version: 66.04
glider: 116
mission: 22
dive: 17
start: 7 29 109 22 29 49
data:
$ID,116
$MISSION,22
$DIVE,17
$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,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,-57846.723
$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,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
$GPS1,221526,2152.017,-15945.506,8,1.3,9,9.8
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-68.5
$GPS2,222856,2152.112,-15945.752,18,1.2,18,9.8
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,T2
$TGT_LATLONG,2150.420,-15941.560
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.212,-0.150
$KALMAN_X,-14069.4,-1271.3,-809.6,9661.3,-666.4
$KALMAN_Y,5000.0,-78.8,22.6,-12252.8,568.4
$MHEAD_RNG_PITCHd_Wd,115.5,7859,-17.5,-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,16,-1.64,-146.0,0.0,0.0,0,80,0.00,0.00,-61.22,0.000,2,0.000,0.000,130,2496,3274
$GC,83,-1.64,-146.0,3.1,-7.2,9,112,15.85,2.45,-4.22,0.000,4,0.183,0.047,2757,1080,3535
$GC,218,-1.64,-146.0,34.2,-16.3,24,226,0.00,2.42,0.00,0.000,6,0.000,0.033,2757,2486,3536
$GC,416,-1.64,-146.0,65.2,-15.0,43,419,0.00,2.40,0.00,0.000,4,0.000,0.034,2757,1086,3537
$GC,449,-1.64,-146.0,70.2,-14.6,46,453,0.00,2.40,0.00,0.000,6,0.000,0.032,2757,2483,3537
$GC,774,-1.64,-146.0,109.3,-11.1,76,778,0.00,2.53,0.00,0.000,4,0.000,0.064,2757,3873,3538
$GC,925,-1.64,-146.0,127.8,-12.0,89,929,0.00,2.33,0.00,0.000,6,0.000,0.028,2757,2473,3538
$GC,1249,-1.64,-146.0,166.4,-12.0,119,1253,0.00,2.58,0.00,0.000,4,0.000,0.064,2757,3876,3539
$GC,1292,-1.64,-146.0,171.7,-12.5,122,1300,0.00,2.38,0.00,0.000,6,0.000,0.028,2757,2475,3538
$GC,1618,-1.64,-146.0,205.7,-10.4,153,1622,0.00,2.58,0.00,0.000,4,0.000,0.066,2757,3876,3539
$GC,1683,-1.64,-146.0,213.0,-11.0,158,1691,0.00,2.38,0.00,0.000,6,0.000,0.030,2757,2485,3539
$STATE,1955,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1955,begin apogee
$GC,1959,-0.42,0.0,240.8,9.3,184,2148,1.25,0.00,182.35,0.609,6,0.077,0.000,3026,2482,2936
$STATE,2150,end apogee,CONTROL_FINISHED_OK
$STATE,2150,begin climb
$GC,2152,1.64,146.0,247.7,0.0,203,2344,1.88,2.53,181.62,0.597,4,0.044,0.044,3453,1099,2339
$GC,2563,1.69,189.9,225.3,8.0,238,2624,0.00,2.45,54.65,0.586,6,0.000,0.037,3453,2499,2161
$GC,2942,1.74,230.4,191.6,8.1,273,3003,0.00,2.62,50.17,0.584,4,0.000,0.067,3453,3876,1996
$GC,3038,1.74,230.4,182.4,10.2,281,3042,0.00,2.38,0.00,0.000,6,0.000,0.032,3453,2491,1995
$GC,3363,1.80,275.9,153.0,7.9,311,3424,0.00,2.53,55.35,0.579,4,0.000,0.042,3454,1099,1811
$GC,3515,1.81,286.4,139.8,9.5,324,3539,0.00,2.45,14.30,0.536,6,0.000,0.037,3453,2497,1767
$GC,3859,1.81,286.4,104.1,10.1,356,3863,0.00,2.55,0.00,0.000,4,0.000,0.064,3453,3887,1764
$GC,3899,1.81,286.4,100.0,10.3,359,3903,0.00,2.35,0.00,0.000,6,0.000,0.030,3453,2492,1764
$GC,4223,1.81,286.4,67.7,10.3,389,4228,0.00,2.58,0.00,0.000,4,0.000,0.061,3453,3893,1763
$GC,4323,1.84,306.2,58.1,9.1,397,4355,0.00,2.38,24.70,0.532,6,0.000,0.029,3454,2496,1687
$GC,4673,1.88,342.0,27.9,8.3,430,4723,0.00,0.00,44.67,0.519,6,0.000,0.000,3453,2496,1542
$STATE,4918,end climb,SURFACE_DEPTH_REACHED
$STATE,4918,begin surface coast
$FINISH,0.2,1.022933
$STATE,4958,end surface coast,CONTROL_FINISHED_OK
$STATE,4958,begin surface
$SM_CCo,5041,0.00,0.000,0,0,1534,343.91
$SM_GC,1.21,14.52,0.00,0.00,0.038,0.000,0.000,129,2496,1534,-13.71,0.59,343.91
$IRIDIUM_FIX,2143.45,-15943.76,231098,222207
$TT8_MAMPS,0.062127
$HUMID,1854
$INTERNAL_PRESSURE,11.5239
$TCM_TEMP,24.30
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.9,10.522
$10V_AH,10.1,2.685
$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,33.500,49.225,607.825,0.000,0.000,46.628,56.047,533.895,0.000,0.000,172.028,18.366,903.981,2486.493,585.309,922.285,958.243,33.352,1149.723,0.000,876.670,0.000,0.000,0.000
$DEVICE_MAMPS,182.546,67.496,608.998,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,309.244,0.000,0.000,0.000,0.000,0.000,86.696,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,15892,474
$CAP_FILE_SIZE,185049,0
$CFSIZE,260034560,255688704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290709,235456,2151.968,-15945.803,33,1.8,34,9.8