version: 66.04
glider: 116
mission: 22
dive: 4
start: 7 29 109 1 57 6
data:
$ID,116
$MISSION,22
$DIVE,4
$D_SURF,4
$D_FLARE,3
$D_TGT,180
$D_ABORT,1090
$D_NO_BLEED,50
$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,60
$T_MISSION,75
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,500
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51716
$NAV_MODE,1
$FERRY_MAX,0
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,21.83
$TGT_DEFAULT_LON,-159.78
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,8
$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,30
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-57543.938
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,132
$PITCH_MAX,3449
$C_PITCH,3120
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,12
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,140
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,155
$ROLL_MAX,3900
$ROLL_DEG,40
$C_ROLL_DIVE,2400
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,21
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,770
$VBD_MAX,3955
$C_VBD,2936
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,3
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,150
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-0.46644667
$PRESSURE_SLOPE,0.0001158926
$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,90
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,12
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,2
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,1
$SMARTDEVICE1,3
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,-1
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043738699
$SEABIRD_T_H,0.00063649943
$SEABIRD_T_I,2.5189185e-05
$SEABIRD_T_J,2.7386873e-06
$SEABIRD_C_G,-9.8703537
$SEABIRD_C_H,1.1242318
$SEABIRD_C_I,-0.0015997718
$SEABIRD_C_J,0.00020779716
$GPS1,015115,2156.235,-15941.793,12,3.5,31,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-67.0
$GPS2,015616,2156.236,-15941.797,13,3.3,32,9.8
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,T0
$TGT_LATLONG,2154.000,-15942.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.032,-0.258
$KALMAN_X,194.0,154.0,94.4,-155.6,55.3
$KALMAN_Y,769.0,537.9,424.5,-1402.5,229.6
$MHEAD_RNG_PITCHd_Wd,177.2,4157,-17.5,-10.000
$D_GRID,180
$MM_IGNORESAMPLERETURN,0.0
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.64,-146.0,0.0,0.0,0,99,0.00,0.00,-78.38,0.000,6,0.000,0.000,130,2402,3532
$GC,101,-1.64,-146.0,4.4,-10.4,12,123,15.65,2.42,0.00,0.000,4,0.180,0.035,2758,989,3534
$GC,264,-1.64,-146.0,39.7,-14.2,29,268,0.00,2.42,0.00,0.000,6,0.000,0.032,2758,2407,3535
$GC,460,-1.64,-146.0,69.2,-14.5,47,465,0.00,2.53,0.00,0.000,4,0.000,0.061,2758,3806,3535
$GC,627,-1.64,-146.0,91.6,-13.1,61,635,0.00,2.40,0.00,0.000,6,0.000,0.028,2758,2386,3535
$GC,954,-1.64,-146.0,128.5,-10.0,92,958,0.00,2.58,0.00,0.000,4,0.000,0.061,2758,3802,3536
$GC,1019,-1.64,-146.0,136.1,-11.1,97,1027,0.00,2.38,0.00,0.000,6,0.000,0.028,2758,2403,3535
$GC,1344,-1.64,-146.0,172.1,-12.0,128,1348,0.00,2.55,0.00,0.000,4,0.000,0.063,2758,3803,3502
$GC,1383,-1.64,-146.0,177.1,-13.4,131,1387,0.00,2.35,0.00,0.000,6,0.000,0.029,2758,2401,3514
$STATE,1408,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1408,begin apogee
$GC,1413,-0.42,0.0,180.2,11.3,133,1583,1.27,0.00,160.43,0.559,6,0.078,0.000,3029,2399,2988
$STATE,1584,end apogee,CONTROL_FINISHED_OK
$STATE,1584,begin climb
$GC,1586,1.64,146.0,184.6,0.0,150,1788,1.85,0.00,193.43,0.550,6,0.041,0.000,3451,2399,2339
$GC,2103,1.72,208.8,160.3,7.1,197,2187,0.00,2.60,76.82,0.541,4,0.000,0.061,3452,3798,2083
$GC,2234,1.75,236.9,149.7,8.7,208,2274,0.00,2.38,35.20,0.525,6,0.000,0.031,3452,2404,1970
$GC,2595,1.76,241.3,116.1,9.8,241,2608,0.00,2.58,6.47,0.430,4,0.000,0.059,3452,3805,1952
$GC,2643,1.76,241.3,110.8,11.2,245,2647,0.00,2.38,0.00,0.000,6,0.000,0.030,3452,2401,1952
$GC,2967,1.78,260.5,79.0,9.1,275,3003,0.00,2.65,24.77,0.509,4,0.000,0.058,3452,3805,1874
$GC,3097,1.78,260.5,65.6,10.2,286,3105,0.00,2.40,0.00,0.000,6,0.000,0.028,3452,2400,1873
$GC,3424,1.84,311.9,40.4,7.6,317,3496,0.00,2.58,62.35,0.505,4,0.000,0.057,3452,3800,1663
$GC,3602,1.87,337.3,25.2,8.8,332,3638,0.00,2.40,31.40,0.483,6,0.000,0.028,3452,2398,1552
$STATE,3830,end climb,SURFACE_DEPTH_REACHED
$STATE,3830,begin surface coast
$FINISH,0.2,1.022397
$STATE,3882,end surface coast,CONTROL_FINISHED_OK
$STATE,3882,begin surface
$SM_CCo,3966,0.00,0.000,0,0,1515,348.33
$SM_GC,1.27,14.82,0.00,0.00,0.046,0.000,0.000,134,2395,1515,-13.69,-0.14,348.33
$IRIDIUM_FIX,2145.77,-15940.77,231098,010129
$TT8_MAMPS,0.066729
$HUMID,1903
$INTERNAL_PRESSURE,11.602
$TCM_TEMP,24.80
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.8,7.554
$10V_AH,10.1,1.862
$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,undefined,Mmodem_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,33.600,39.575,590.875,0.000,0.000,0.000,0.000,0.000,0.000,0.000,582.244,33.006,704.598,1813.789,570.519,750.355,213.099,32.335,1062.240,0.000,715.384,0.000,0.000,0.000
$DEVICE_MAMPS,180.245,62.894,559.143,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,242.527,0.000,0.000,0.000,0.000,0.000,48.764,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,12737,376
$CAP_FILE_SIZE,153264,0
$CFSIZE,260034560,256921600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,290709,030356,2155.783,-15942.020,11,1.6,12,9.8