version: 66.04
glider: 116
mission: 22
dive: 12
start: 7 29 109 14 13 17
data:
$ID,116
$MISSION,22
$DIVE,12
$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,531.31976
$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,-57751.633
$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,47
$R_STBD_OVSHOOT,22
$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
$GPS1,140006,2152.536,-15943.180,28,0.9,29,9.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-67.0
$GPS2,141226,2152.558,-15943.363,10,1.7,10,9.8
$SPEED_LIMITS,0.173,0.324
$TGT_NAME,T2
$TGT_LATLONG,2150.420,-15941.560
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.263,-0.190
$KALMAN_X,-5080.0,-681.1,-155.1,3524.8,-600.1
$KALMAN_Y,3307.1,-232.2,195.8,-9753.2,59.5
$MHEAD_RNG_PITCHd_Wd,116.0,5029,-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,-243.3,0.0,0.0,0,93,0.00,0.00,-73.95,0.000,2,0.000,0.000,129,2493,3315
$GC,96,-1.39,-243.3,3.2,-6.1,11,133,16.00,2.47,-9.80,0.000,4,0.180,0.048,2812,1081,3931
$GC,176,-1.39,-243.3,24.4,-14.9,21,184,0.00,2.42,0.00,0.000,6,0.000,0.032,2812,2472,3932
$GC,375,-1.39,-243.3,53.8,-13.1,40,379,0.00,2.55,0.00,0.000,4,0.000,0.062,2812,3881,3933
$GC,403,-1.39,-243.3,56.9,-12.2,42,407,0.00,2.35,0.00,0.000,6,0.000,0.028,2812,2473,3933
$GC,728,-1.39,-243.3,98.3,-12.6,72,732,0.00,2.58,0.00,0.000,4,0.000,0.064,2812,3877,3935
$GC,793,-1.39,-243.3,107.3,-13.4,77,801,0.00,2.38,0.00,0.000,6,0.000,0.028,2812,2473,3936
$GC,1119,-1.39,-243.3,142.1,-9.2,108,1123,0.00,2.58,0.00,0.000,4,0.000,0.064,2812,3877,3935
$GC,1174,-1.39,-243.3,147.5,-9.6,112,1181,0.00,2.35,0.00,0.000,6,0.000,0.028,2812,2470,3935
$GC,1500,-1.39,-243.3,181.0,-10.0,143,1504,0.00,2.58,0.00,0.000,4,0.000,0.065,2812,3874,3935
$GC,1588,-1.39,-243.3,190.1,-9.2,150,1595,0.00,2.38,0.00,0.000,6,0.000,0.028,2812,2471,3935
$GC,1913,-1.39,-243.3,220.6,-10.6,181,1917,0.00,2.60,0.00,0.000,4,0.000,0.067,2812,3879,3935
$GC,2000,-1.39,-243.3,230.4,-11.0,188,2009,0.00,2.38,0.00,0.000,6,0.000,0.029,2812,2483,3935
$STATE,2101,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2101,begin apogee
$GC,2105,-0.42,0.0,240.9,9.8,198,2416,1.00,0.00,300.80,0.609,6,0.067,0.000,3031,2482,2936
$STATE,2417,end apogee,CONTROL_FINISHED_OK
$STATE,2417,begin climb
$GC,2419,1.39,243.3,256.6,0.0,229,2732,1.73,2.45,302.12,0.597,4,0.042,0.044,3424,1106,1944
$GC,2827,1.39,243.3,231.4,11.1,263,2835,0.00,2.47,0.00,0.000,6,0.000,0.037,3424,2497,1942
$GC,3152,1.39,243.3,194.9,11.4,294,3157,0.00,2.58,0.00,0.000,4,0.000,0.068,3423,3890,1939
$GC,3241,1.39,243.3,184.0,11.9,301,3249,0.00,2.38,0.00,0.000,6,0.000,0.031,3424,2490,1939
$GC,3567,1.51,343.2,155.0,7.2,332,3699,0.12,0.00,122.90,0.582,6,0.049,0.000,3463,2488,1536
$GC,4015,1.51,343.2,101.6,11.7,375,4017,0.00,0.00,0.00,0.000,6,0.000,0.000,3463,2489,1533
$GC,4334,1.51,343.2,66.6,10.1,405,4338,0.00,2.58,0.00,0.000,4,0.000,0.062,3463,3890,1532
$GC,4373,1.51,343.2,62.2,12.0,408,4377,0.00,2.35,0.00,0.000,6,0.000,0.031,3463,2498,1531
$GC,4697,1.54,367.9,29.7,9.3,438,4734,0.00,2.45,29.75,0.518,4,0.000,0.040,3464,1103,1436
$GC,4830,1.54,367.9,14.9,11.6,453,4837,0.00,2.42,0.00,0.000,6,0.000,0.034,3464,2505,1434
$GC,4906,1.55,378.6,7.4,9.7,466,4920,0.00,0.00,11.70,0.469,6,0.000,0.000,3464,2505,1392
$STATE,4937,end climb,SURFACE_DEPTH_REACHED
$STATE,4937,begin surface coast
$FINISH,0.2,1.023020
$STATE,4977,end surface coast,CONTROL_FINISHED_OK
$STATE,4977,begin surface
$SM_CCo,5000,71.90,0.495,0,0,770,531.32
$SM_GC,0.99,0.00,0.00,71.90,0.000,0.000,0.495,130,2505,770,-13.75,0.85,531.32
$IRIDIUM_FIX,2141.13,-15943.76,231098,141417
$TT8_MAMPS,0.077467
$HUMID,1879
$INTERNAL_PRESSURE,11.436
$TCM_TEMP,24.00
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.9,9.627
$10V_AH,10.1,2.370
$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,33.425,49.275,767.275,71.900,0.000,126.221,375.793,0.000,0.000,0.000,37.838,10.480,863.648,2452.121,813.197,876.149,811.325,33.330,1395.594,0.000,846.826,0.000,0.000,0.000
$DEVICE_MAMPS,180.245,68.263,608.998,494.715,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,309.444,0.000,0.000,0.000,0.000,0.000,77.921,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,15851,478
$CAP_FILE_SIZE,175261,0
$CFSIZE,260034560,256114688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290709,153837,2152.035,-15943.417,8,1.6,14,9.8