version: 66.07
glider: 165
mission: 4
dive: 7
start: 8 5 110 20 46 35
data:
$ID,165
$MISSION,4
$DIVE,7
$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,-136868.17
$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,34
$R_STBD_OVSHOOT,20
$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
$GPS1,050810,203913,4742.890,-12225.435,7,1.7,12,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.96
$_SM_ANGLEo,-78.3
$GPS2,050810,204514,4742.895,-12225.448,13,1.7,13,18.2
$SPEED_LIMITS,0.173,0.239
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.103,0.216
$KALMAN_X,-883.1,-494.5,-141.7,1046.4,-303.9
$KALMAN_Y,-1649.7,-857.9,-247.9,2499.4,-639.0
$MHEAD_RNG_PITCHd_Wd,13.1,1252,-20.0,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.82,-121.7,0.0,0.0,0,62,0.00,0.00,-41.90,0.000,2,0.000,0.000,172,2100,3248,0,0,0,0,0,0
$GC,65,-0.82,-121.7,3.2,-4.8,6,103,10.02,2.28,-19.27,0.000,4,0.252,0.068,2688,689,3825,0,0,0,0,0,0
$GC,343,-0.82,-121.7,50.7,-19.2,56,352,0.00,2.30,0.00,0.000,6,0.000,0.059,2680,2098,3826,0,0,0,0,0,0
$GC,487,-0.82,-121.7,75.7,-17.1,81,494,0.00,2.22,0.00,0.000,4,0.000,0.057,2680,688,3826,0,0,0,0,0,0
$GC,582,-0.82,-121.7,92.5,-17.6,97,589,0.00,2.25,0.00,0.000,6,0.000,0.058,2672,2099,3826,0,0,0,0,0,0
$GC,723,-0.82,-121.7,118.6,-18.7,122,731,0.00,2.25,0.00,0.000,4,0.000,0.057,2671,698,3826,0,0,0,0,0,0
$GC,761,-0.82,-121.7,126.1,-20.4,128,770,0.00,2.20,0.00,0.000,6,0.000,0.060,2670,2046,3826,0,0,0,0,0,0
$STATE,896,end dive,TARGET_DEPTH_EXCEEDED
$STATE,896,begin apogee
$GC,902,-0.17,0.0,150.6,16.8,151,997,0.75,0.00,90.88,0.658,6,0.183,0.000,2893,2116,3329,0,0,0,0,0,0
$STATE,998,end apogee,CONTROL_FINISHED_OK
$STATE,998,begin loiter
$STATE,1015,end loiter,LOITER_COMPLETE
$STATE,1015,begin climb
$GC,1017,0.82,121.7,155.8,0.0,168,1119,0.95,2.40,92.60,0.638,4,0.106,0.060,3225,696,2830,0,0,0,0,0,0
$GC,1167,0.82,121.7,134.6,20.0,191,1174,0.00,2.33,0.00,0.000,6,0.000,0.060,3225,2099,2829,0,0,0,0,0,0
$GC,1309,0.82,121.7,105.9,20.0,216,1317,0.00,2.35,0.00,0.000,4,0.000,0.068,3225,3512,2828,0,0,0,0,0,0
$GC,1324,0.82,121.7,102.3,19.5,218,1332,0.00,2.28,0.00,0.000,6,0.000,0.050,3236,2105,2828,0,0,0,0,0,0
$GC,1469,0.82,121.7,73.4,20.4,243,1475,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,2102,2828,0,0,0,0,0,0
$GC,1607,0.82,121.7,46.6,17.3,268,1616,0.00,2.33,0.00,0.000,4,0.000,0.065,3235,3516,2828,0,0,0,0,0,0
$GC,1624,0.82,121.7,43.8,18.0,270,1632,0.00,2.25,0.00,0.000,6,0.000,0.049,3246,2104,2828,0,0,0,0,0,0
$GC,1698,0.82,121.7,31.1,17.1,283,1706,0.00,2.33,0.00,0.000,4,0.000,0.065,3246,3505,2828,0,0,0,0,0,0
$GC,1735,0.82,121.7,23.6,21.0,289,1744,0.10,2.22,0.00,0.000,6,0.208,0.049,3229,2108,2828,0,0,0,0,0,0
$GC,1809,0.82,121.7,10.4,15.1,302,1816,0.00,2.30,0.00,0.000,4,0.000,0.064,3229,3514,2827,0,0,0,0,0,0
$STATE,1859,end climb,SURFACE_DEPTH_REACHED
$STATE,1859,begin surface coast
$FINISH,1.6,1.020921
$STATE,1865,end surface coast,CONTROL_FINISHED_OK
$STATE,1865,begin surface
$SM_CCo,1886,92.07,0.506,1,0,2307,250.21
$SM_GC,2.80,0.00,0.00,92.07,0.000,0.000,0.506,173,2099,2307,-8.70,-0.03,250.21
$IRIDIUM_FIX,4729.30,-12037.51,290112,141400
$TT8_MAMPS,0.023968
$HUMID,1078358055
$INTERNAL_PRESSURE,9.52221
$TCM_TEMP,18.50
$XPDR_PINGS,0
$24V_AH,24.6,3.197
$10V_AH,10.5,3.137
$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,20.000,36.625,183.475,92.075,0.000,30.750,31.337,173.692,2.000,0.000,15.510,745.220,169.722,343.915,958.562,166.098,33.309,673.177,0.000,731.306,0.000,13.394,0.000
$DEVICE_MAMPS,252.450,119.340,657.900,505.665,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,209.049,212.683,529.718,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323928
$DATA_FILE_SIZE,16957,312
$CAP_FILE_SIZE,44430,0
$CFSIZE,260165632,202743808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.101,223.0,1
$GPS,050810,212026,4743.018,-12225.459,8,1.7,8,18.2