version: 66.06
glider: 172
mission: 2
dive: 6
start: 10 17 109 18 15 44
data:
$ID,172
$MISSION,2
$DIVE,6
$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,-3091.2192
$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
$GPS1,180355,6628.644,-5951.822,42,0.9,42,-37.6
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-73.9
$GPS2,181538,6628.443,-5951.648,12,1.5,12,-37.6
$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,56.8,147256,-17.5,-10.000
$D_GRID,642
$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,-146.0,0.0,0.0,0,124,0.00,0.00,-109.53,0.000,2,0.000,0.000,139,1939,2929,0,0,0,0,0,0
$GC,125,-0.64,-146.0,3.3,-6.8,21,154,10.77,2.38,-12.55,0.000,4,0.260,0.100,2810,527,3538,0,0,0,0,0,0
$GC,400,-0.59,-146.0,58.2,-16.2,84,406,0.00,2.35,0.00,0.000,6,0.000,0.077,2810,1933,3541,0,0,0,0,0,0
$GC,728,-0.54,-146.0,109.5,-14.9,140,732,0.12,2.35,0.00,0.000,4,0.189,0.087,2845,519,3541,0,0,0,0,0,0
$GC,788,-0.54,-146.0,117.2,-11.8,147,792,0.00,2.35,0.00,0.000,6,0.000,0.077,2844,1933,3541,0,0,0,0,0,0
$GC,1107,-0.60,-146.0,151.9,-10.3,178,1111,0.00,2.35,0.00,0.000,4,0.000,0.085,2844,527,3541,0,0,0,0,0,0
$GC,1142,-0.66,-146.0,155.7,-10.5,182,1146,0.00,2.30,0.00,0.000,6,0.000,0.077,2844,1938,3541,0,0,0,0,0,0
$STATE,1377,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1377,begin apogee
$GC,1379,-0.13,0.0,180.6,11.0,205,1500,0.43,0.00,116.55,0.787,6,0.148,0.000,2977,1939,2939,0,0,0,0,0,0
$STATE,1500,end apogee,CONTROL_FINISHED_OK
$STATE,1500,begin climb
$GC,1502,0.64,146.0,186.3,0.0,217,1629,0.77,2.50,121.22,0.746,4,0.122,0.085,3234,521,2342,0,0,0,0,0,0
$GC,1710,0.80,276.1,185.5,4.0,240,1822,0.10,2.45,106.18,0.735,6,0.075,0.073,3283,1937,1813,0,0,0,0,0,0
$GC,2136,0.85,280.3,142.2,9.8,284,2140,0.00,2.45,0.00,0.000,4,0.000,0.088,3292,506,1798,0,0,0,0,0,0
$GC,2214,0.86,292.3,134.4,9.4,293,2232,0.00,2.42,12.52,0.701,6,0.000,0.074,3292,1938,1748,0,0,0,0,0,0
$GC,2541,0.95,322.4,105.1,8.6,325,2572,0.10,2.45,26.75,0.723,4,0.119,0.087,3344,520,1624,0,0,0,0,0,0
$GC,2718,0.89,322.4,83.7,11.7,360,2724,0.10,2.40,0.00,0.000,6,0.163,0.074,3312,1934,1617,0,0,0,0,0,0
$GC,3043,0.90,334.1,51.7,9.5,421,3058,0.00,2.40,9.80,0.681,4,0.000,0.087,3322,524,1577,0,0,0,0,0,0
$GC,3162,0.90,336.3,39.2,9.9,448,3167,0.00,2.38,0.00,0.000,6,0.000,0.074,3322,1936,1574,0,0,0,0,0,0
$GC,3486,0.92,348.4,7.2,9.4,509,3506,0.00,2.45,13.40,0.684,4,0.000,0.090,3333,524,1518,0,0,0,0,0,0
$STATE,3517,end climb,SURFACE_DEPTH_REACHED
$STATE,3517,begin surface coast
$FINISH,0.2,1.017349
$STATE,3557,end surface coast,CONTROL_FINISHED_OK
$STATE,3557,begin surface
$SM_CCo,3571,217.70,0.650,0,0,460,608.34
$SM_GC,1.03,0.00,0.00,217.70,0.000,0.000,0.650,150,1938,460,-8.98,0.00,608.34
$RAFOS_CLK,220
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.052156
$HUMID,47.32
$INTERNAL_PRESSURE,7.88116
$TCM_TEMP,14.60
$XPDR_PINGS,110
$24V_AH,23.7,3.275
$10V_AH,10.1,1.119
$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,21.075,38.375,406.425,217.700,0.000,395.835,0.000,11.133,27.500,0.000,12.158,0.000,2348.881,661.084,1034.075,443.643,0.000,1152.673,0.000,841.249,0.000,0.981,0.000
$DEVICE_MAMPS,260.013,99.710,786.942,650.416,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,368.368,375.329,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150756
$DATA_FILE_SIZE,19029,525
$CAP_FILE_SIZE,57715,0
$CFSIZE,260165632,252182528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1443.8
$CURRENT,0.564,158.5,1
$GPS,171009,191926,6627.779,-5950.150,12,1.5,12,-37.6