version: 66.07
glider: 165
mission: 4
dive: 5
start: 8 5 110 19 21 23
data:
$ID,165
$MISSION,4
$DIVE,5
$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,-136865.67
$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,32
$R_STBD_OVSHOOT,19
$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
$GPS1,050810,190502,4742.826,-12225.427,7,1.2,7,18.2
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-78.8
$GPS2,050810,192002,4742.823,-12225.379,14,1.6,14,18.2
$SPEED_LIMITS,0.173,0.239
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.090,0.222
$KALMAN_X,-374.3,-340.9,-219.4,550.8,-183.2
$KALMAN_Y,-759.1,-525.0,-259.2,1167.2,-431.0
$MHEAD_RNG_PITCHd_Wd,10.4,1339,-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,17,-0.82,-121.7,0.0,0.0,0,67,0.00,0.00,-48.12,0.000,2,0.000,0.000,174,2096,3419,0,0,0,0,0,0
$GC,70,-0.82,-121.7,3.3,-5.1,7,102,9.77,2.35,-11.65,0.000,4,0.247,0.084,2671,3516,3827,0,0,0,0,0,0
$GC,341,-0.82,-121.7,44.8,-19.8,56,348,0.00,2.22,0.00,0.000,6,0.000,0.050,2671,2103,3828,0,0,0,0,0,0
$GC,415,-0.82,-121.7,59.4,-19.1,69,422,0.00,2.28,0.00,0.000,4,0.000,0.070,2661,3517,3828,0,0,0,0,0,0
$GC,522,-0.82,-121.7,79.6,-20.3,88,533,0.08,2.22,0.00,0.000,6,0.198,0.049,2682,2101,3828,0,0,0,0,0,0
$GC,669,-0.82,-121.7,105.6,-16.7,113,676,0.00,2.22,0.00,0.000,4,0.000,0.060,2682,687,3828,0,0,0,0,0,0
$GC,738,-0.82,-121.7,116.7,-15.0,125,746,0.00,2.22,0.00,0.000,6,0.000,0.060,2674,2089,3829,0,0,0,0,0,0
$GC,877,-0.82,-121.7,139.5,-18.7,150,885,0.00,2.33,0.00,0.000,4,0.000,0.074,2664,3509,3829,0,0,0,0,0,0
$STATE,936,end dive,TARGET_DEPTH_EXCEEDED
$STATE,936,begin apogee
$GC,944,-0.17,0.0,150.7,19.4,160,1044,0.77,0.00,90.62,0.656,6,0.183,0.000,2895,2094,3328,0,0,0,0,0,0
$STATE,1045,end apogee,CONTROL_FINISHED_OK
$STATE,1045,begin loiter
$STATE,1069,end loiter,LOITER_COMPLETE
$STATE,1069,begin climb
$GC,1071,0.82,121.7,156.2,0.0,179,1170,0.93,0.00,92.43,0.636,6,0.099,0.000,3216,2094,2831,0,0,0,0,0,0
$GC,1304,0.82,121.7,122.5,17.2,218,1312,0.00,2.38,0.00,0.000,4,0.000,0.070,3216,3506,2829,0,0,0,0,0,0
$GC,1372,0.82,121.7,109.4,20.1,230,1380,0.00,2.28,0.00,0.000,6,0.000,0.055,3226,2105,2829,0,0,0,0,0,0
$GC,1512,0.82,121.7,83.4,19.5,255,1519,0.00,2.33,0.00,0.000,4,0.000,0.070,3227,3516,2828,0,0,0,0,0,0
$GC,1527,0.82,121.7,79.8,19.8,257,1535,0.00,2.28,0.00,0.000,6,0.000,0.052,3236,2089,2828,0,0,0,0,0,0
$GC,1669,0.82,121.7,50.1,20.3,282,1677,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,2085,2828,0,0,0,0,0,0
$GC,1804,0.82,121.7,27.0,15.4,307,1812,0.00,2.35,0.00,0.000,4,0.000,0.069,3237,3514,2828,0,0,0,0,0,0
$GC,1934,0.82,121.7,4.5,15.9,331,1942,0.00,2.28,0.00,0.000,6,0.000,0.054,3248,2090,2828,0,0,0,0,0,0
$STATE,1948,end climb,SURFACE_DEPTH_REACHED
$STATE,1948,begin surface coast
$FINISH,1.1,1.003464
$STATE,1966,end surface coast,CONTROL_FINISHED_OK
$STATE,1966,begin surface
$SM_CCo,1983,97.22,0.506,1,0,2307,250.21
$SM_GC,2.42,0.00,0.00,97.22,0.000,0.000,0.506,169,2086,2307,-8.71,-0.40,250.21
$IRIDIUM_FIX,4726.11,-12223.37,290112,131340
$TT8_MAMPS,0.023219
$HUMID,1078385152
$INTERNAL_PRESSURE,9.53197
$TCM_TEMP,18.70
$XPDR_PINGS,0
$24V_AH,24.7,3.075
$10V_AH,10.5,3.046
$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,19.775,31.950,183.050,97.225,0.000,0.000,0.000,0.000,2.250,0.000,16.953,795.274,156.734,349.246,791.017,92.694,33.316,688.488,0.000,788.153,0.000,17.596,0.000
$DEVICE_MAMPS,247.095,84.150,656.370,506.430,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,225.540,229.929,572.998,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323988
$DATA_FILE_SIZE,20309,336
$CAP_FILE_SIZE,52744,0
$CFSIZE,260165632,202797056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.169,213.8,1
$GPS,050810,195656,4742.813,-12225.393,8,1.1,8,18.2