version: 66.04
glider: 116
mission: 22
dive: 7
start: 7 29 109 5 51 6
data:
$ID,116
$MISSION,22
$DIVE,7
$D_SURF,4
$D_FLARE,3
$D_TGT,240
$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,80
$T_MISSION,90
$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,250
$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,-57622.199
$T_RSLEEP,3
$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,2475
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,48
$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
$GPS1,054307,2155.280,-15942.962,12,1.3,29,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-68.3
$GPS2,055014,2155.308,-15943.029,12,1.5,12,9.8
$SPEED_LIMITS,0.173,0.324
$TGT_NAME,T2
$TGT_LATLONG,2150.420,-15941.560
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.182,-0.269
$KALMAN_X,-702.6,-13.9,-111.8,-996.4,-519.0
$KALMAN_Y,1722.4,676.8,-32.6,-3762.1,27.5
$MHEAD_RNG_PITCHd_Wd,136.2,9398,-13.1,-10.000
$D_GRID,240
$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,-1.39,-243.3,0.0,0.0,0,87,0.00,0.00,-67.03,0.000,2,0.000,0.000,134,2488,3353
$GC,89,-1.39,-243.3,3.6,-7.9,10,126,16.17,2.53,-9.18,0.000,4,0.184,0.048,2813,1083,3931
$GC,180,-1.39,-243.3,24.8,-14.5,21,184,0.00,2.40,0.00,0.000,6,0.000,0.032,2813,2479,3931
$GC,377,-1.39,-243.3,54.2,-15.0,39,381,0.00,2.53,0.00,0.000,4,0.000,0.061,2813,3873,3931
$GC,475,-1.39,-243.3,67.4,-11.3,47,484,0.00,2.42,0.00,0.000,6,0.000,0.028,2813,2478,3931
$GC,804,-1.39,-243.3,98.2,-6.6,78,808,0.00,2.58,0.00,0.000,4,0.000,0.064,2813,3880,3932
$GC,926,-1.39,-243.3,110.4,-11.3,88,934,0.00,2.35,0.00,0.000,6,0.000,0.028,2813,2472,3933
$GC,1252,-1.39,-243.3,147.0,-10.3,119,1256,0.00,2.60,0.00,0.000,4,0.000,0.065,2813,3877,3933
$GC,1325,-1.39,-243.3,155.4,-11.5,125,1329,0.00,2.35,0.00,0.000,6,0.000,0.028,2813,2476,3933
$GC,1649,-1.39,-243.3,184.2,-6.9,155,1653,0.00,2.55,0.00,0.000,4,0.000,0.067,2813,3871,3933
$GC,1684,-1.39,-243.3,186.7,-7.3,158,1688,0.00,2.35,0.00,0.000,6,0.000,0.030,2813,2477,3933
$GC,2010,-1.39,-243.3,212.2,-9.6,188,2014,0.00,2.60,0.00,0.000,4,0.000,0.070,2813,3880,3934
$GC,2161,-1.39,-243.3,227.2,-8.6,201,2165,0.00,2.38,0.00,0.000,6,0.000,0.031,2813,2478,3935
$STATE,2325,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2325,begin apogee
$GC,2329,-0.42,0.0,240.3,7.8,216,2640,1.00,0.00,304.95,0.618,6,0.067,0.000,3031,2475,2937
$STATE,2641,end apogee,CONTROL_FINISHED_OK
$STATE,2642,begin climb
$GC,2643,1.39,243.3,252.3,0.0,247,2957,1.73,2.67,301.88,0.601,4,0.044,0.070,3421,3883,1943
$GC,3072,1.39,243.3,223.9,11.9,283,3076,0.00,2.40,0.00,0.000,6,0.000,0.034,3421,2495,1940
$GC,3396,1.39,243.3,189.5,10.6,313,3397,0.00,0.00,0.00,0.000,6,0.000,0.000,3422,2492,1939
$GC,3715,1.41,264.0,157.4,9.4,343,3750,0.00,2.67,24.70,0.579,4,0.000,0.067,3422,3883,1859
$GC,3834,1.41,264.0,144.5,11.0,353,3842,0.00,2.42,0.00,0.000,6,0.000,0.033,3422,2493,1856
$GC,4160,1.43,280.7,114.9,9.5,384,4182,0.00,0.00,20.52,0.565,6,0.000,0.000,3422,2491,1788
$GC,4499,1.47,306.7,84.4,9.3,416,4538,0.00,0.00,33.15,0.561,6,0.000,0.000,3422,2491,1684
$GC,4856,1.47,306.7,49.0,10.1,450,4861,0.00,2.53,0.00,0.000,4,0.000,0.062,3422,3883,1682
$GC,4922,1.57,395.1,43.0,7.5,455,5038,0.08,2.38,108.50,0.536,6,0.041,0.030,3453,2497,1325
$GC,5229,1.57,395.1,14.3,10.9,488,5236,0.00,2.55,0.00,0.000,4,0.000,0.061,3453,3883,1322
$GC,5293,1.57,395.1,6.6,13.2,499,5300,0.00,2.35,0.00,0.000,6,0.000,0.029,3453,2494,1321
$STATE,5323,end climb,SURFACE_DEPTH_REACHED
$STATE,5323,begin surface coast
$FINISH,0.2,1.019578
$STATE,5363,end surface coast,CONTROL_FINISHED_OK
$STATE,5363,begin surface
$SM_CCo,5446,0.00,0.000,0,0,1318,396.90
$SM_GC,1.02,14.48,0.00,0.00,0.035,0.000,0.000,128,2491,1318,-13.71,0.45,396.90
$IRIDIUM_FIX,2145.77,-15942.95,231098,040417
$TT8_MAMPS,0.060593
$HUMID,1916
$INTERNAL_PRESSURE,11.4946
$TCM_TEMP,24.00
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.7,8.553
$10V_AH,10.1,2.016
$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,33.450,49.600,793.700,0.000,0.000,23.214,33.230,256.384,0.000,0.000,835.301,12.412,942.452,2601.039,735.414,959.199,643.052,33.342,1357.929,0.000,924.214,0.000,0.000,0.000
$DEVICE_MAMPS,184.080,69.797,618.202,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,332.336,0.000,0.000,0.000,0.000,0.000,71.825,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,15831,511
$CAP_FILE_SIZE,190141,0
$CFSIZE,260034560,256679936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290709,072237,2154.683,-15942.875,7,1.4,13,9.8