version: 66.06
glider: 172
mission: 3
dive: 4
start: 10 20 109 21 24 51
data:
$ID,172
$MISSION,3
$DIVE,4
$D_SURF,4
$D_FLARE,3
$D_TGT,360
$D_ABORT,500
$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,120
$T_MISSION,180
$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,275
$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,-4258.2285
$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,21
$R_STBD_OVSHOOT,22
$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
$GPS1,212037,6700.020,-5706.521,27,1.1,28,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-71.3
$GPS2,212444,6659.982,-5706.458,13,1.2,13,-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,341.1,148948,-17.5,-10.000
$D_GRID,733
$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,-146.0,0.0,0.0,0,133,0.00,0.00,-119.40,0.000,2,0.000,0.000,120,1944,2968,0,0,0,0,0,0
$GC,135,-0.64,-146.0,3.2,-6.1,23,164,10.70,2.30,-12.95,0.000,4,0.249,0.087,2796,3347,3538,0,0,0,0,0,0
$GC,211,-0.67,-146.0,19.0,-14.5,40,217,0.00,2.30,0.00,0.000,6,0.000,0.061,2796,1936,3539,0,0,0,0,0,0
$GC,536,-0.64,-146.0,68.2,-13.7,101,542,0.00,2.30,0.00,0.000,4,0.000,0.075,2796,525,3539,0,0,0,0,0,0
$GC,640,-0.64,-146.0,83.8,-14.7,125,646,0.08,2.25,0.00,0.000,6,0.164,0.061,2812,1931,3538,0,0,0,0,0,0
$GC,964,-0.64,-146.0,126.9,-13.1,168,968,0.00,2.28,0.00,0.000,4,0.000,0.075,2812,532,3538,0,0,0,0,0,0
$GC,1033,-0.67,-146.0,136.3,-13.5,176,1037,0.00,2.25,0.00,0.000,6,0.000,0.062,2806,1941,3538,0,0,0,0,0,0
$GC,1352,-0.70,-146.0,177.7,-12.7,207,1356,0.00,2.30,0.00,0.000,4,0.000,0.076,2806,525,3538,0,0,0,0,0,0
$GC,1408,-0.74,-146.0,185.0,-12.1,213,1414,0.00,2.25,0.00,0.000,6,0.000,0.063,2806,1938,3538,0,0,0,0,0,0
$GC,1722,-0.74,-146.0,221.8,-11.4,244,1726,0.00,2.30,0.00,0.000,4,0.000,0.075,2806,527,3538,0,0,0,0,0,0
$GC,1792,-0.78,-146.0,230.0,-11.4,252,1796,0.00,2.22,0.00,0.000,6,0.000,0.062,2805,1931,3538,0,0,0,0,0,0
$GC,2111,-0.82,-146.0,265.6,-11.5,283,2115,0.12,2.28,0.00,0.000,4,0.107,0.075,2749,530,3538,0,0,0,0,0,0
$GC,2189,-0.72,-146.0,278.0,-16.3,292,2193,0.15,2.22,0.00,0.000,6,0.150,0.061,2790,1935,3538,0,0,0,0,0,0
$GC,2507,-0.72,-146.0,319.6,-12.2,323,2511,0.00,2.28,0.00,0.000,4,0.000,0.074,2790,521,3538,0,0,0,0,0,0
$GC,2581,-0.72,-146.0,328.7,-12.0,331,2586,0.00,2.22,0.00,0.000,6,0.000,0.061,2782,1931,3538,0,0,0,0,0,0
$STATE,2843,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2843,begin apogee
$GC,2845,-0.13,0.0,361.1,12.4,357,2966,0.60,0.00,115.55,0.851,6,0.140,0.000,2976,1931,2940,0,0,0,0,0,0
$STATE,2967,end apogee,CONTROL_FINISHED_OK
$STATE,2967,begin climb
$GC,2968,0.64,146.0,366.1,0.0,369,3098,0.73,2.47,120.82,0.819,4,0.088,0.071,3242,523,2341,0,0,0,0,0,0
