version: 66.04
glider: 172
mission: 1
dive: 2
start: 7 15 109 22 9 50
data:
$ID,172
$MISSION,1
$DIVE,2
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,500
$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,50
$T_MISSION,70
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,300
$USE_BATHY,-4
$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,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$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,480
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-2357.7131
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,154
$PITCH_MAX,3948
$C_PITCH,3066
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,35
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,160
$ROLL_MAX,3717
$ROLL_DEG,40
$C_ROLL_DIVE,2145
$C_ROLL_CLIMB,2145
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,3514
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$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
$PHONE_SUPPLY,2
$PRESSURE_YINT,-56.536236
$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,80
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$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
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-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
$GPS1,220326,4807.337,-12222.978,10,1.1,10,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-77.5
$GPS2,220914,4807.333,-12222.997,13,1.1,13,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.131,-0.224
$KALMAN_X,-25.9,-25.9,-25.9,64.5,-69.2
$KALMAN_Y,21.0,21.0,21.0,-170.2,56.0
$MHEAD_RNG_PITCHd_Wd,131.4,2759,-17.5,-10.000
$D_GRID,107
$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
$STATE,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,11,-0.68,-146.6,0.0,0.0,0,121,0.00,0.00,-107.68,0.000,2,0.000,0.000,137,2152,3368
$GC,122,-0.68,-146.6,3.5,-6.3,19,152,10.20,2.22,-14.38,0.000,4,0.236,0.083,2838,736,3961
$GC,390,-0.68,-146.6,42.9,-15.8,79,396,0.00,2.25,0.00,0.000,6,0.000,0.071,2836,2133,3962
$GC,525,-0.68,-146.6,65.6,-16.8,110,526,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2133,3963
$GC,656,-0.68,-146.6,87.1,-16.4,140,661,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2133,3962
$STATE,784,end dive,TARGET_DEPTH_EXCEEDED
$STATE,784,begin apogee
$GC,787,-0.14,0.0,107.5,15.1,170,871,0.52,0.00,80.78,0.586,6,0.141,0.000,3008,2133,3514
$STATE,872,end apogee,CONTROL_FINISHED_OK
$STATE,872,begin climb
$GC,873,0.68,146.6,111.1,0.0,185,985,0.75,0.00,109.50,0.571,6,0.087,0.000,3282,2133,2916
$GC,1114,0.68,146.6,88.3,13.3,235,1115,0.00,0.00,0.00,0.000,6,0.000,0.000,3282,2133,2914
$GC,1245,0.68,146.6,71.8,12.7,265,1251,0.00,2.30,0.00,0.000,4,0.000,0.071,3282,3549,2913
$GC,1298,0.68,146.6,64.7,13.4,277,1304,0.00,2.22,0.00,0.000,6,0.000,0.058,3293,2149,2913
$GC,1433,0.68,146.6,47.8,12.2,308,1438,0.00,0.00,0.00,0.000,6,0.000,0.000,3293,2148,2912
$GC,1567,0.68,146.6,31.9,11.8,339,1568,0.00,0.00,0.00,0.000,6,0.000,0.000,3292,2148,2912
$GC,1633,0.68,146.6,25.0,10.4,354,1639,0.00,2.28,0.00,0.000,4,0.000,0.071,3293,3558,2912
$GC,1650,0.68,146.6,22.9,11.3,358,1657,0.00,2.22,0.00,0.000,6,0.000,0.058,3303,2143,2912
$GC,1721,0.68,146.6,15.2,10.2,374,1728,0.00,2.22,0.00,0.000,4,0.000,0.067,3314,734,2911
$GC,1735,0.68,146.6,13.9,10.5,377,1741,0.00,2.28,0.00,0.000,6,0.000,0.069,3314,2148,2911
$GC,1805,0.69,152.8,6.7,9.7,393,1818,0.00,2.28,5.32,0.446,4,0.000,0.074,3314,3553,2891
$STATE,1837,end climb,SURFACE_DEPTH_REACHED
$STATE,1838,begin surface coast
$FINISH,4.3,1.019786
$STATE,1890,end surface coast,CONTROL_FINISHED_OK
$STATE,1890,begin surface
$SM_CCo,1891,337.90,0.494,18,0,459,749.15
$SM_GC,1.15,8.27,0.00,0.00,0.042,0.000,0.000,143,2143,455,-9.06,-0.06,750.13
$RAFOS_CLK,106
$RAFOS,2,1247696943,22.500000,22.484167,47,45,44,0,0,0,40,1877,1736,0,0,0
$RAFOS,1,1247696341,22.333334,22.316944,49,49,47,0,0,0,964,1132,2177,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4807.83,-12219.57,091098,222248
$TT8_MAMPS,0.049855
$HUMID,1908
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,19.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,100.1,3.8
$24V_AH,24.8,0.563
$10V_AH,10.8,0.201
$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,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,19.750,22.575,195.600,337.900,0.000,0.000,0.000,0.000,1.500,0.000,0.000,14.934,0.000,952.802,729.982,770.794,18.307,30.169,1074.289,0.000,604.916,960.000,13.981,0.000
$DEVICE_MAMPS,236.236,82.836,585.988,493.948,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,274.962,207.573,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12738,412
$CAP_FILE_SIZE,52086,0
$CFSIZE,260165632,258801664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,18,0
$SOUNDSPEED,1483.3
$GPS,150709,225044,4807.200,-12222.796,9,1.2,9,18.3