version: 66.04
glider: 172
mission: 1
dive: 4
start: 7 15 109 23 40 12
data:
$ID,172
$MISSION,1
$DIVE,4
$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,-2412.5957
$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,21
$R_STBD_OVSHOOT,17
$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
$GPS1,233144,4807.096,-12222.607,12,2.0,12,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-79.1
$GPS2,233934,4807.099,-12222.603,13,2.1,32,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.075,-0.249
$KALMAN_X,-23.2,-36.9,-39.0,569.9,-15.2
$KALMAN_Y,262.8,185.2,142.3,-1131.9,140.0
$MHEAD_RNG_PITCHd_Wd,145.0,2168,-17.5,-10.000
$D_GRID,108
$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,-146.6,0.0,0.0,0,81,0.00,0.00,-68.07,0.000,2,0.000,0.000,132,2132,3375
$GC,82,-0.68,-146.6,3.2,-4.5,12,112,10.20,2.25,-14.27,0.000,4,0.231,0.087,2843,736,3961
$GC,358,-0.68,-146.6,47.3,-16.4,74,365,0.00,2.33,0.00,0.000,6,0.000,0.077,2843,2148,3963
$GC,494,-0.68,-146.6,69.8,-16.5,105,500,0.00,2.30,0.00,0.000,4,0.000,0.076,2843,735,3963
$GC,607,-0.68,-146.6,88.1,-15.4,131,614,0.00,2.28,0.00,0.000,6,0.000,0.071,2843,2142,3962
$STATE,738,end dive,TARGET_DEPTH_EXCEEDED
$STATE,738,begin apogee
$GC,740,-0.14,0.0,108.7,15.3,161,826,0.52,0.00,81.60,0.599,6,0.145,0.000,3013,2143,3514
$STATE,826,end apogee,CONTROL_FINISHED_OK
$STATE,826,begin climb
$GC,827,0.68,146.6,112.4,0.0,176,946,0.75,2.38,110.72,0.583,4,0.096,0.067,3290,737,2916
$GC,971,0.68,146.6,103.0,12.5,203,977,0.00,2.35,0.00,0.000,6,0.000,0.068,3291,2138,2915
$GC,1106,0.68,146.6,85.6,12.5,234,1112,0.00,0.00,0.00,0.000,6,0.000,0.000,3290,2139,2914
$GC,1241,0.68,146.6,68.6,12.2,265,1247,0.00,2.30,0.00,0.000,4,0.000,0.073,3290,3549,2913
$GC,1311,0.68,146.6,59.2,13.7,281,1318,0.00,2.25,0.00,0.000,6,0.000,0.060,3302,2143,2914
$GC,1447,0.68,146.6,42.1,12.2,312,1452,0.00,0.00,0.00,0.000,6,0.000,0.000,3301,2143,2913
$GC,1581,0.68,146.6,26.8,11.2,343,1588,0.00,2.30,0.00,0.000,4,0.000,0.074,3301,3558,2912
$GC,1600,0.68,146.6,24.5,11.5,347,1606,0.00,2.25,0.00,0.000,6,0.000,0.060,3312,2142,2913
$GC,1670,0.68,146.6,16.7,10.7,363,1671,0.00,0.00,0.00,0.000,6,0.000,0.000,3313,2142,2913
$GC,1736,0.69,151.8,10.2,9.8,378,1748,0.00,2.28,5.07,0.439,4,0.000,0.070,3323,728,2894
$GC,1764,0.69,151.8,7.3,10.4,384,1771,0.10,2.28,0.00,0.000,6,0.167,0.068,3290,2143,2894
$STATE,1808,end climb,SURFACE_DEPTH_REACHED
$STATE,1808,begin surface coast
$FINISH,3.8,1.019810
$STATE,1882,end surface coast,CONTROL_FINISHED_OK
$STATE,1882,begin surface
$SM_CCo,1883,326.60,0.507,12,0,458,749.15
$SM_GC,1.13,8.35,0.00,0.00,0.048,0.000,0.000,140,2143,456,-9.07,-0.03,750.13
$RAFOS_CLK,95
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4751.72,-12223.57,091098,232336
$TT8_MAMPS,0.049088
$HUMID,1956
$INTERNAL_PRESSURE,9.11168
$TCM_TEMP,19.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.6,5.5
$24V_AH,24.7,0.733
$10V_AH,10.7,0.253
$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,19.925,27.525,197.400,326.600,0.000,48.601,116.030,158.514,0.500,0.000,0.000,35.494,0.000,1026.476,672.786,783.044,357.605,32.316,1011.982,0.000,603.344,480.000,5.414,0.000
$DEVICE_MAMPS,230.867,86.671,599.027,506.987,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,274.520,207.666,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12738,411
$CAP_FILE_SIZE,42923,0
$CFSIZE,260165632,258756608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,12,0
$SOUNDSPEED,1483.1
$GPS,160709,002014,4807.000,-12222.437,9,1.5,9,18.3