version: 66.07
glider: 165
mission: 4
dive: 6
start: 8 5 110 20 5 24
data:
$ID,165
$MISSION,4
$DIVE,6
$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,125
$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,-136866.92
$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,31
$R_STBD_OVSHOOT,22
$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,140
$AH0_10V,97
$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
$GPS1,050810,195656,4742.813,-12225.393,8,1.1,8,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.94
$_SM_ANGLEo,-78.3
$GPS2,050810,200401,4742.787,-12225.377,42,0.9,42,18.2
$SPEED_LIMITS,0.173,0.239
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.079,0.226
$KALMAN_X,-565.6,-439.3,-195.9,816.9,-210.9
$KALMAN_Y,-1297.2,-756.2,-209.5,1813.9,-605.6
$MHEAD_RNG_PITCHd_Wd,11.4,1402,-20.0,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.82,-121.7,0.0,0.0,0,60,0.00,0.00,-42.62,0.000,2,0.000,0.000,169,2086,3284,0,0,0,0,0,0
$GC,63,-0.82,-121.7,3.4,-5.3,6,95,10.18,2.28,-15.75,0.000,4,0.259,0.072,2683,689,3826,0,0,0,0,0,0
$GC,333,-0.82,-121.7,51.6,-17.7,55,340,0.00,2.28,0.00,0.000,6,0.000,0.057,2676,2103,3828,0,0,0,0,0,0
$GC,473,-0.82,-121.7,77.0,-17.5,80,481,0.00,2.28,0.00,0.000,4,0.000,0.058,2676,688,3829,0,0,0,0,0,0
$GC,563,-0.82,-121.7,92.4,-16.2,95,570,0.00,2.25,0.00,0.000,6,0.000,0.060,2670,2098,3829,0,0,0,0,0,0
$GC,706,-0.82,-121.7,118.3,-18.0,120,714,0.00,2.30,0.00,0.000,4,0.000,0.070,2660,3509,3829,0,0,0,0,0,0
$GC,795,-0.82,-121.7,135.4,-19.2,135,802,0.12,2.15,0.00,0.000,6,0.207,0.048,2688,2114,3829,0,0,0,0,0,0
$STATE,887,end dive,TARGET_DEPTH_EXCEEDED
$STATE,887,begin apogee
$GC,892,-0.17,0.0,150.6,14.5,151,988,0.68,0.00,91.22,0.656,6,0.175,0.000,2894,2109,3328,0,0,0,0,0,0
$STATE,988,end apogee,CONTROL_FINISHED_OK
$STATE,988,begin loiter
$STATE,1005,end loiter,LOITER_COMPLETE
$STATE,1005,begin climb
$GC,1008,0.82,121.7,155.4,0.0,168,1108,0.93,0.00,92.75,0.636,6,0.099,0.000,3214,2109,2831,0,0,0,0,0,0
$GC,1245,0.82,121.7,118.4,19.0,207,1252,0.00,2.33,0.00,0.000,4,0.000,0.069,3214,3518,2829,0,0,0,0,0,0
$GC,1260,0.82,121.7,115.3,19.3,209,1267,0.00,2.25,0.00,0.000,6,0.000,0.051,3224,2106,2829,0,0,0,0,0,0
$GC,1404,0.82,121.7,86.9,18.7,234,1412,0.00,2.33,0.00,0.000,4,0.000,0.067,3224,3506,2828,0,0,0,0,0,0
$GC,1431,0.82,121.7,80.8,21.1,238,1439,0.00,2.25,0.00,0.000,6,0.000,0.050,3234,2108,2828,0,0,0,0,0,0
$GC,1574,0.82,121.7,52.2,19.2,263,1580,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,2104,2828,0,0,0,0,0,0
$GC,1708,0.82,121.7,29.6,16.4,288,1717,0.00,2.30,0.00,0.000,4,0.000,0.066,3234,3508,2828,0,0,0,0,0,0
$GC,1834,0.82,121.7,5.3,18.3,311,1842,0.00,2.22,0.00,0.000,6,0.000,0.048,3245,2104,2828,0,0,0,0,0,0
$STATE,1848,end climb,SURFACE_DEPTH_REACHED
$STATE,1848,begin surface coast
$FINISH,1.2,1.020754
$STATE,1865,end surface coast,CONTROL_FINISHED_OK
$STATE,1865,begin surface
$SM_CCo,1883,89.85,0.500,1,0,2308,250.21
$SM_GC,2.62,0.00,0.00,89.85,0.000,0.000,0.500,173,2099,2308,-8.70,-0.03,250.21
$IRIDIUM_FIX,4726.11,-12227.78,290112,131334
$TT8_MAMPS,0.023968
$HUMID,1078395474
$INTERNAL_PRESSURE,9.53197
$TCM_TEMP,18.70
$XPDR_PINGS,0
$24V_AH,24.6,3.136
$10V_AH,10.5,3.092
$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,20.100,27.200,183.975,89.850,0.000,30.492,41.425,190.432,2.000,0.000,45.709,756.012,167.928,327.773,1026.213,164.047,33.307,647.743,0.000,741.235,0.000,13.393,0.000
$DEVICE_MAMPS,258.570,71.910,655.605,499.545,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,212.086,215.589,537.385,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323952
$DATA_FILE_SIZE,17031,316
$CAP_FILE_SIZE,42709,0
$CFSIZE,260165632,202772480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.123,215.8,1
$GPS,050810,203913,4742.890,-12225.435,7,1.7,12,18.2