version: 66.07
glider: 165
mission: 4
dive: 9
start: 8 5 110 22 9 23
data:
$ID,165
$MISSION,4
$DIVE,9
$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,-136870.67
$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,30
$R_STBD_OVSHOOT,24
$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
$GPS1,050810,220206,4743.201,-12225.402,7,1.5,23,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.92
$_SM_ANGLEo,-78.1
$GPS2,050810,220801,4743.224,-12225.372,9,1.3,14,18.2
$SPEED_LIMITS,0.173,0.239
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.173,0.165
$KALMAN_X,-1482.6,-592.5,-64.9,1760.2,-347.8
$KALMAN_Y,-2037.6,-1132.0,-223.0,3743.9,-306.0
$MHEAD_RNG_PITCHd_Wd,28.6,690,-20.0,-10.000
$D_GRID,186
$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,15,begin dive
$GC,17,-0.82,-121.7,0.0,0.0,0,62,0.00,0.00,-42.67,0.000,2,0.000,0.000,172,2100,3275,0,0,0,0,0,0
$GC,65,-0.82,-121.7,3.2,-4.9,6,104,10.02,2.30,-16.90,0.000,4,0.250,0.070,2683,685,3826,0,0,0,0,0,0
$GC,279,-0.82,-121.7,39.4,-17.7,44,288,0.00,2.30,0.00,0.000,6,0.000,0.054,2675,2100,3828,0,0,0,0,0,0
$GC,354,-0.82,-121.7,54.2,-19.0,57,361,0.00,2.30,0.00,0.000,4,0.000,0.067,2666,3512,3829,0,0,0,0,0,0
$GC,403,-0.82,-121.7,63.3,-19.2,65,410,0.00,2.20,0.00,0.000,6,0.000,0.046,2666,2089,3829,0,0,0,0,0,0
$GC,546,-0.82,-121.7,88.8,-20.1,90,555,0.00,2.20,0.00,0.000,4,0.000,0.056,2666,702,3829,0,0,0,0,0,0
$GC,696,-0.82,-121.7,119.2,-19.9,116,708,0.08,2.20,0.00,0.000,6,0.202,0.054,2678,2063,3829,0,0,0,0,0,0
$GC,847,-0.82,-121.7,145.5,-17.2,141,853,0.00,2.33,0.00,0.000,4,0.000,0.066,2670,3510,3828,0,0,0,0,0,0
$STATE,877,end dive,TARGET_DEPTH_EXCEEDED
$STATE,877,begin apogee
$GC,884,-0.17,0.0,150.7,17.0,146,985,0.75,0.00,91.12,0.659,6,0.181,0.000,2894,2096,3328,0,0,0,0,0,0
$STATE,985,end apogee,CONTROL_FINISHED_OK
$STATE,986,begin loiter
$STATE,1003,end loiter,LOITER_COMPLETE
$STATE,1003,begin climb
$GC,1005,0.82,121.7,157.2,0.0,164,1107,0.93,2.35,92.68,0.640,4,0.101,0.057,3221,695,2830,0,0,0,0,0,0
$GC,1116,0.82,121.7,146.0,16.2,180,1124,0.00,2.38,0.00,0.000,6,0.000,0.054,3221,2097,2829,0,0,0,0,0,0
$GC,1261,0.82,121.7,120.3,17.2,205,1268,0.00,2.30,0.00,0.000,4,0.000,0.065,3221,3510,2829,0,0,0,0,0,0
$GC,1369,0.82,121.7,97.9,21.7,224,1378,0.00,2.25,0.00,0.000,6,0.000,0.050,3232,2120,2828,0,0,0,0,0,0
$GC,1514,0.82,121.7,70.1,20.1,249,1521,0.00,2.28,0.00,0.000,4,0.000,0.060,3243,692,2829,0,0,0,0,0,0
$GC,1551,0.82,121.7,63.3,17.4,255,1558,0.00,2.25,0.00,0.000,6,0.000,0.053,3243,2106,2828,0,0,0,0,0,0
$GC,1692,0.82,121.7,37.4,16.7,280,1701,0.00,2.28,0.00,0.000,4,0.000,0.063,3243,3504,2829,0,0,0,0,0,0
$GC,1735,0.82,121.7,28.8,19.0,287,1744,0.10,2.28,0.00,0.000,6,0.211,0.048,3226,2083,2828,0,0,0,0,0,0
$GC,1810,0.82,121.7,15.9,15.9,300,1818,0.00,2.33,0.00,0.000,4,0.000,0.063,3226,3504,2828,0,0,0,0,0,0
$STATE,1886,end climb,SURFACE_DEPTH_REACHED
$STATE,1886,begin surface coast
$FINISH,1.2,1.020812
$STATE,1898,end surface coast,CONTROL_FINISHED_OK
$STATE,1898,begin surface
$SM_CCo,1918,95.40,0.506,1,0,2309,250.21
$SM_GC,2.63,0.00,0.00,95.40,0.000,0.000,0.506,171,2088,2309,-8.71,-0.34,250.21
$IRIDIUM_FIX,4726.11,-12227.78,290112,151509
$TT8_MAMPS,0.023968
$HUMID,1078342571
$INTERNAL_PRESSURE,9.51244
$TCM_TEMP,18.50
$XPDR_PINGS,1
$24V_AH,24.5,3.320
$10V_AH,10.5,3.227
$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,20.025,40.975,183.800,95.400,0.000,24.464,24.503,175.253,2.500,0.000,17.355,756.711,169.168,356.046,957.790,171.001,33.323,689.498,0.000,739.634,0.000,16.255,0.000
$DEVICE_MAMPS,250.155,69.615,658.665,506.430,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,211.711,213.528,532.238,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323900
$DATA_FILE_SIZE,16993,316
$CAP_FILE_SIZE,45039,0
$CFSIZE,260165632,202686464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.018,270.1,1
$GPS,050810,224350,4743.381,-12225.234,10,1.3,10,18.2