version: 66.06
glider: 172
mission: 3
dive: 1
start: 10 20 109 17 49 49
data:
$ID,172
$MISSION,3
$DIVE,1
$D_SURF,4
$D_FLARE,3
$D_TGT,45
$D_ABORT,70
$D_NO_BLEED,500
$D_BOOST,0
$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,15
$T_MISSION,30
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,300
$T_LOITER,0
$USE_BATHY,-3
$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,1.0275
$MASS,51891
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$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,0.2
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,598.34399
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-4123.1016
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,154
$PITCH_MAX,3948
$C_PITCH,3025
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,38
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.032000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,160
$ROLL_MAX,3717
$ROLL_DEG,40
$C_ROLL_DIVE,1938
$C_ROLL_CLIMB,1938
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,13
$R_STBD_OVSHOOT,37
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,2940
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$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
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-55.981045
$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,400
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,1
$ALTIM_SENSITIVITY,3
$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
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-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
$GPS1,174532,6700.658,-5706.269,8,1.6,8,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-73.6
$GPS2,174813,6700.677,-5706.215,13,1.6,18,-37.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_W_IN
$TGT_LATLONG,6644.000,-6026.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,295.7,149383,-17.5,-10.000
$D_GRID,732
$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,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,11,-0.64,-146.0,0.0,0.0,0,147,0.00,0.00,-132.32,0.000,2,0.000,0.000,120,1945,3295,0,0,0,0,0,0
$GC,148,-0.64,-146.0,3.7,-9.0,26,168,10.18,2.25,-4.95,0.000,4,0.239,0.081,2800,3336,3539,0,0,0,0,0,0
$STATE,370,end dive,TARGET_DEPTH_EXCEEDED
$STATE,370,begin apogee
$GC,374,-0.13,0.0,45.1,14.9,77,492,0.52,0.00,110.20,0.631,6,0.138,0.000,2974,1923,2940,0,0,0,0,0,0
$STATE,492,end apogee,CONTROL_FINISHED_OK
$STATE,492,begin climb
$GC,493,0.64,146.0,52.4,0.0,100,620,0.73,2.38,114.53,0.607,4,0.104,0.064,3225,3335,2341,0,0,0,0,0,0
$GC,836,0.82,294.1,49.5,3.2,176,956,0.12,2.22,113.62,0.607,6,0.058,0.054,3303,1935,1740,0,0,0,0,0,0
$STATE,1269,end climb,SURFACE_DEPTH_REACHED
$STATE,1269,begin surface coast
$FINISH,0.2,1.025111
$STATE,1301,end surface coast,CONTROL_FINISHED_OK
$STATE,1301,begin surface
$SM_CCo,1313,142.52,0.577,0,0,500,598.53
$SM_GC,1.08,0.00,0.00,142.52,0.000,0.000,0.577,133,1933,500,-9.01,-0.14,598.53
$RAFOS_CLK,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6631.12,-5708.95,140199,171746
$TT8_MAMPS,0.051389
$HUMID,35.50
$INTERNAL_PRESSURE,9.55115
$TCM_TEMP,16.60
$XPDR_PINGS,0
$24V_AH,24.7,4.056
$10V_AH,10.6,1.390
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$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,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,19.675,9.075,338.350,142.525,0.000,0.000,0.000,0.000,0.000,0.000,18.214,0.000,488.406,513.392,501.711,95.286,0.000,785.115,0.000,387.396,0.000,0.993,0.000
$DEVICE_MAMPS,238.537,81.302,631.241,576.784,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,177.334,181.498,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151980
$DATA_FILE_SIZE,9600,267
$CAP_FILE_SIZE,43472,0
$CFSIZE,260165632,252428288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1458.0
$CURRENT,0.195, 67.1,1
$GPS,201009,181458,6700.811,-5706.079,10,2.4,29,-37.6