version: 66.07
glider: 165
mission: 4
dive: 4
start: 8 5 110 18 25 52
data:
$ID,165
$MISSION,4
$DIVE,4
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$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,50
$T_MISSION,65
$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,250
$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,-136852.88
$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,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,2100
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,47
$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
$GPS1,050810,182037,4742.821,-12225.384,7,0.9,12,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-75.2
$GPS2,050810,182432,4742.813,-12225.392,10,1.9,10,18.2
$SPEED_LIMITS,0.173,0.326
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.143,0.293
$KALMAN_X,-208.1,-160.4,-153.4,119.9,-191.6
$KALMAN_Y,-341.4,-176.9,-167.7,287.4,-257.6
$MHEAD_RNG_PITCHd_Wd,8.6,1363,-13.9,-10.000
$D_GRID,189
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.76,-243.4,0.0,0.0,0,107,0.00,0.00,-89.53,0.000,2,0.000,0.000,169,2126,3682,0,0,0,0,0,0
$GC,110,-0.76,-243.4,3.2,-5.4,13,136,9.88,2.28,-7.45,0.000,4,0.247,0.071,2705,679,3960,0,0,0,0,0,0
$GC,376,-0.76,-243.4,49.7,-17.5,61,383,0.00,2.28,0.00,0.000,6,0.000,0.063,2698,2074,3961,0,0,0,0,0,0
$GC,448,-0.76,-243.4,62.0,-15.9,74,456,0.00,2.22,0.00,0.000,4,0.000,0.060,2698,686,3962,0,0,0,0,0,0
$GC,572,-0.76,-243.4,81.1,-15.2,96,579,0.00,2.28,0.00,0.000,6,0.000,0.063,2689,2084,3962,0,0,0,0,0,0
$GC,714,-0.76,-243.4,102.8,-13.8,121,719,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2084,3962,0,0,0,0,0,0
$GC,849,-0.76,-243.4,127.1,-19.1,146,857,0.00,2.30,0.00,0.000,4,0.000,0.067,2678,3516,3961,0,0,0,0,0,0
$STATE,958,end dive,TARGET_DEPTH_EXCEEDED
$STATE,960,begin apogee
$GC,969,-0.17,0.0,150.2,19.4,165,1095,0.73,0.00,115.03,0.654,6,0.180,0.000,2895,2080,3328,0,0,0,0,0,0
$STATE,1096,end apogee,CONTROL_FINISHED_OK
$STATE,1096,begin loiter
$STATE,1116,end loiter,LOITER_COMPLETE
$STATE,1117,begin climb
$GC,1119,0.76,243.4,159.9,0.0,188,1315,0.88,2.47,185.88,0.629,4,0.104,0.073,3195,3512,2334,0,0,0,0,0,0
$GC,1340,0.76,243.4,128.4,19.8,221,1347,0.00,2.33,0.00,0.000,6,0.000,0.054,3205,2108,2333,0,0,0,0,0,0
$GC,1477,0.76,243.4,97.8,22.6,246,1485,0.00,2.35,0.00,0.000,4,0.000,0.070,3205,3510,2330,0,0,0,0,0,0
$GC,1502,0.76,243.4,90.5,26.8,250,1510,0.00,2.30,0.00,0.000,6,0.000,0.054,3215,2097,2330,0,0,0,0,0,0
$GC,1643,0.76,243.4,56.2,23.1,275,1651,0.00,2.33,0.00,0.000,4,0.000,0.068,3215,3518,2329,0,0,0,0,0,0
$GC,1660,0.76,243.4,52.3,23.4,277,1666,0.00,2.25,0.00,0.000,6,0.000,0.054,3225,2102,2328,0,0,0,0,0,0
$GC,1794,0.76,243.4,22.8,22.2,302,1801,0.00,0.00,0.00,0.000,6,0.000,0.000,3225,2100,2328,0,0,0,0,0,0
$GC,1867,0.76,243.4,5.9,20.4,315,1875,0.00,0.00,0.00,0.000,6,0.000,0.000,3225,2098,2327,0,0,0,0,0,0
$STATE,1880,end climb,SURFACE_DEPTH_REACHED
$STATE,1881,begin surface coast
$FINISH,1.1,1.021288
$STATE,1893,end surface coast,CONTROL_FINISHED_OK
$STATE,1893,begin surface
$SM_CCo,1911,13.80,0.121,1,0,2309,250.21
$SM_GC,2.79,0.00,0.00,13.80,0.000,0.000,0.121,174,2097,2309,-8.70,-0.08,250.21
$IRIDIUM_FIX,4722.92,-12226.07,290112,121222
$TT8_MAMPS,0.023968
$HUMID,1078427732
$INTERNAL_PRESSURE,9.55151
$TCM_TEMP,18.80
$XPDR_PINGS,0
$24V_AH,24.7,2.991
$10V_AH,10.5,2.991
$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,19.525,27.625,300.900,13.800,0.000,0.000,0.000,0.000,2.250,0.000,13.498,704.977,127.759,358.696,744.958,90.352,32.321,725.628,0.000,745.586,0.000,16.277,0.000
$DEVICE_MAMPS,247.095,73.440,654.075,120.870,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,211.149,215.852,537.332,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324016
$DATA_FILE_SIZE,20338,319
$CAP_FILE_SIZE,55636,0
$CFSIZE,260165632,202825728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.204,209.9,1
$GPS,050810,185850,4742.851,-12225.451,9,1.3,9,18.2