version: 66.07
glider: 165
mission: 4
dive: 3
start: 8 5 110 17 42 27
data:
$ID,165
$MISSION,4
$DIVE,3
$D_SURF,3
$D_FLARE,3
$D_TGT,45
$D_ABORT,1090
$D_NO_BLEED,100
$D_BOOST,4
$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,15
$T_MISSION,20
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,22
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,250
$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,400
$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,-136788.81
$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,30
$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,1946
$C_ROLL_CLIMB,1946
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,26
$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,-19.794624
$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,80
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,4
$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,0.0043567759
$SEABIRD_T_H,0.00062679156
$SEABIRD_T_I,2.4204959e-05
$SEABIRD_T_J,2.6176024e-06
$SEABIRD_C_G,-10.134539
$SEABIRD_C_H,1.1435308
$SEABIRD_C_I,-0.0010041125
$SEABIRD_C_J,0.00016055659
$GPS1,050810,173604,4742.917,-12225.356,8,2.1,27,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-73.9
$GPS2,050810,174107,4742.913,-12225.382,9,1.0,14,18.2
$SPEED_LIMITS,0.173,0.326
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.176,0.274
$KALMAN_X,-120.2,-124.5,-121.2,-27.1,-81.0
$KALMAN_Y,-102.8,-104.9,-103.3,88.0,-69.7
$MHEAD_RNG_PITCHd_Wd,18.4,1186,-13.9,-10.000
$D_GRID,190
$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,-0.76,-243.4,0.0,0.0,0,125,0.00,0.00,-105.50,0.000,6,0.000,0.000,172,1942,3961,0,0,0,0,0,0
$GC,128,-0.76,-243.4,2.8,-4.6,15,144,9.57,2.25,0.00,0.000,4,0.233,0.058,2693,3366,3962,0,0,0,0,0,0
$GC,382,-0.76,-243.4,42.4,-17.2,62,390,0.00,2.25,0.00,0.000,6,0.000,0.051,2693,1943,3963,0,0,0,0,0,0
$STATE,396,end dive,TARGET_DEPTH_EXCEEDED
$STATE,396,begin apogee
$GC,402,-0.17,0.0,45.5,19.0,64,521,0.65,0.00,113.62,0.571,6,0.170,0.000,2891,1939,3329,0,0,0,0,0,0
$STATE,524,end apogee,CONTROL_FINISHED_OK
$STATE,524,begin loiter
$STATE,546,end loiter,LOITER_COMPLETE
$STATE,546,begin climb
$GC,548,0.76,243.4,52.2,0.0,85,745,0.90,2.40,182.77,0.551,4,0.109,0.067,3207,537,2333,0,0,0,0,0,0
$GC,753,0.76,243.4,25.6,18.3,113,762,0.00,2.35,0.00,0.000,6,0.000,0.059,3208,1941,2331,0,0,0,0,0,0
$GC,828,0.76,243.4,11.9,18.6,126,836,0.00,2.35,0.00,0.000,4,0.000,0.069,3208,3351,2330,0,0,0,0,0,0
$GC,856,0.76,243.4,6.3,19.9,130,864,0.00,2.22,0.00,0.000,6,0.000,0.054,3217,1982,2330,0,0,0,0,0,0
$STATE,870,end climb,SURFACE_DEPTH_REACHED
$STATE,870,begin surface coast
$FINISH,1.3,1.021024
$STATE,884,end surface coast,CONTROL_FINISHED_OK
$STATE,884,begin surface
$SM_CCo,901,72.57,0.441,1,0,1698,400.08
$SM_GC,1.49,0.00,0.00,72.57,0.000,0.000,0.441,170,1981,1698,-8.71,0.96,400.08
$IRIDIUM_FIX,4726.11,-12227.78,290112,111100
$TT8_MAMPS,0.023219
$HUMID,1078269023
$INTERNAL_PRESSURE,9.52221
$TCM_TEMP,19.90
$XPDR_PINGS,0
$24V_AH,24.8,2.905
$10V_AH,10.5,2.939
$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,19.200,13.825,296.400,72.575,0.000,30.990,28.660,130.330,0.000,0.000,16.891,272.472,11.116,375.484,551.943,114.959,31.404,624.558,0.000,367.599,0.000,1.005,0.000
$DEVICE_MAMPS,233.325,68.850,571.455,441.405,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,84.709,125.731,313.228,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,6959,134
$CAP_FILE_SIZE,24968,0
$CFSIZE,260165632,202887168
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.116,217.5,1
$GPS,050810,175931,4742.854,-12225.356,6,1.8,6,18.2