version: 66.04
glider: 116
mission: 22
dive: 21
start: 7 30 109 4 45 42
data:
$ID,116
$MISSION,22
$DIVE,21
$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,-57921.113
$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,23
$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
$GPS1,043746,2151.648,-15946.243,8,3.8,28,9.8
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-71.2
$GPS2,044450,2151.689,-15946.420,16,1.9,16,9.8
$SPEED_LIMITS,0.173,0.324
$TGT_NAME,T2
$TGT_LATLONG,2150.420,-15941.560
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.324,-0.017
$KALMAN_X,-21309.2,-513.1,218.2,13962.6,-1096.5
$KALMAN_Y,5667.1,496.3,-22.3,-14235.8,-49.1
$MHEAD_RNG_PITCHd_Wd,83.1,8680,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.39,-243.3,0.0,0.0,0,81,0.00,0.00,-61.47,0.000,2,0.000,0.000,133,2488,3381
$GC,84,-1.39,-243.3,3.7,-8.6,9,113,16.25,0.00,-8.10,0.000,6,0.186,0.000,2813,2488,3931
$GC,177,-1.39,-243.3,28.9,-14.8,20,182,0.00,2.53,0.00,0.000,4,0.000,0.060,2813,3876,3932
$GC,233,-1.39,-243.3,37.5,-14.3,24,240,0.00,2.35,0.00,0.000,6,0.000,0.028,2813,2470,3933
$GC,431,-1.39,-243.3,62.4,-10.4,43,436,0.00,2.58,0.00,0.000,4,0.000,0.061,2813,3881,3934
$GC,498,-1.39,-243.3,70.8,-13.2,48,505,0.00,2.35,0.00,0.000,6,0.000,0.027,2813,2470,3936
$GC,822,-1.39,-243.3,108.8,-12.0,79,826,0.00,2.58,0.00,0.000,4,0.000,0.064,2813,3874,3936
$GC,869,-1.39,-243.3,114.4,-12.7,83,873,0.00,2.33,0.00,0.000,6,0.000,0.027,2813,2470,3936
$GC,1194,-1.39,-243.3,148.1,-9.1,113,1198,0.00,2.58,0.00,0.000,4,0.000,0.064,2813,3873,3935
$GC,1282,-1.39,-243.3,157.0,-9.8,120,1290,0.00,2.33,0.00,0.000,6,0.000,0.028,2813,2478,3936
$GC,1607,-1.39,-243.3,183.0,-7.6,151,1612,0.00,2.58,0.00,0.000,4,0.000,0.066,2813,3880,3936
$GC,1731,-1.39,-243.3,193.6,-8.1,161,1738,0.00,2.35,0.00,0.000,6,0.000,0.028,2813,2478,3936
$GC,2056,-1.39,-243.3,220.0,-8.9,192,2060,0.00,2.58,0.00,0.000,4,0.000,0.068,2813,3873,3936
$GC,2095,-1.39,-243.3,223.7,-9.7,195,2099,0.00,2.35,0.00,0.000,6,0.000,0.031,2813,2476,3936
$STATE,2269,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2269,begin apogee
$GC,2273,-0.42,0.0,240.6,9.4,211,2583,1.00,0.00,300.50,0.613,6,0.067,0.000,3031,2475,2936
$STATE,2584,end apogee,CONTROL_FINISHED_OK
$STATE,2585,begin climb
$GC,2586,1.39,243.3,257.7,0.0,242,2899,1.70,2.67,301.27,0.601,4,0.041,0.068,3427,3883,1943
$GC,3015,1.39,243.3,226.9,12.4,281,3023,0.00,2.40,0.00,0.000,6,0.000,0.033,3427,2508,1941
$GC,3341,1.39,243.3,190.7,11.4,312,3345,0.00,2.47,0.00,0.000,4,0.000,0.044,3427,1095,1939
$GC,3425,1.39,243.3,181.3,10.8,319,3429,0.00,2.45,0.00,0.000,6,0.000,0.037,3427,2498,1939
$GC,3749,1.44,285.5,150.0,8.8,349,3810,0.00,2.60,51.28,0.588,4,0.000,0.066,3427,3887,1771
$GC,3927,1.44,285.5,130.8,11.7,364,3935,0.00,2.38,0.00,0.000,6,0.000,0.031,3427,2489,1768
$GC,4252,1.44,285.5,96.5,10.0,395,4256,0.00,2.40,0.00,0.000,4,0.000,0.041,3427,1106,1766
$GC,4318,1.44,285.5,89.5,10.1,400,4326,0.00,2.45,0.00,0.000,6,0.000,0.035,3427,2501,1766
$GC,4644,1.44,285.5,58.3,10.1,431,4648,0.00,2.53,0.00,0.000,4,0.000,0.062,3427,3892,1766
$GC,4671,1.44,285.5,55.4,11.2,433,4675,0.00,2.35,0.00,0.000,6,0.000,0.029,3427,2495,1765
$GC,4996,1.58,402.1,29.9,6.8,463,5144,0.10,2.65,140.38,0.522,4,0.054,0.061,3463,3887,1296
$STATE,5259,end climb,SURFACE_DEPTH_REACHED
$STATE,5259,begin surface coast
$FINISH,0.2,1.023016
$STATE,5295,end surface coast,CONTROL_FINISHED_OK
$STATE,5295,begin surface
$SM_CCo,5381,0.00,0.000,0,0,1289,404.25
$SM_GC,1.21,14.68,0.00,0.00,0.039,0.000,0.000,131,2467,1289,-13.70,-0.20,404.25
$IRIDIUM_FIX,2143.45,-15948.11,241098,030335
$TT8_MAMPS,0.056758
$HUMID,1859
$INTERNAL_PRESSURE,11.475
$TCM_TEMP,23.90
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.9,11.149
$10V_AH,10.1,2.913
$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,33.725,59.250,793.425,0.000,0.000,32.985,25.581,245.811,0.000,0.000,37.979,16.719,920.500,2568.351,748.773,946.119,626.140,33.340,1360.069,0.000,906.102,0.000,0.000,0.000
$DEVICE_MAMPS,185.614,68.263,612.833,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,327.280,0.000,0.000,0.000,0.000,0.000,71.206,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,15831,504
$CAP_FILE_SIZE,187739,0
$CFSIZE,260034560,255340544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300709,061637,2151.660,-15946.532,41,0.9,42,9.8