version: 66.06
glider: 172
mission: 3
dive: 2
start: 10 20 109 18 32 58
data:
$ID,172
$MISSION,3
$DIVE,2
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,250
$D_NO_BLEED,500
$D_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,75
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,300
$T_LOITER,0
$USE_BATHY,-3
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51891
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0.2
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,598.34399
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-4222.2983
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,154
$PITCH_MAX,3948
$C_PITCH,3025
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,38
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.032000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,160
$ROLL_MAX,3717
$ROLL_DEG,40
$C_ROLL_DIVE,1938
$C_ROLL_CLIMB,1938
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,37
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,2940
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$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,-55.981045
$PRESSURE_SLOPE,0.0001168426
$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,1
$ALTIM_PING_DEPTH,400
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,1
$ALTIM_SENSITIVITY,3
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,16
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043614767
$SEABIRD_T_H,0.00062996609
$SEABIRD_T_I,2.5014444e-05
$SEABIRD_T_J,2.7838146e-06
$SEABIRD_C_G,-10.228213
$SEABIRD_C_H,1.1292607
$SEABIRD_C_I,-0.001076734
$SEABIRD_C_J,0.00017059842
$GPS1,182901,6700.819,-5705.813,11,1.5,28,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-70.2
$GPS2,183252,6700.816,-5705.729,9,2.6,28,-37.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_W_IN
$TGT_LATLONG,6644.000,-6026.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,295.6,149784,-17.5,-10.000
$D_GRID,730
$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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,11,-0.64,-146.0,0.0,0.0,0,144,0.00,0.00,-129.62,0.000,2,0.000,0.000,129,1934,3112,0,0,0,0,0,0
$GC,145,-0.64,-146.0,3.7,-9.9,25,170,10.27,2.22,-8.82,0.000,4,0.244,0.085,2811,530,3538,0,0,0,0,0,0
$GC,190,-0.50,-146.0,17.8,-20.4,35,197,0.15,2.20,0.00,0.000,6,0.147,0.059,2856,1915,3539,0,0,0,0,0,0
$GC,516,-0.59,-146.0,55.8,-12.0,96,521,0.00,2.22,0.00,0.000,4,0.000,0.073,2856,526,3538,0,0,0,0,0,0
$GC,538,-0.66,-146.0,58.5,-12.6,101,544,0.08,2.22,0.00,0.000,6,0.072,0.059,2801,1935,3539,0,0,0,0,0,0
$GC,867,-0.66,-146.0,103.5,-13.2,161,871,0.00,2.25,0.00,0.000,4,0.000,0.073,2801,530,3538,0,0,0,0,0,0
$GC,936,-0.66,-146.0,113.6,-14.2,169,940,0.00,2.22,0.00,0.000,6,0.000,0.061,2797,1945,3538,0,0,0,0,0,0
$STATE,1202,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1202,begin apogee
$GC,1205,-0.13,0.0,150.9,13.7,195,1320,0.55,0.00,112.20,0.731,6,0.137,0.000,2976,1945,2940,0,0,0,0,0,0
$STATE,1320,end apogee,CONTROL_FINISHED_OK
$STATE,1320,begin climb
$GC,1321,0.64,146.0,156.5,0.0,206,1447,0.70,2.38,116.85,0.697,4,0.093,0.071,3234,529,2341,0,0,0,0,0,0
$GC,1694,0.68,234.4,145.8,5.9,248,1768,0.00,2.25,69.80,0.689,6,0.000,0.057,3233,1938,1984,0,0,0,0,0,0
$GC,2077,0.77,259.1,112.7,8.9,287,2104,0.12,2.30,19.25,0.660,4,0.102,0.071,3301,526,1881,0,0,0,0,0,0
$GC,2259,0.67,259.1,89.1,14.3,317,2265,0.17,2.25,0.00,0.000,6,0.152,0.058,3244,1932,1875,0,0,0,0,0,0
$GC,2584,0.79,274.8,59.2,9.3,378,2604,0.10,2.30,12.93,0.634,4,0.114,0.073,3306,530,1818,0,0,0,0,0,0
$GC,2737,0.70,274.8,40.7,11.1,413,2743,0.15,2.22,0.00,0.000,6,0.152,0.058,3256,1931,1814,0,0,0,0,0,0
$GC,3062,0.78,290.3,11.4,9.3,474,3082,0.00,2.30,13.43,0.622,4,0.000,0.074,3266,527,1755,0,0,0,0,0,0
$STATE,3145,end climb,SURFACE_DEPTH_REACHED
$STATE,3145,begin surface coast
$FINISH,3.2,1.025202
$STATE,3154,end surface coast,CONTROL_FINISHED_OK
$STATE,3154,begin surface
$SM_CCo,3168,157.50,0.604,0,0,500,598.53
$SM_GC,1.05,0.00,0.00,157.50,0.000,0.000,0.604,146,1940,500,-8.99,0.06,598.53
$RAFOS_CLK,174
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6636.54,-5702.96,140199,181809
$TT8_MAMPS,0.051389
$HUMID,39.60
$INTERNAL_PRESSURE,9.49255
$TCM_TEMP,16.20
$XPDR_PINGS,0
$24V_AH,24.4,4.172
$10V_AH,10.4,1.425
$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,20.875,31.600,344.450,157.500,0.000,0.000,0.000,0.000,0.000,0.000,31.205,0.000,1776.405,573.944,1014.885,26.670,0.000,1038.948,0.000,809.031,0.000,0.986,0.000
$DEVICE_MAMPS,243.906,85.137,730.951,603.629,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,338.442,353.612,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150524
$DATA_FILE_SIZE,19031,495
$CAP_FILE_SIZE,68848,0
$CFSIZE,260165632,252370944
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1460.2
$CURRENT,0.184,133.9,1
$GPS,201009,192913,6700.545,-5705.968,9,1.6,26,-37.6