version: 66.04
glider: 172
mission: 1
dive: 5
start: 7 16 109 0 25 35
data:
$ID,172
$MISSION,1
$DIVE,5
$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,-2428.0845
$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,18
$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
$GPS1,002014,4807.000,-12222.437,9,1.5,9,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-77.8
$GPS2,002456,4806.986,-12222.434,12,1.6,12,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.042,-0.257
$KALMAN_X,21.9,-33.5,-45.4,736.5,20.3
$KALMAN_Y,487.6,266.0,150.5,-1653.9,178.0
$MHEAD_RNG_PITCHd_Wd,152.4,1904,-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,-146.6,0.0,0.0,0,126,0.00,0.00,-113.32,0.000,2,0.000,0.000,139,2144,3517
$GC,128,-0.68,-146.6,3.9,-6.3,19,153,10.32,2.35,-9.82,0.000,4,0.236,0.084,2831,3569,3963
$GC,400,-0.68,-146.6,50.4,-16.8,80,406,0.00,2.25,0.00,0.000,6,0.000,0.058,2831,2151,3964
$GC,535,-0.68,-146.6,75.0,-18.7,111,541,0.00,2.30,0.00,0.000,4,0.000,0.073,2821,3562,3965
$GC,570,-0.68,-146.6,81.5,-18.3,119,577,0.00,2.25,0.00,0.000,6,0.000,0.058,2821,2139,3965
$GC,706,-0.68,-146.6,106.3,-18.4,150,713,0.00,2.22,0.00,0.000,4,0.000,0.068,2821,742,3965
$STATE,715,end dive,TARGET_DEPTH_EXCEEDED
$STATE,715,begin apogee
$GC,719,-0.14,0.0,108.1,18.2,152,804,0.60,0.00,82.25,0.594,6,0.150,0.000,3012,2146,3514
$STATE,804,end apogee,CONTROL_FINISHED_OK
$STATE,804,begin climb
$GC,805,0.68,146.6,112.5,0.0,166,925,0.75,2.38,110.75,0.581,4,0.091,0.064,3292,737,2915
$GC,959,0.68,146.6,101.4,12.3,194,966,0.00,2.35,0.00,0.000,6,0.000,0.064,3292,2146,2915
$GC,1095,0.68,146.6,83.4,13.2,225,1101,0.00,2.30,0.00,0.000,4,0.000,0.069,3292,3553,2914
$GC,1122,0.68,146.6,79.6,14.3,231,1128,0.00,2.25,0.00,0.000,6,0.000,0.056,3303,2147,2914
$GC,1258,0.68,146.6,68.4,12.1,262,1263,0.00,0.00,0.00,0.000,6,0.000,0.000,3303,2147,2914
$GC,1392,0.68,146.6,51.3,11.8,293,1393,0.00,0.00,0.00,0.000,6,0.000,0.000,3303,2147,2913
$GC,1522,0.68,146.6,35.8,11.4,323,1523,0.00,0.00,0.00,0.000,6,0.000,0.000,3303,2147,2912
$GC,1587,0.68,146.6,28.5,10.9,338,1594,0.00,2.28,0.00,0.000,4,0.000,0.071,3303,3555,2912
$GC,1636,0.68,146.6,22.7,12.2,349,1642,0.00,2.22,0.00,0.000,6,0.000,0.056,3313,2143,2912
$GC,1706,0.68,146.6,14.8,10.7,365,1707,0.00,0.00,0.00,0.000,6,0.000,0.000,3314,2143,2912
$GC,1772,0.69,156.0,8.2,9.6,380,1785,0.00,2.22,8.18,0.502,4,0.000,0.068,3324,729,2876
$STATE,1822,end climb,SURFACE_DEPTH_REACHED
$STATE,1822,begin surface coast
$FINISH,3.6,1.019595
$STATE,1883,end surface coast,CONTROL_FINISHED_OK
$STATE,1883,begin surface
$SM_CCo,1898,174.10,0.507,9,0,1555,480.05
$SM_GC,1.33,0.00,0.00,174.10,0.000,0.000,0.507,143,2151,1555,-9.14,0.17,480.05
$RAFOS_CLK,80
$RAFOS,2,1247704143,0.500000,0.484167,53,42,41,0,0,0,2404,2062,1322,0,0,0
$RAFOS,0,1247702943,0.166667,0.150833,49,42,41,0,0,0,606,2426,769,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4751.72,-12219.12,091098,232328
$TT8_MAMPS,0.050622
$HUMID,1917
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,19.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.0,5.6
$24V_AH,24.5,0.804
$10V_AH,10.7,0.277
$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,20.300,31.900,201.175,174.100,0.000,25.277,32.264,158.797,0.500,0.000,0.000,14.863,0.000,848.487,541.970,756.331,250.322,33.309,882.299,0.000,594.897,480.000,5.413,0.000
$DEVICE_MAMPS,236.236,84.370,593.658,506.987,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,269.984,202.512,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12706,405
$CAP_FILE_SIZE,42447,0
$CFSIZE,260165632,258732032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,9,0
$SOUNDSPEED,1483.4
$GPS,160709,010121,4806.846,-12222.461,7,1.4,7,18.3