version: 66.06
glider: 172
mission: 2
dive: 2
start: 10 17 109 13 14 32
data:
$ID,172
$MISSION,2
$DIVE,2
$D_SURF,4
$D_FLARE,3
$D_TGT,180
$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,60
$T_MISSION,80
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,300
$T_LOITER,0
$USE_BATHY,-2
$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
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,608.34399
$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,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-3035.0032
$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,16
$R_STBD_OVSHOOT,17
$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,-55.717796
$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
$GPS1,130244,6629.851,-5954.064,12,1.6,12,-37.7
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-67.0
$GPS2,131426,6629.926,-5954.182,14,2.0,14,-37.7
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_E_IN
$TGT_LATLONG,6703.000,-5648.000
$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,129.0,147746,-17.5,-10.000
$D_GRID,611
$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,-146.0,0.0,0.0,0,120,0.00,0.00,-106.25,0.000,2,0.000,0.000,136,1939,2884,0,0,0,0,0,0
$GC,122,-0.64,-146.0,3.2,-6.8,20,151,10.35,2.35,-13.73,0.000,4,0.248,0.102,2802,3351,3538,0,0,0,0,0,0
$GC,163,-0.34,-146.0,16.7,-26.8,29,170,0.30,2.35,0.00,0.000,6,0.152,0.076,2912,1936,3539,0,0,0,0,0,0
$GC,489,-0.50,-146.0,51.9,-10.8,90,495,0.15,2.33,0.00,0.000,4,0.094,0.089,2846,523,3541,0,0,0,0,0,0
$GC,537,-0.55,-146.0,58.9,-14.9,101,544,0.00,2.33,0.00,0.000,6,0.000,0.079,2846,1932,3541,0,0,0,0,0,0
$GC,866,-0.61,-146.0,105.8,-13.5,159,870,0.00,2.33,0.00,0.000,4,0.000,0.088,2846,532,3542,0,0,0,0,0,0
$GC,957,-0.67,-146.0,118.4,-14.1,169,964,0.08,2.30,0.00,0.000,6,0.074,0.078,2799,1934,3541,0,0,0,0,0,0
$GC,1272,-0.63,-146.0,168.5,-15.6,200,1276,0.00,2.35,0.00,0.000,4,0.000,0.089,2798,522,3541,0,0,0,0,0,0
$GC,1337,-0.60,-146.0,179.0,-16.0,207,1343,0.08,2.33,0.00,0.000,6,0.164,0.080,2824,1936,3542,0,0,0,0,0,0
$STATE,1350,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1350,begin apogee
$GC,1353,-0.13,0.0,181.2,15.1,209,1473,0.47,0.00,115.07,0.782,6,0.144,0.000,2976,1936,2940,0,0,0,0,0,0
$STATE,1474,end apogee,CONTROL_FINISHED_OK
$STATE,1474,begin climb
$GC,1474,0.64,146.0,187.9,0.0,221,1603,0.75,2.40,120.10,0.742,4,0.115,0.087,3222,3350,2340,0,0,0,0,0,0
$GC,1850,0.78,262.4,181.8,4.6,263,1951,0.10,2.38,92.88,0.744,6,0.071,0.077,3288,1942,1869,0,0,0,0,0,0
$GC,2258,0.83,297.9,145.3,8.4,305,2294,0.00,2.47,28.48,0.730,4,0.000,0.088,3299,525,1723,0,0,0,0,0,0
$GC,2341,0.84,310.7,137.9,9.4,314,2356,0.00,2.35,11.50,0.686,6,0.000,0.074,3299,1939,1673,0,0,0,0,0,0
$GC,2664,0.87,330.6,107.3,9.1,346,2686,0.00,2.45,16.98,0.713,4,0.000,0.089,3309,526,1591,0,0,0,0,0,0
$GC,2777,0.92,333.1,96.5,9.9,363,2783,0.00,2.38,0.00,0.000,6,0.000,0.075,3309,1940,1587,0,0,0,0,0,0
$GC,3102,0.95,333.1,62.8,10.7,424,3107,0.00,2.38,0.00,0.000,4,0.000,0.090,3318,533,1584,0,0,0,0,0,0
$GC,3167,0.95,333.1,55.3,12.5,439,3172,0.00,2.33,0.00,0.000,6,0.000,0.077,3318,1937,1583,0,0,0,0,0,0
$GC,3491,1.01,348.6,22.5,9.3,500,3511,0.00,2.38,15.43,0.697,4,0.000,0.088,3327,520,1516,0,0,0,0,0,0
$GC,3576,1.07,369.2,14.3,9.0,519,3600,0.12,2.33,18.50,0.683,6,0.111,0.077,3378,1944,1433,0,0,0,0,0,0
$STATE,3645,end climb,SURFACE_DEPTH_REACHED
$STATE,3645,begin surface coast
$FINISH,0.4,1.024614
$STATE,3666,end surface coast,CONTROL_FINISHED_OK
$STATE,3666,begin surface
$SM_CCo,3679,197.35,0.649,0,0,460,608.34
$SM_GC,1.07,0.00,0.00,197.35,0.000,0.000,0.649,144,1945,460,-9.00,0.20,608.34
$RAFOS_CLK,205
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.051389
$HUMID,48.42
$INTERNAL_PRESSURE,7.92023
$TCM_TEMP,14.50
$XPDR_PINGS,0
$24V_AH,24.1,2.715
$10V_AH,10.2,0.982
$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,21.175,42.475,418.925,197.350,0.000,395.545,0.000,11.048,0.000,0.000,14.333,0.000,2360.781,673.051,1103.501,436.350,0.000,1191.685,0.000,894.786,0.000,0.986,0.000
$DEVICE_MAMPS,247.741,102.011,782.340,648.882,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,375.152,381.943,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150760
$DATA_FILE_SIZE,19032,537
$CAP_FILE_SIZE,63026,0
$CFSIZE,260165632,252366848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1444.0
$CURRENT,0.103,232.8,1
$GPS,171009,142007,6629.797,-5954.322,38,1.2,38,-37.7