version: 66.04
glider: 116
mission: 22
dive: 20
start: 7 30 109 3 13 30
data:
$ID,116
$MISSION,22
$DIVE,20
$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,-57903.766
$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,49
$R_STBD_OVSHOOT,24
$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
$GPS1,030604,2151.643,-15946.120,11,2.9,31,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-68.2
$GPS2,031238,2151.617,-15946.255,11,2.0,11,9.8
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,T2
$TGT_LATLONG,2150.420,-15941.560
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.258,-0.027
$KALMAN_X,-19539.6,-737.9,158.2,12762.0,-821.6
$KALMAN_Y,5385.5,430.8,82.0,-14118.1,15.7
$MHEAD_RNG_PITCHd_Wd,86.2,8371,-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,-146.0,0.0,0.0,0,87,0.00,0.00,-67.78,0.000,2,0.000,0.000,129,2486,3499
$GC,89,-1.64,-146.0,4.4,-11.2,10,111,15.88,0.00,-0.50,0.000,6,0.184,0.000,2757,2487,3534
$GC,176,-1.64,-146.0,31.1,-18.7,20,177,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,2487,3536
$GC,367,-1.64,-146.0,62.7,-14.8,38,368,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,2487,3536
$GC,686,-1.64,-146.0,107.6,-13.1,68,690,0.00,2.53,0.00,0.000,4,0.000,0.063,2758,3880,3538
$GC,725,-1.64,-146.0,113.1,-13.9,71,729,0.00,2.35,0.00,0.000,6,0.000,0.027,2758,2465,3538
$GC,1049,-1.64,-146.0,150.3,-11.1,101,1050,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,2465,3540
$GC,1368,-1.64,-146.0,185.4,-10.3,131,1372,0.00,2.58,0.00,0.000,4,0.000,0.065,2758,3873,3539
$GC,1455,-1.64,-146.0,194.6,-10.0,138,1464,0.00,2.35,0.00,0.000,6,0.000,0.028,2758,2480,3539
$GC,1782,-1.64,-146.0,225.6,-9.3,169,1786,0.00,2.40,0.00,0.000,4,0.000,0.039,2757,1083,3539
$GC,1847,-1.64,-146.0,231.7,-9.8,174,1855,0.00,2.40,0.00,0.000,6,0.000,0.035,2757,2473,3540
$STATE,1948,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1948,begin apogee
$GC,1952,-0.42,0.0,241.0,9.7,184,2142,1.27,0.00,182.85,0.607,6,0.077,0.000,3028,2474,2936
$STATE,2144,end apogee,CONTROL_FINISHED_OK
$STATE,2145,begin climb
$GC,2146,1.64,146.0,248.2,0.0,203,2335,1.85,0.00,181.73,0.599,6,0.043,0.000,3456,2473,2340
$GC,2652,1.70,197.3,215.2,7.6,252,2728,0.00,2.42,63.88,0.591,4,0.000,0.041,3457,1111,2130
$GC,2818,1.71,207.4,200.9,9.5,267,2836,0.00,2.45,12.93,0.543,6,0.000,0.038,3456,2504,2090
$GC,3154,1.75,236.2,168.4,8.7,298,3195,0.00,2.60,35.65,0.583,4,0.000,0.069,3456,3885,1972
$GC,3319,1.75,236.2,149.8,13.3,312,3323,0.00,2.38,0.00,0.000,6,0.000,0.032,3456,2492,1969
$GC,3644,1.79,270.8,116.1,8.4,342,3692,0.00,2.45,42.12,0.572,4,0.000,0.041,3457,1107,1831
$GC,3818,1.80,274.2,99.5,9.8,357,3830,0.00,2.42,4.72,0.410,6,0.000,0.035,3457,2502,1818
$GC,4147,1.81,287.9,67.9,9.4,388,4169,0.00,0.00,17.98,0.532,6,0.000,0.000,3457,2502,1762
$GC,4487,1.82,294.1,38.5,9.7,420,4501,0.00,2.60,8.85,0.477,4,0.000,0.060,3456,3894,1737
$GC,4683,1.83,305.9,20.4,9.5,437,4703,0.00,2.35,15.32,0.497,6,0.000,0.029,3456,2490,1689
$GC,4770,1.83,305.9,11.9,10.4,451,4776,0.00,0.00,0.00,0.000,6,0.000,0.000,3456,2490,1689
$GC,4845,1.86,324.4,5.0,9.1,464,4860,0.00,0.00,13.02,0.474,2,0.000,0.000,3456,2490,1637
$STATE,4861,end climb,SURFACE_DEPTH_REACHED
$STATE,4861,begin surface coast
$FINISH,0.2,1.010982
$STATE,4911,end surface coast,CONTROL_FINISHED_OK
$STATE,4911,begin surface
$SM_CCo,4995,0.00,0.000,0,0,1631,320.12
$SM_GC,1.04,14.77,0.00,0.00,0.046,0.000,0.000,133,2489,1631,-13.69,0.40,320.12
$IRIDIUM_FIX,2145.77,-15945.93,241098,010125
$TT8_MAMPS,0.070564
$HUMID,1871
$INTERNAL_PRESSURE,11.5141
$TCM_TEMP,24.20
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,24.0,10.990
$10V_AH,10.1,2.856
$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,33.775,34.275,579.050,0.000,0.000,27.962,24.131,224.419,0.000,0.000,35.348,11.919,896.415,2483.897,579.713,856.804,575.930,33.337,1101.347,0.000,824.223,0.000,0.000,0.000
$DEVICE_MAMPS,184.080,69.030,607.464,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,310.043,0.000,0.000,0.000,0.000,0.000,66.273,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,15898,475
$CAP_FILE_SIZE,175513,0
$CFSIZE,260034560,255426560
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300709,043746,2151.648,-15946.243,8,3.8,28,9.8