version: 66.06
glider: 172
mission: 3
dive: 3
start: 10 20 109 19 33 11
data:
$ID,172
$MISSION,3
$DIVE,3
$D_SURF,4
$D_FLARE,3
$D_TGT,360
$D_ABORT,500
$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,120
$T_MISSION,180
$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,-4243.9951
$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,25
$R_STBD_OVSHOOT,22
$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
$GPS1,192913,6700.545,-5705.968,9,1.6,26,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-72.7
$GPS2,193305,6700.531,-5705.882,10,1.5,19,-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,331.6,149566,-17.5,-10.000
$D_GRID,731
$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,-146.0,0.0,0.0,0,139,0.00,0.00,-125.18,0.000,2,0.000,0.000,122,1941,3084,0,0,0,0,0,0
$GC,141,-0.64,-146.0,3.7,-9.0,24,165,10.57,2.35,-9.50,0.000,4,0.249,0.087,2801,3347,3538,0,0,0,0,0,0
$GC,204,-0.71,-146.0,19.3,-13.4,38,209,0.00,2.25,0.00,0.000,6,0.000,0.061,2801,1936,3539,0,0,0,0,0,0
$GC,527,-0.71,-146.0,66.9,-13.8,99,534,0.00,2.28,0.00,0.000,4,0.000,0.074,2801,532,3540,0,0,0,0,0,0
$GC,585,-0.71,-146.0,74.9,-14.5,112,591,0.00,2.22,0.00,0.000,6,0.000,0.061,2793,1928,3540,0,0,0,0,0,0
$GC,905,-0.71,-146.0,120.1,-14.4,160,909,0.00,2.28,0.00,0.000,4,0.000,0.075,2793,526,3540,0,0,0,0,0,0
$GC,979,-0.71,-146.0,131.2,-15.7,168,984,0.00,2.22,0.00,0.000,6,0.000,0.062,2789,1930,3540,0,0,0,0,0,0
$GC,1293,-0.71,-146.0,179.7,-15.1,199,1297,0.00,2.25,0.00,0.000,4,0.000,0.074,2789,533,3539,0,0,0,0,0,0
$GC,1384,-0.71,-146.0,194.1,-15.4,209,1390,0.00,2.22,0.00,0.000,6,0.000,0.062,2782,1938,3539,0,0,0,0,0,0
$GC,1698,-0.71,-146.0,242.0,-15.3,240,1699,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1937,3539,0,0,0,0,0,0
$GC,2009,-0.71,-146.0,287.4,-14.2,270,2013,0.00,2.30,0.00,0.000,4,0.000,0.074,2782,522,3539,0,0,0,0,0,0
$GC,2117,-0.71,-146.0,303.0,-14.3,282,2123,0.00,2.22,0.00,0.000,6,0.000,0.061,2773,1931,3539,0,0,0,0,0,0
$GC,2432,-0.71,-146.0,345.5,-13.2,313,2436,0.00,2.25,0.00,0.000,4,0.000,0.074,2774,528,3539,0,0,0,0,0,0
$GC,2475,-0.68,-146.0,351.6,-14.1,318,2479,0.10,2.22,0.00,0.000,6,0.157,0.061,2800,1941,3539,0,0,0,0,0,0
$STATE,2555,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2555,begin apogee
$GC,2557,-0.13,0.0,361.0,11.5,326,2678,0.55,0.00,115.97,0.850,6,0.136,0.000,2981,1942,2939,0,0,0,0,0,0
$STATE,2678,end apogee,CONTROL_FINISHED_OK
$STATE,2678,begin climb
$GC,2679,0.64,146.0,365.8,0.0,338,2807,0.70,2.42,120.43,0.819,4,0.081,0.070,3234,3342,2343,0,0,0,0,0,0
