version: 66.06
glider: 172
mission: 2
dive: 4
start: 10 17 109 15 43 55
data:
$ID,172
$MISSION,2
$DIVE,4
$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,-3063.6121
$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,16
$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
$GPS1,153204,6629.758,-5954.031,10,4.0,29,-37.7
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-70.1
$GPS2,154349,6629.696,-5953.923,10,1.2,15,-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,74.4,147753,-17.5,-10.000
$D_GRID,626
$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,12,-0.64,-146.0,0.0,0.0,0,120,0.00,0.00,-105.97,0.000,2,0.000,0.000,137,1942,2832,0,0,0,0,0,0
$GC,122,-0.64,-146.0,3.1,-5.6,20,154,10.70,2.42,-15.52,0.000,4,0.259,0.102,2813,526,3539,0,0,0,0,0,0
$GC,401,-0.59,-146.0,57.9,-16.8,84,406,0.00,2.35,0.00,0.000,6,0.000,0.077,2813,1941,3541,0,0,0,0,0,0
$GC,723,-0.55,-146.0,110.4,-15.7,139,728,0.12,2.38,0.00,0.000,4,0.191,0.087,2847,533,3542,0,0,0,0,0,0
$GC,883,-0.59,-146.0,131.8,-12.6,157,889,0.00,2.33,0.00,0.000,6,0.000,0.077,2847,1936,3542,0,0,0,0,0,0
$GC,1198,-0.67,-146.0,168.2,-11.2,188,1202,0.12,2.33,0.00,0.000,4,0.107,0.087,2793,526,3542,0,0,0,0,0,0
$GC,1232,-0.60,-146.0,173.2,-14.6,192,1236,0.10,2.33,0.00,0.000,6,0.169,0.077,2825,1935,3542,0,0,0,0,0,0
$STATE,1291,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1291,begin apogee
$GC,1294,-0.13,0.0,181.3,12.7,198,1415,0.50,0.00,115.85,0.781,6,0.151,0.000,2980,1935,2938,0,0,0,0,0,0
$STATE,1415,end apogee,CONTROL_FINISHED_OK
$STATE,1415,begin climb
$GC,1416,0.64,146.0,187.0,0.0,210,1545,0.75,2.55,120.30,0.747,4,0.119,0.089,3224,3352,2341,0,0,0,0,0,0
$GC,1713,0.83,302.4,186.1,2.8,243,1847,0.12,2.42,126.50,0.744,6,0.077,0.076,3294,1937,1706,0,0,0,0,0,0
$GC,2155,0.87,302.4,145.6,11.1,289,2159,0.00,2.42,0.00,0.000,4,0.000,0.090,3293,3351,1690,0,0,0,0,0,0
$GC,2407,0.87,302.4,114.8,12.2,318,2411,0.00,2.40,0.00,0.000,6,0.000,0.079,3304,1938,1688,0,0,0,0,0,0
$GC,2732,0.88,307.7,80.4,9.8,367,2739,0.00,2.40,0.00,0.000,4,0.000,0.091,3304,3340,1687,0,0,0,0,0,0
$GC,2985,0.88,311.3,53.5,9.8,425,2995,0.00,2.35,5.53,0.627,6,0.000,0.079,3314,1938,1670,0,0,0,0,0,0
$GC,3317,0.98,350.9,23.0,8.2,487,3359,0.00,2.40,34.78,0.706,4,0.000,0.091,3324,527,1508,0,0,0,0,0,0
$GC,3453,1.04,350.9,8.6,11.5,518,3459,0.08,2.38,0.00,0.000,6,0.088,0.077,3362,1934,1501,0,0,0,0,0,0
$STATE,3493,end climb,SURFACE_DEPTH_REACHED
$STATE,3493,begin surface coast
$FINISH,0.5,1.024598
$STATE,3531,end surface coast,CONTROL_FINISHED_OK
$STATE,3531,begin surface
$SM_CCo,3544,213.30,0.652,0,0,460,608.34
$SM_GC,0.98,0.00,0.00,213.30,0.000,0.000,0.652,147,1936,460,-8.98,-0.06,608.34
$RAFOS_CLK,210
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.052923
$HUMID,48.14
$INTERNAL_PRESSURE,7.89093
$TCM_TEMP,14.60
$XPDR_PINGS,108
$24V_AH,23.8,2.993
$10V_AH,10.1,1.050
$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,21.325,33.450,402.950,213.300,0.000,395.736,0.000,11.040,27.000,0.000,16.068,0.000,2241.439,654.256,1118.358,437.967,0.000,1171.893,0.000,901.655,2160.000,0.981,0.000
$DEVICE_MAMPS,259.246,102.011,780.806,651.950,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,374.351,376.998,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150784
$DATA_FILE_SIZE,19037,533
$CAP_FILE_SIZE,59108,0
$CFSIZE,260165632,252276736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1443.9
$CURRENT,0.336,162.6,1
$GPS,171009,164656,6629.344,-5953.264,10,1.0,10,-37.6