version: 66.04
glider: 116
mission: 22
dive: 22
start: 7 30 109 6 23 53
data:
$ID,116
$MISSION,22
$DIVE,22
$D_SURF,4
$D_FLARE,3
$D_TGT,450
$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,150
$T_MISSION,175
$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,350
$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,-57931.918
$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,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
$GPS1,061637,2151.660,-15946.532,41,0.9,42,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-67.2
$GPS2,062302,2151.721,-15946.681,10,1.5,10,9.8
$SPEED_LIMITS,0.173,0.324
$TGT_NAME,T2
$TGT_LATLONG,2150.420,-15941.560
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.323,-0.034
$KALMAN_X,-23238.2,-325.5,19.5,15457.2,-2312.2
$KALMAN_Y,5951.7,460.3,-144.4,-14303.1,145.8
$MHEAD_RNG_PITCHd_Wd,86.2,9128,-13.1,-10.000
$D_GRID,450
$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,15,begin dive
$GC,17,-1.39,-243.3,0.0,0.0,0,93,0.00,0.00,-73.68,0.000,2,0.000,0.000,131,2467,3324
$GC,96,-1.39,-243.3,3.3,-6.7,11,133,16.12,2.62,-9.38,0.000,4,0.183,0.071,2812,3880,3930
$GC,161,-1.39,-243.3,23.2,-18.4,20,166,0.00,2.38,0.00,0.000,6,0.000,0.028,2812,2460,3932
$GC,358,-1.39,-243.3,52.9,-13.4,38,362,0.00,2.60,0.00,0.000,4,0.000,0.061,2812,3883,3934
$GC,434,-1.39,-243.3,63.3,-12.9,44,443,0.00,2.38,0.00,0.000,6,0.000,0.028,2812,2478,3935
$GC,761,-1.39,-243.3,102.4,-12.0,75,765,0.00,2.58,0.00,0.000,4,0.000,0.064,2812,3881,3935
$GC,855,-1.39,-243.3,113.3,-11.1,83,860,0.00,2.35,0.00,0.000,6,0.000,0.028,2812,2465,3935
$GC,1180,-1.39,-243.3,146.4,-10.2,113,1184,0.00,2.60,0.00,0.000,4,0.000,0.065,2812,3882,3935
$GC,1323,-1.39,-243.3,162.3,-10.9,125,1331,0.00,2.38,0.00,0.000,6,0.000,0.028,2812,2480,3935
$GC,1649,-1.39,-243.3,192.3,-9.5,156,1653,0.00,2.55,0.00,0.000,4,0.000,0.067,2812,3876,3935
$GC,1743,-1.39,-243.3,202.0,-10.1,164,1751,0.00,2.38,0.00,0.000,6,0.000,0.029,2812,2480,3935
$GC,2068,-1.39,-243.3,229.4,-7.5,195,2073,0.00,2.60,0.00,0.000,4,0.000,0.070,2812,3883,3935
$GC,2153,-1.39,-243.3,237.0,-9.6,202,2158,0.00,2.38,0.00,0.000,6,0.000,0.031,2811,2476,3935
$GC,2478,-1.39,-243.3,266.0,-8.7,232,2482,0.00,2.60,0.00,0.000,4,0.000,0.071,2812,3876,3934
$GC,2552,-1.39,-243.3,272.3,-8.3,238,2556,0.00,2.38,0.00,0.000,6,0.000,0.032,2812,2476,3935
$GC,2877,-1.39,-243.3,298.6,-8.9,268,2881,0.00,2.60,0.00,0.000,4,0.000,0.072,2812,3875,3935
$GC,2932,-1.39,-243.3,303.9,-9.7,272,2939,0.00,2.40,0.00,0.000,6,0.000,0.034,2812,2469,3933
$GC,3257,-1.39,-243.3,334.6,-9.4,303,3261,0.00,2.62,0.00,0.000,4,0.000,0.073,2812,3876,3930
$GC,3367,-1.39,-243.3,345.8,-10.4,312,3375,0.00,2.42,0.00,0.000,6,0.000,0.035,2812,2478,3929
$GC,3694,-1.39,-243.3,372.8,-8.2,343,3698,0.00,2.62,0.00,0.000,4,0.000,0.075,2812,3875,3927
$GC,3749,-1.39,-243.3,377.8,-9.0,347,3757,0.00,2.42,0.00,0.000,6,0.000,0.035,2812,2464,3927
$GC,4074,-1.39,-243.3,404.2,-7.3,378,4078,0.00,2.65,0.00,0.000,4,0.000,0.076,2812,3874,3924
$GC,4197,-1.39,-243.3,413.2,-7.1,388,4204,0.00,2.42,0.00,0.000,6,0.000,0.036,2812,2468,3923
$GC,4522,-1.39,-243.3,436.8,-8.2,419,4526,0.00,2.67,0.00,0.000,4,0.000,0.078,2812,3880,3921
$GC,4644,-1.39,-243.3,447.0,-8.2,429,4652,0.00,2.42,0.00,0.000,6,0.000,0.037,2812,2478,3920
