version: 66.06
glider: 172
mission: 2
dive: 7
start: 10 17 109 19 31 14
data:
$ID,172
$MISSION,2
$DIVE,7
$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,-3104.0129
$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,18
$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
$GPS1,191926,6627.779,-5950.150,12,1.5,12,-37.6
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-73.5
$GPS2,193108,6627.560,-5950.023,12,1.6,12,-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,56.1,146923,-17.5,-10.000
$D_GRID,671
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,12,-0.64,-146.0,0.0,0.0,0,125,0.00,0.00,-110.90,0.000,2,0.000,0.000,142,1938,2986,0,0,0,0,0,0
$GC,127,-0.64,-146.0,3.9,-9.7,21,155,10.82,2.42,-10.80,0.000,4,0.259,0.100,2811,530,3541,0,0,0,0,0,0
$GC,402,-0.58,-146.0,60.2,-15.4,84,408,0.00,2.35,0.00,0.000,6,0.000,0.077,2810,1928,3543,0,0,0,0,0,0
$GC,725,-0.54,-146.0,112.5,-16.1,138,729,0.12,2.35,0.00,0.000,4,0.189,0.087,2845,523,3543,0,0,0,0,0,0
$GC,855,-0.60,-146.0,130.6,-13.6,153,859,0.00,2.35,0.00,0.000,6,0.000,0.077,2845,1934,3543,0,0,0,0,0,0
$GC,1174,-0.66,-146.0,171.5,-12.7,184,1178,0.10,2.38,0.00,0.000,4,0.122,0.087,2801,505,3543,0,0,0,0,0,0
$STATE,1229,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1229,begin apogee
$GC,1233,-0.13,0.0,180.3,16.1,190,1354,0.55,0.00,117.45,0.782,6,0.154,0.000,2974,1942,2939,0,0,0,0,0,0
$STATE,1354,end apogee,CONTROL_FINISHED_OK
$STATE,1354,begin climb
$GC,1355,0.64,146.0,188.4,0.0,202,1481,0.77,0.00,122.22,0.744,6,0.123,0.000,3222,1942,2343,0,0,0,0,0,0
$GC,1791,0.86,278.9,184.7,3.9,245,1908,0.22,2.55,108.85,0.749,4,0.084,0.087,3322,521,1799,0,0,0,0,0,0
$GC,1950,0.78,278.9,167.7,13.4,263,1954,0.15,2.47,0.00,0.000,6,0.154,0.072,3277,1938,1792,0,0,0,0,0,0
$GC,2270,0.85,288.3,133.8,9.6,294,2281,0.00,2.47,6.20,0.637,4,0.000,0.088,3287,527,1764,0,0,0,0,0,0
$GC,2369,0.92,300.8,124.0,9.4,305,2385,0.00,2.35,12.68,0.709,6,0.000,0.072,3287,1939,1713,0,0,0,0,0,0
$GC,2696,1.03,341.7,94.8,8.1,342,2738,0.20,2.47,35.75,0.726,4,0.093,0.087,3372,521,1544,0,0,0,0,0,0
$GC,2824,0.94,341.7,77.2,14.8,371,2830,0.12,2.42,0.00,0.000,6,0.165,0.074,3334,1938,1538,0,0,0,0,0,0
$GC,3149,0.94,341.7,38.5,11.3,432,3155,0.00,2.42,0.00,0.000,4,0.000,0.088,3344,530,1534,0,0,0,0,0,0
$GC,3341,0.94,341.7,17.2,11.0,476,3347,0.00,2.35,0.00,0.000,6,0.000,0.074,3344,1928,1532,0,0,0,0,0,0
$STATE,3457,end climb,SURFACE_DEPTH_REACHED
$STATE,3457,begin surface coast
$FINISH,0.3,1.024597
$STATE,3489,end surface coast,CONTROL_FINISHED_OK
$STATE,3489,begin surface
$SM_CCo,3502,221.65,0.655,0,0,460,608.34
$SM_GC,0.95,0.00,0.00,221.65,0.000,0.000,0.655,148,1930,460,-8.98,-0.23,608.34
$RAFOS_CLK,216
$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,47.04
$INTERNAL_PRESSURE,7.88116
$TCM_TEMP,14.50
$XPDR_PINGS,76
$24V_AH,23.7,3.416
$10V_AH,10.2,1.152
$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,21.800,33.775,403.150,221.650,0.000,395.819,0.000,11.111,19.000,0.000,12.167,0.000,2298.631,690.499,992.336,440.606,0.000,1141.893,0.000,794.773,1440.000,0.981,0.000
$DEVICE_MAMPS,259.246,100.477,781.573,655.018,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,353.040,362.151,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150748
$DATA_FILE_SIZE,19046,504
$CAP_FILE_SIZE,55860,0
$CFSIZE,260165632,252141568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1444.0
$CURRENT,0.540,156.9,1
$GPS,171009,203350,6626.979,-5948.707,11,1.0,11,-37.6