version: 66.04
glider: 172
mission: 1
dive: 6
start: 7 16 109 1 12 10
data:
$ID,172
$MISSION,1
$DIVE,6
$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,-2446.4341
$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,21
$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
$GPS1,010121,4806.846,-12222.461,7,1.4,7,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-77.1
$GPS2,011131,4806.832,-12222.476,10,1.4,15,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.068,-0.251
$KALMAN_X,-57.3,-86.9,-35.7,811.7,-1.5
$KALMAN_Y,677.6,338.5,148.4,-2199.4,159.1
$MHEAD_RNG_PITCHd_Wd,146.6,1649,-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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,11,-0.68,-146.6,0.0,0.0,0,86,0.00,0.00,-72.53,0.000,2,0.000,0.000,143,2151,3521
$GC,87,-0.68,-146.6,3.5,-5.5,12,112,10.43,2.33,-10.27,0.000,4,0.241,0.080,2839,735,3963
$GC,359,-0.68,-146.6,50.1,-16.9,73,366,0.00,2.28,0.00,0.000,6,0.000,0.068,2836,2141,3964
$GC,495,-0.68,-146.6,74.4,-17.4,104,501,0.00,2.22,0.00,0.000,4,0.000,0.067,2837,734,3964
$GC,560,-0.68,-146.6,86.0,-16.3,119,567,0.00,2.28,0.00,0.000,6,0.000,0.068,2836,2147,3964
$GC,696,-0.68,-146.6,106.1,-17.0,150,701,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2147,3965
$STATE,703,end dive,TARGET_DEPTH_EXCEEDED
$STATE,703,begin apogee
$GC,706,-0.14,0.0,107.4,17.1,152,790,0.55,0.00,82.15,0.600,6,0.143,0.000,3015,2147,3514
$STATE,791,end apogee,CONTROL_FINISHED_OK
$STATE,791,begin climb
$GC,791,0.68,146.6,110.9,0.0,167,910,0.75,2.38,110.53,0.583,4,0.089,0.067,3284,3566,2915
$GC,948,0.68,146.6,99.5,13.7,197,955,0.00,2.30,0.00,0.000,6,0.000,0.054,3294,2146,2915
$GC,1084,0.68,146.6,81.4,12.7,228,1089,0.00,0.00,0.00,0.000,6,0.000,0.000,3294,2146,2914
$GC,1218,0.68,146.6,64.7,12.6,259,1219,0.00,0.00,0.00,0.000,6,0.000,0.000,3295,2146,2914
$GC,1348,0.68,146.6,48.9,11.4,289,1349,0.00,0.00,0.00,0.000,6,0.000,0.000,3294,2145,2913
$GC,1478,0.69,151.2,34.2,9.8,319,1491,0.00,2.30,4.72,0.429,4,0.000,0.068,3295,3559,2897
$GC,1537,0.69,151.2,27.1,11.9,332,1544,0.00,2.22,0.00,0.000,6,0.000,0.056,3305,2151,2897
$GC,1608,0.69,151.2,19.1,10.9,348,1609,0.00,0.00,0.00,0.000,6,0.000,0.000,3305,2150,2897
$GC,1673,0.69,151.2,12.2,10.1,363,1673,0.00,0.00,0.00,0.000,6,0.000,0.000,3305,2150,2897
$GC,1737,0.69,151.2,5.5,10.2,378,1738,0.00,0.00,0.00,0.000,6,0.000,0.000,3305,2150,2897
$STATE,1758,end climb,SURFACE_DEPTH_REACHED
$STATE,1758,begin surface coast
$FINISH,3.1,1.019718
$STATE,1815,end surface coast,CONTROL_FINISHED_OK
$STATE,1815,begin surface
$SM_CCo,1827,173.40,0.512,8,0,1555,480.05
$SM_GC,1.30,0.00,0.00,173.40,0.000,0.000,0.512,141,2149,1555,-9.14,0.11,480.05
$RAFOS_CLK,88
$RAFOS,2,1247707744,1.500000,1.484444,54,50,47,0,0,0,793,1846,805,0,0,0
$RAFOS,1,1247707142,1.333333,1.317222,46,44,43,0,0,0,2223,1652,999,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4751.72,-12223.57,101098,010149
$TT8_MAMPS,0.050622
$HUMID,1912
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,19.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.1,3.8
$24V_AH,24.4,0.884
$10V_AH,10.7,0.303
$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,20.325,18.300,197.400,173.400,0.000,71.496,130.151,218.756,0.500,0.000,0.000,17.720,0.000,967.959,483.753,742.062,458.541,33.306,809.229,0.000,581.815,960.000,5.407,0.000
$DEVICE_MAMPS,240.838,79.768,599.794,511.589,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,264.742,198.554,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12718,396
$CAP_FILE_SIZE,43401,0
$CFSIZE,260165632,258699264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,8,0
$SOUNDSPEED,1483.1
$GPS,160709,014704,4806.722,-12222.360,10,3.9,29,18.3