$GC,2933,0.51,168.9,357.8,8.9,367,2959,0.15,2.30,18.92,0.775,6,0.163,0.058,3199,1937,2250,0,0,0,0,0,0
$GC,3268,0.57,213.9,330.5,7.9,400,3312,0.00,2.38,37.35,0.795,4,0.000,0.074,3208,536,2066,0,0,0,0,0,0
$GC,3450,0.66,250.0,314.0,8.3,421,3486,0.00,2.28,30.20,0.778,6,0.000,0.057,3208,1942,1919,0,0,0,0,0,0
$GC,3795,0.78,273.6,282.6,8.9,455,3823,0.20,2.40,19.70,0.754,4,0.084,0.073,3304,522,1823,0,0,0,0,0,0
$GC,3961,0.65,273.6,257.3,16.1,474,3968,0.17,2.28,0.00,0.000,6,0.156,0.057,3235,1936,1817,0,0,0,0,0,0
$GC,4281,0.70,273.6,221.5,11.0,505,4285,0.00,2.30,0.00,0.000,4,0.000,0.074,3246,528,1815,0,0,0,0,0,0
$GC,4359,0.74,273.6,212.7,11.2,514,4363,0.00,2.22,0.00,0.000,6,0.000,0.057,3246,1931,1814,0,0,0,0,0,0
$GC,4678,0.74,273.6,174.0,12.3,545,4682,0.00,2.28,0.00,0.000,4,0.000,0.073,3256,524,1814,0,0,0,0,0,0
$GC,4773,0.74,273.6,162.1,12.3,556,4777,0.00,2.22,0.00,0.000,6,0.000,0.057,3255,1938,1814,0,0,0,0,0,0
$GC,5092,0.74,273.6,125.5,11.1,587,5096,0.00,2.28,0.00,0.000,4,0.000,0.073,3266,527,1814,0,0,0,0,0,0
$GC,5196,0.74,273.6,113.3,12.2,599,5200,0.00,2.22,0.00,0.000,6,0.000,0.058,3266,1939,1814,0,0,0,0,0,0
$GC,5521,0.74,273.6,75.5,12.1,649,5527,0.00,2.28,0.00,0.000,4,0.000,0.074,3276,527,1814,0,0,0,0,0,0
$GC,5686,0.74,273.6,54.4,13.1,687,5693,0.00,2.22,0.00,0.000,6,0.000,0.059,3276,1942,1813,0,0,0,0,0,0
$GC,6012,0.74,273.6,21.3,10.1,748,6013,0.00,0.00,0.00,0.000,6,0.000,0.000,3276,1943,1813,0,0,0,0,0,0
$STATE,6188,end climb,SURFACE_DEPTH_REACHED
$STATE,6188,begin surface coast
$FINISH,0.5,1.008072
$STATE,6225,end surface coast,CONTROL_FINISHED_OK
$STATE,6225,begin surface
$SM_CCo,6237,158.12,0.611,0,0,499,598.53
$SM_GC,1.33,0.00,0.00,158.12,0.000,0.000,0.611,132,1943,499,-8.99,0.14,598.53
$RAFOS_CLK,287
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6631.12,-5708.95,140199,181829
$TT8_MAMPS,0.051389
$HUMID,40.23
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,16.10
$XPDR_PINGS,0
$24V_AH,24.1,4.286
$10V_AH,10.3,1.469
$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,20.475,59.150,342.575,158.125,0.000,30.163,33.067,95.822,0.000,0.000,21.070,0.000,4158.723,595.538,1658.159,211.450,0.000,1317.172,0.000,1331.793,2520.000,0.985,0.000
$DEVICE_MAMPS,248.508,87.438,849.836,610.532,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,545.627,567.194,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150460
$DATA_FILE_SIZE,31641,788
$CAP_FILE_SIZE,86262,0
$CFSIZE,260165632,252297216
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1464.4
$CURRENT,0.326,148.3,1
$GPS,201009,212037,6700.020,-5706.521,27,1.1,28,-37.6