version: 66.04
glider: 116
mission: 22
dive: 19
start: 7 30 109 1 41 0
data:
$ID,116
$MISSION,22
$DIVE,19
$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,-57891.219
$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,50
$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
$GPS1,013043,2151.860,-15946.014,9,1.4,15,9.8
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-68.8
$GPS2,014008,2151.900,-15946.139,11,1.8,11,9.8
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,T2
$TGT_LATLONG,2150.420,-15941.560
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.243,-0.091
$KALMAN_X,-17714.3,-946.8,-127.9,11634.1,-555.2
$KALMAN_Y,5466.7,330.4,167.8,-13666.1,223.6
$MHEAD_RNG_PITCHd_Wd,100.7,8336,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.64,-146.0,0.0,0.0,0,88,0.00,0.00,-68.07,0.000,2,0.000,0.000,127,2494,3474
$GC,90,-1.64,-146.0,4.3,-10.0,10,112,15.98,0.00,-0.90,0.000,6,0.186,0.000,2756,2494,3535
$GC,177,-1.64,-146.0,30.0,-17.2,20,178,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2494,3536
$GC,368,-1.64,-146.0,61.1,-15.4,38,369,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2494,3537
$GC,688,-1.64,-146.0,102.2,-12.8,68,692,0.00,2.53,0.00,0.000,4,0.000,0.062,2755,3877,3538
$GC,817,-1.64,-146.0,120.4,-14.0,79,821,0.00,2.35,0.00,0.000,6,0.000,0.028,2755,2467,3539
$GC,1142,-1.64,-146.0,159.1,-11.4,109,1146,0.00,2.58,0.00,0.000,4,0.000,0.064,2756,3876,3539
$GC,1218,-1.64,-146.0,168.6,-12.4,115,1226,0.00,2.38,0.00,0.000,6,0.000,0.028,2756,2470,3539
$GC,1544,-1.64,-146.0,202.3,-10.7,146,1545,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2470,3540
$GC,1862,-1.64,-146.0,236.0,-9.0,176,1864,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2470,3540
$STATE,1914,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1914,begin apogee
$GC,1919,-0.42,0.0,240.6,8.6,181,2108,1.25,0.00,182.98,0.605,6,0.078,0.000,3025,2512,2936
$STATE,2110,end apogee,CONTROL_FINISHED_OK
$STATE,2111,begin climb
$GC,2112,1.64,146.0,246.0,0.0,200,2304,1.88,2.58,181.95,0.593,4,0.044,0.044,3451,1108,2340
$GC,2501,1.69,191.0,222.9,7.9,233,2569,0.00,2.45,56.30,0.584,6,0.000,0.037,3451,2503,2157
$GC,2884,1.71,201.6,191.7,9.5,269,2908,0.00,2.53,13.68,0.551,4,0.000,0.041,3451,1111,2114
$GC,3014,1.71,201.6,178.1,10.4,280,3022,0.00,2.45,0.00,0.000,6,0.000,0.038,3451,2494,2112
$GC,3340,1.75,240.7,147.8,8.2,311,3399,0.00,2.60,47.90,0.588,4,0.000,0.067,3450,3888,1953
$GC,3467,1.76,248.4,136.1,9.6,322,3483,0.00,2.38,10.07,0.519,6,0.000,0.031,3451,2489,1923
$GC,3809,1.76,248.4,103.4,10.0,354,3813,0.00,2.40,0.00,0.000,4,0.000,0.040,3451,1106,1920
$GC,3894,1.76,248.4,95.0,10.4,361,3899,0.00,2.42,0.00,0.000,6,0.000,0.034,3451,2509,1920
$GC,4219,1.80,279.5,63.5,8.6,391,4267,0.00,2.58,37.83,0.546,4,0.000,0.062,3450,3883,1796
$GC,4326,1.85,317.3,54.6,8.3,400,4380,0.00,2.35,47.60,0.532,6,0.000,0.029,3451,2488,1642
$GC,4698,1.87,337.8,22.0,9.1,434,4729,0.00,0.00,25.70,0.502,6,0.000,0.000,3451,2488,1558
$STATE,4894,end climb,SURFACE_DEPTH_REACHED
$STATE,4894,begin surface coast
$FINISH,0.2,1.022960
$STATE,4957,end surface coast,CONTROL_FINISHED_OK
$STATE,4957,begin surface
$SM_CCo,5040,0.00,0.000,0,0,1551,339.74
$SM_GC,1.08,14.62,0.00,0.00,0.041,0.000,0.000,129,2487,1551,-13.71,0.34,339.74
$IRIDIUM_FIX,2145.77,-15943.76,241098,000007
$TT8_MAMPS,0.055224
$HUMID,1859
$INTERNAL_PRESSURE,11.5239
$TCM_TEMP,24.40
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,24.0,10.868
$10V_AH,10.1,2.804
$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,33.725,34.625,604.000,0.000,0.000,23.592,26.502,384.920,0.000,0.000,65.448,11.494,901.270,2479.213,578.803,901.758,747.757,33.344,1132.816,0.000,862.751,0.000,0.000,0.000
$DEVICE_MAMPS,185.614,80.535,605.163,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,312.092,0.000,0.000,0.000,0.000,0.000,70.527,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,15894,478
$CAP_FILE_SIZE,179693,0
$CFSIZE,260034560,255496192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300709,030604,2151.643,-15946.120,11,2.9,31,9.8