version: 66.04
glider: 172
mission: 1
dive: 9
start: 7 16 109 3 22 25
data:
$ID,172
$MISSION,1
$DIVE,9
$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,-2524.3796
$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,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
$GPS1,031357,4806.377,-12222.146,9,4.8,28,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-81.8
$GPS2,032146,4806.324,-12222.121,16,4.8,35,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.048,-0.256
$KALMAN_X,-114.3,-100.4,-20.0,1301.4,7.7
$KALMAN_Y,1243.2,474.7,91.7,-3782.7,110.3
$MHEAD_RNG_PITCHd_Wd,151.1,619,-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,-146.6,0.0,0.0,0,72,0.00,0.00,-59.75,0.000,2,0.000,0.000,142,2140,3191
$GC,74,-0.68,-146.6,3.5,-4.7,10,110,10.35,2.33,-19.12,0.000,4,0.235,0.085,2832,3563,3963
$GC,357,-0.68,-146.6,49.8,-18.1,73,363,0.00,2.25,0.00,0.000,6,0.000,0.057,2832,2148,3964
$GC,493,-0.68,-146.6,75.9,-19.6,104,499,0.00,2.28,0.00,0.000,4,0.000,0.067,2831,726,3964
$GC,510,-0.68,-146.6,79.5,-19.6,108,520,0.00,2.28,0.00,0.000,6,0.000,0.066,2822,2141,3964
$GC,649,-0.68,-146.6,106.7,-20.1,139,649,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2141,3965
$STATE,656,end dive,TARGET_DEPTH_EXCEEDED
$STATE,656,begin apogee
$GC,659,-0.14,0.0,108.3,19.8,141,748,0.60,0.00,82.20,0.602,6,0.152,0.000,3013,2141,3515
$STATE,748,end apogee,CONTROL_FINISHED_OK
$STATE,748,begin climb
$GC,749,0.68,146.6,113.0,0.0,157,868,0.75,2.38,110.97,0.586,4,0.091,0.066,3281,3563,2915
$GC,914,0.68,146.6,100.2,14.1,189,921,0.00,2.33,0.00,0.000,6,0.000,0.054,3292,2142,2914
$GC,1050,0.68,146.6,82.2,13.2,220,1056,0.00,2.30,0.00,0.000,4,0.000,0.067,3292,3561,2914
$GC,1094,0.68,146.6,75.9,13.8,230,1101,0.00,2.28,0.00,0.000,6,0.000,0.054,3303,2139,2913
$GC,1230,0.68,146.6,57.9,13.3,261,1236,0.00,0.00,0.00,0.000,6,0.000,0.000,3303,2138,2913
$GC,1365,0.68,146.6,41.9,11.2,292,1371,0.00,2.25,0.00,0.000,4,0.000,0.064,3313,732,2913
$GC,1392,0.68,146.6,38.7,11.5,298,1398,0.00,2.28,0.00,0.000,6,0.000,0.063,3313,2147,2913
$GC,1462,0.68,146.6,30.7,11.7,314,1463,0.00,0.00,0.00,0.000,6,0.000,0.000,3313,2147,2912
$GC,1527,0.68,146.6,23.3,11.4,329,1534,0.00,2.25,0.00,0.000,4,0.000,0.067,3313,3551,2912
$GC,1554,0.68,146.6,19.9,12.5,335,1561,0.10,2.22,0.00,0.000,6,0.167,0.054,3292,2138,2912
$GC,1625,0.68,146.6,12.7,10.0,351,1631,0.00,2.28,0.00,0.000,4,0.000,0.068,3291,3550,2912
$STATE,1734,end climb,SURFACE_DEPTH_REACHED
$STATE,1734,begin surface coast
$FINISH,4.1,1.019729
$STATE,1769,end surface coast,CONTROL_FINISHED_OK
$STATE,1769,begin surface
$SM_CCo,1770,352.52,0.512,12,0,459,749.15
$SM_GC,1.00,8.30,0.00,0.00,0.041,0.000,0.000,140,2145,456,-9.07,0.00,750.37
$RAFOS_CLK,94
$RAFOS,2,1247714942,3.500000,3.483889,49,47,43,0,0,0,1417,1145,1316,0,0,0
$RAFOS,0,1247713743,3.166667,3.150833,47,43,43,0,0,0,1776,39,1766,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4748.51,-12224.57,101098,030353
$TT8_MAMPS,0.050622
$HUMID,1985
$INTERNAL_PRESSURE,9.09215
$TCM_TEMP,18.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.1,5.5
$24V_AH,24.5,1.133
$10V_AH,10.7,0.382
$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,20.100,31.975,193.175,352.525,0.000,58.015,104.233,156.540,0.500,0.000,0.000,39.868,0.000,954.000,699.624,747.625,352.857,33.320,1025.545,0.000,564.520,480.000,5.446,0.000
$DEVICE_MAMPS,235.469,85.137,602.095,511.589,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,256.039,192.326,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12732,384
$CAP_FILE_SIZE,43031,0
$CFSIZE,260165632,258613248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,12,1
$SOUNDSPEED,1483.1
$GPS,160709,040130,4806.123,-12222.073,37,1.1,37,18.3