version: 66.04
glider: 116
mission: 22
dive: 8
start: 7 29 109 7 31 56
data:
$ID,116
$MISSION,22
$DIVE,8
$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,-57657.148
$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,43
$R_STBD_OVSHOOT,25
$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
$GPS1,072237,2154.683,-15942.875,7,1.4,13,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-67.9
$GPS2,073104,2154.721,-15942.946,13,2.6,32,9.8
$SPEED_LIMITS,0.173,0.324
$TGT_NAME,T2
$TGT_LATLONG,2150.420,-15941.560
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.135,-0.295
$KALMAN_X,-1096.8,-50.0,-395.6,-139.2,-265.7
$KALMAN_Y,2183.2,526.4,-148.4,-5040.5,136.0
$MHEAD_RNG_PITCHd_Wd,145.6,8314,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.39,-243.3,0.0,0.0,0,92,0.00,0.00,-73.88,0.000,2,0.000,0.000,128,2491,3369
$GC,95,-1.39,-243.3,3.3,-6.9,11,125,16.15,2.50,-8.80,0.000,4,0.183,0.047,2812,1074,3930
$GC,198,-1.39,-243.3,28.5,-14.7,23,206,0.00,2.45,0.00,0.000,6,0.000,0.032,2812,2474,3931
$GC,396,-1.39,-243.3,55.8,-14.2,42,400,0.00,2.55,0.00,0.000,4,0.000,0.063,2812,3876,3931
$GC,469,-1.39,-243.3,64.7,-12.6,48,473,0.00,2.35,0.00,0.000,6,0.000,0.028,2812,2466,3932
$GC,795,-1.39,-243.3,104.0,-13.6,78,800,0.00,2.58,0.00,0.000,4,0.000,0.064,2812,3874,3933
$GC,935,-1.39,-243.3,120.9,-11.0,90,939,0.00,2.33,0.00,0.000,6,0.000,0.028,2812,2476,3933
$GC,1260,-1.39,-243.3,154.8,-10.4,120,1264,0.00,2.58,0.00,0.000,4,0.000,0.065,2812,3877,3932
$GC,1336,-1.39,-243.3,163.6,-10.9,126,1345,0.00,2.38,0.00,0.000,6,0.000,0.028,2812,2480,3931
$GC,1663,-1.39,-243.3,190.4,-7.1,157,1667,0.00,2.58,0.00,0.000,4,0.000,0.067,2812,3874,3929
$GC,1747,-1.39,-243.3,197.0,-7.7,164,1752,0.00,2.35,0.00,0.000,6,0.000,0.030,2812,2479,3926
$GC,2072,-1.39,-243.3,226.6,-11.2,194,2076,0.00,2.60,0.00,0.000,4,0.000,0.070,2812,3880,3933
$GC,2179,-1.39,-243.3,238.3,-9.6,203,2183,0.00,2.38,0.00,0.000,6,0.000,0.032,2812,2475,3932
$STATE,2204,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2204,begin apogee
$GC,2208,-0.42,0.0,240.9,9.7,205,2521,1.00,0.00,305.62,0.617,6,0.067,0.000,3030,2473,2936
$STATE,2522,end apogee,CONTROL_FINISHED_OK
$STATE,2522,begin climb
$GC,2524,1.39,243.3,254.4,0.0,236,2838,1.75,2.40,301.00,0.600,4,0.043,0.045,3423,1105,1944
$GC,2865,1.39,243.3,229.6,10.1,265,2873,0.00,2.47,0.00,0.000,6,0.000,0.037,3422,2495,1943
$GC,3191,1.39,243.3,194.7,10.3,296,3195,0.00,2.58,0.00,0.000,4,0.000,0.069,3423,3885,1920
$GC,3248,1.39,243.3,188.4,11.1,301,3252,0.00,2.38,0.00,0.000,6,0.000,0.032,3423,2495,1894
$GC,3573,1.48,321.0,158.1,7.8,331,3676,0.00,0.00,95.70,0.582,6,0.000,0.000,3422,2492,1628
$GC,3991,1.49,325.0,115.9,9.9,371,4004,0.00,2.60,5.53,0.447,4,0.000,0.064,3422,3894,1610
$GC,4050,1.49,325.0,109.8,11.2,376,4054,0.00,2.38,0.00,0.000,6,0.000,0.031,3422,2496,1609
$GC,4374,1.51,339.8,77.0,9.6,406,4400,0.12,2.58,19.52,0.544,4,0.048,0.061,3458,3887,1554
$GC,4438,1.51,339.8,70.0,10.9,411,4446,0.00,2.38,0.00,0.000,6,0.000,0.031,3458,2499,1552
$GC,4765,1.54,368.6,42.8,9.2,442,4807,0.00,2.45,36.05,0.534,4,0.000,0.040,3459,1112,1431
$GC,4856,1.55,375.4,33.7,9.8,449,4876,0.00,2.45,9.35,0.470,6,0.000,0.034,3459,2522,1405
$GC,5070,1.55,375.4,12.2,10.5,475,5076,0.00,0.00,0.00,0.000,6,0.000,0.000,3459,2522,1403
$GC,5144,1.55,375.4,4.4,10.7,488,5150,0.00,0.00,0.00,0.000,6,0.000,0.000,3459,2522,1403
$STATE,5155,end climb,SURFACE_DEPTH_REACHED
$STATE,5155,begin surface coast
$FINISH,0.2,1.009672
$STATE,5195,end surface coast,CONTROL_FINISHED_OK
$STATE,5195,begin surface
$SM_CCo,5278,0.00,0.000,0,0,1399,377.03
$SM_GC,1.08,14.55,0.00,0.00,0.039,0.000,0.000,133,2525,1399,-13.69,1.41,377.03
$IRIDIUM_FIX,2148.09,-15940.77,231098,050545
$TT8_MAMPS,0.056758
$HUMID,1900
$INTERNAL_PRESSURE,11.5043
$TCM_TEMP,24.20
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.7,8.791
$10V_AH,10.1,2.080
$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,33.575,54.250,772.775,0.000,0.000,24.138,28.747,303.916,0.000,0.000,311.000,34.319,912.252,2493.280,745.823,954.154,682.833,33.330,1351.978,0.000,891.325,0.000,0.000,0.000
$DEVICE_MAMPS,183.313,69.797,616.668,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,322.555,0.000,0.000,0.000,0.000,0.000,95.916,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,15826,497
$CAP_FILE_SIZE,187985,0
$CFSIZE,260034560,256585728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,290709,090055,2154.028,-15943.132,11,1.7,29,9.8