,97.3,19.3,9.6,377,2039,0.00,2.28,0.00,0.000,4,0.000,0.063,3155,3487,2928,0,0,0,0,0,0
$GC,2085,0.57,97.3,14.4,9.0,386,2093,0.00,2.25,0.00,0.000,6,0.000,0.047,3164,2079,2928,0,0,0,0,0,0
$GC,2173,0.61,125.9,8.5,6.1,402,2203,0.00,0.00,22.15,0.604,6,0.000,0.000,3164,2080,2814,0,0,0,0,0,0
$GC,2283,0.77,260.0,5.1,0.6,421,2368,0.12,0.00,82.07,0.596,2,0.103,0.000,3213,2080,2376,0,0,0,0,0,0
$STATE,2369,end climb,SURFACE_DEPTH_REACHED
$STATE,2369,begin surface coast
$FINISH,4.4,1.006998
$STATE,2565,end surface coast,CONTROL_FINISHED_OK
$STATE,2565,begin surface
$SM_CCo,2569,289.38,0.565,0,0,483,697.63
$SM_GC,1.57,8.43,0.00,0.00,0.054,0.000,0.000,178,2162,462,-8.63,0.34,703.28
$IRIDIUM_FIX,4748.51,-12221.84,201111,040416
$TT8_MAMPS,0.023219
$HUMID,1078168377
$INTERNAL_PRESSURE,9.0925
$TCM_TEMP,17.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,75.4,7.8
$24V_AH,24.4,1.981
$10V_AH,10.4,2.443
$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,20.350,23.050,252.650,289.375,0.000,24.124,31.183,239.949,0.500,0.000,28.604,1070.325,133.041,630.604,1401.131,189.665,33.312,1108.775,0.000,1113.746,0.000,5.441,0.000
$DEVICE_MAMPS,260.100,89.505,657.900,565.335,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,305.111,339.309,845.039,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323940
$DATA_FILE_SIZE,26909,469
$CAP_FILE_SIZE,56493,0
$CFSIZE,260165632,202412032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.071,339.0,1
$GPS,270510,120104,4806.944,-12222.578,7,99.0,26,18.3