$STATE,4692,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4692,begin apogee
$GC,4696,-0.42,0.0,450.5,7.5,434,5006,1.00,0.00,303.80,0.779,6,0.075,0.000,3029,2479,2936
$STATE,5007,end apogee,CONTROL_FINISHED_OK
$STATE,5007,begin climb
$GC,5009,1.39,243.3,463.3,0.0,465,5335,1.75,2.75,312.75,0.742,4,0.047,0.077,3426,3884,1944
$GC,5396,1.39,243.3,433.7,12.7,500,5403,0.00,2.45,0.00,0.000,6,0.000,0.038,3426,2497,1941
$GC,5721,1.39,243.3,395.6,12.0,531,5725,0.00,2.65,0.00,0.000,4,0.000,0.077,3426,3884,1939
$GC,5786,1.39,243.3,387.3,12.8,536,5794,0.00,2.45,0.00,0.000,6,0.000,0.039,3426,2489,1938
$GC,6111,1.39,243.3,353.0,10.9,567,6116,0.00,2.65,0.00,0.000,4,0.000,0.074,3426,3887,1936
$GC,6184,1.39,243.3,344.0,12.8,573,6189,0.00,2.42,0.00,0.000,6,0.000,0.038,3426,2497,1935
$GC,6509,1.39,243.3,308.2,11.2,603,6513,0.00,2.62,0.00,0.000,4,0.000,0.073,3426,3887,1934
$GC,6564,1.39,243.3,301.9,11.4,607,6571,0.00,2.42,0.00,0.000,6,0.000,0.038,3426,2489,1934
$GC,6888,1.42,267.6,269.4,9.3,638,6925,0.00,2.53,28.70,0.727,4,0.000,0.049,3426,1094,1845
$GC,6952,1.43,281.1,263.2,9.6,643,6976,0.00,2.53,18.88,0.696,6,0.000,0.041,3426,2511,1789
$GC,7297,1.43,281.1,230.6,10.6,675,7301,0.00,2.58,0.00,0.000,4,0.000,0.071,3426,3890,1786
$GC,7385,1.43,281.1,220.9,11.6,682,7393,0.00,2.42,0.00,0.000,6,0.000,0.035,3426,2485,1786
$GC,7710,1.43,281.1,186.1,11.8,713,7711,0.00,0.00,0.00,0.000,6,0.000,0.000,3425,2483,1785
$GC,8028,1.43,281.1,150.7,10.5,743,8033,0.00,2.60,0.00,0.000,4,0.000,0.067,3426,3887,1784
$GC,8116,1.43,281.1,140.4,11.8,750,8124,0.00,2.40,0.00,0.000,6,0.000,0.033,3426,2497,1784
$GC,8443,1.43,281.1,107.2,10.9,781,8447,0.00,2.58,0.00,0.000,4,0.000,0.064,3426,3895,1784
$GC,8582,1.43,281.1,91.8,11.0,793,8587,0.00,2.38,0.00,0.000,6,0.000,0.031,3426,2488,1784
$GC,8907,1.52,354.3,61.3,8.0,823,9005,0.10,2.65,90.62,0.589,4,0.057,0.061,3462,3886,1491
$GC,9045,1.52,354.3,48.5,10.8,835,9049,0.00,2.38,0.00,0.000,6,0.000,0.031,3463,2496,1489
$GC,9242,1.55,376.8,30.2,9.4,853,9274,0.00,0.00,28.55,0.546,6,0.000,0.000,3463,2495,1400
$GC,9468,1.58,398.4,6.7,9.4,884,9495,0.00,0.00,22.05,0.512,6,0.000,0.000,3463,2495,1310
$STATE,9500,end climb,SURFACE_DEPTH_REACHED
$STATE,9501,begin surface coast
$FINISH,-0.0,1.012323
$STATE,9541,end surface coast,CONTROL_FINISHED_OK
$STATE,9541,begin surface
$SM_CCo,9625,0.00,0.000,0,0,1306,399.59
$SM_GC,1.00,14.75,0.00,0.00,0.041,0.000,0.000,130,2493,1306,-13.70,0.51,399.59
$IRIDIUM_FIX,2143.45,-15946.74,241098,040421
$TT8_MAMPS,0.065962
$HUMID,1890
$INTERNAL_PRESSURE,11.4165
$TCM_TEMP,23.80
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.8,11.348
$10V_AH,10.0,3.004
$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,33.725,105.475,805.350,0.000,0.000,22.578,28.763,223.569,0.000,0.000,64.875,10.174,1707.656,5036.076,818.601,1638.782,810.749,33.340,1774.370,0.000,1599.242,0.000,0.000,0.000
$DEVICE_MAMPS,182.546,78.234,779.272,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,594.388,0.000,0.000,0.000,0.000,0.000,125.642,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,28397,896
$CAP_FILE_SIZE,323764,0
$CFSIZE,260034560,255107072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300709,090522,2151.293,-15945.969,11,3.3,30,9.8