$GC,3345,0.53,165.8,348.3,9.1,412,3369,0.10,2.30,15.93,0.768,6,0.156,0.057,3199,1944,2263,0,0,0,0,0,0
$GC,3677,0.61,232.1,325.2,6.9,445,3738,0.00,2.40,55.47,0.797,4,0.000,0.074,3209,522,1991,0,0,0,0,0,0
$GC,3924,0.69,232.1,302.9,10.5,473,3929,0.08,2.28,0.00,0.000,6,0.075,0.056,3253,1926,1981,0,0,0,0,0,0
$GC,4238,0.64,232.1,262.3,12.8,504,4242,0.00,2.30,0.00,0.000,4,0.000,0.073,3263,524,1979,0,0,0,0,0,0
$GC,4316,0.58,232.1,251.7,13.9,513,4320,0.15,2.25,0.00,0.000,6,0.147,0.056,3202,1936,1979,0,0,0,0,0,0
$GC,4635,0.72,261.0,221.5,8.7,544,4663,0.15,2.30,23.02,0.740,4,0.098,0.071,3276,523,1873,0,0,0,0,0,0
$GC,4744,0.67,261.0,207.8,13.0,556,4751,0.10,2.28,0.00,0.000,6,0.148,0.056,3242,1939,1868,0,0,0,0,0,0
$GC,5059,0.67,266.0,174.7,9.8,587,5068,0.00,2.30,4.22,0.531,4,0.000,0.074,3253,517,1855,0,0,0,0,0,0
$GC,5154,0.67,266.0,164.2,10.9,598,5158,0.00,2.25,0.00,0.000,6,0.000,0.057,3253,1934,1854,0,0,0,0,0,0
$GC,5473,0.67,266.0,128.5,11.5,629,5477,0.00,2.30,0.00,0.000,4,0.000,0.074,3263,519,1853,0,0,0,0,0,0
$GC,5533,0.67,266.0,121.1,11.8,636,5537,0.00,2.25,0.00,0.000,6,0.000,0.057,3263,1936,1853,0,0,0,0,0,0
$GC,5857,0.67,266.0,83.3,11.4,680,5863,0.00,2.28,0.00,0.000,4,0.000,0.074,3273,527,1853,0,0,0,0,0,0
$GC,5870,0.67,266.0,81.7,11.6,683,5877,0.08,2.22,0.00,0.000,6,0.150,0.057,3247,1940,1853,0,0,0,0,0,0
$GC,6196,0.77,307.3,50.8,8.1,744,6238,0.00,2.33,35.22,0.664,4,0.000,0.075,3257,521,1686,0,0,0,0,0,0
$GC,6398,0.89,321.5,34.2,9.3,790,6418,0.08,2.25,12.45,0.624,6,0.077,0.058,3317,1929,1628,0,0,0,0,0,0
$STATE,6645,end climb,SURFACE_DEPTH_REACHED
$STATE,6645,begin surface coast
$FINISH,0.5,1.024419
$STATE,6677,end surface coast,CONTROL_FINISHED_OK
$STATE,6677,begin surface
$SM_CCo,6749,0.00,0.000,0,0,1617,324.53
$SM_GC,1.72,8.48,0.00,0.00,0.065,0.000,0.000,148,1931,1617,-8.93,-0.20,324.53
$RAFOS_CLK,314
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6631.12,-5704.33,140199,191908
$TT8_MAMPS,0.050622
$HUMID,41.96
$INTERNAL_PRESSURE,9.53162
$TCM_TEMP,16.00
$XPDR_PINGS,0
$24V_AH,24.0,4.383
$10V_AH,10.3,1.512
$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,21.575,68.500,382.700,0.000,0.000,27.294,33.272,115.624,0.000,0.000,13.606,0.000,4541.565,478.465,1731.301,235.403,0.000,1247.894,0.000,1424.396,0.000,0.986,0.000
$DEVICE_MAMPS,249.275,87.438,850.603,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,583.988,608.190,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150456
$DATA_FILE_SIZE,34723,843
$CAP_FILE_SIZE,92781,0
$CFSIZE,260165632,252239872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1463.3
$CURRENT,0.267,148.7,1
$GPS,201009,231806,6659.729,-5707.178,9,1.3,26,-37.6