version: 66.04
glider: 116
mission: 22
dive: 26
start: 7 30 109 17 55 12
data:
$ID,116
$MISSION,22
$DIVE,26
$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,-58028.09
$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,38
$R_STBD_OVSHOOT,20
$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
$GPS1,174149,2151.141,-15945.020,11,1.6,28,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-69.2
$GPS2,175420,2151.130,-15945.320,15,1.8,33,9.8
$SPEED_LIMITS,0.173,0.324
$TGT_NAME,T2
$TGT_LATLONG,2150.420,-15941.560
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.322,-0.036
$KALMAN_X,-32520.6,-160.3,-117.0,27037.7,-2127.7
$KALMAN_Y,6257.5,-486.4,173.7,-15071.6,164.9
$MHEAD_RNG_PITCHd_Wd,86.5,6598,-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,14,begin dive
$GC,16,-1.39,-243.3,0.0,0.0,0,87,0.00,0.00,-68.20,0.000,2,0.000,0.000,133,2513,3482
$GC,89,-1.39,-243.3,4.3,-10.4,10,119,16.27,2.50,-6.32,0.000,4,0.185,0.071,2813,3877,3930
$GC,147,-1.39,-243.3,26.9,-21.0,17,155,0.00,2.40,0.00,0.000,6,0.000,0.028,2814,2466,3931
$GC,345,-1.39,-243.3,54.9,-11.6,36,350,0.00,2.60,0.00,0.000,4,0.000,0.061,2814,3885,3932
$GC,389,-1.39,-243.3,60.5,-12.4,39,397,0.00,2.40,0.00,0.000,6,0.000,0.028,2814,2465,3932
$GC,715,-1.39,-243.3,94.1,-10.4,70,719,0.00,2.60,0.00,0.000,4,0.000,0.063,2813,3878,3936
$GC,781,-1.39,-243.3,101.2,-10.9,75,789,0.00,2.35,0.00,0.000,6,0.000,0.028,2814,2470,3935
$GC,1106,-1.39,-243.3,131.5,-8.6,106,1110,0.00,2.60,0.00,0.000,4,0.000,0.064,2813,3885,3936
$GC,1236,-1.39,-243.3,143.5,-9.6,117,1241,0.00,2.35,0.00,0.000,6,0.000,0.028,2813,2478,3936
$GC,1561,-1.39,-243.3,174.5,-10.2,147,1562,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2478,3936
$GC,1880,-1.39,-243.3,205.7,-9.2,177,1884,0.00,2.60,0.00,0.000,4,0.000,0.067,2813,3883,3936
$GC,1943,-1.39,-243.3,211.5,-10.0,182,1947,0.00,2.38,0.00,0.000,6,0.000,0.030,2814,2476,3936
$GC,2267,-1.39,-243.3,239.6,-8.8,212,2272,0.00,2.60,0.00,0.000,4,0.000,0.069,2813,3875,3936
$GC,2363,-1.39,-243.3,248.1,-8.9,220,2368,0.00,2.38,0.00,0.000,6,0.000,0.031,2814,2474,3936
$GC,2688,-1.39,-243.3,274.2,-8.2,250,2692,0.00,2.62,0.00,0.000,4,0.000,0.071,2813,3881,3936
$GC,2794,-1.39,-243.3,283.1,-8.1,259,2802,0.00,2.40,0.00,0.000,6,0.000,0.033,2813,2474,3936
$GC,3119,-1.39,-243.3,306.0,-8.0,290,3124,0.00,2.62,0.00,0.000,4,0.000,0.072,2813,3877,3933
$GC,3197,-1.39,-243.3,312.9,-8.8,296,3204,0.00,2.40,0.00,0.000,6,0.000,0.035,2814,2476,3932
$GC,3522,-1.39,-243.3,342.0,-8.5,327,3526,0.00,2.62,0.00,0.000,4,0.000,0.073,2813,3876,3930
$GC,3610,-1.39,-243.3,349.5,-8.2,334,3618,0.00,2.40,0.00,0.000,6,0.000,0.035,2813,2478,3930
$GC,3936,-1.39,-243.3,372.2,-6.9,365,3940,0.00,2.65,0.00,0.000,4,0.000,0.075,2813,3884,3928
$GC,4068,-1.39,-243.3,382.2,-7.5,376,4076,0.00,2.42,0.00,0.000,6,0.000,0.037,2813,2474,3927
$GC,4393,-1.39,-243.3,404.0,-7.0,407,4395,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2474,3925
$GC,4712,-1.39,-243.3,428.7,-8.2,437,4716,0.00,2.67,0.00,0.000,4,0.000,0.079,2814,3883,3923
$GC,4807,-1.39,-243.3,437.0,-9.1,445,4812,0.00,2.45,0.00,0.000,6,0.000,0.038,2814,2472,3922
$STATE,4971,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4971,begin apogee
$GC,4975,-0.42,0.0,450.6,8.1,460,5289,1.00,0.00,306.62,0.779,6,0.074,0.000,3028,2472,2936
$STATE,5290,end apogee,CONTROL_FINISHED_OK
$STATE,5290,begin climb
$GC,5292,1.39,243.3,468.1,0.0,491,5614,1.77,0.00,313.17,0.749,6,0.048,0.000,3422,2471,1944
$GC,5930,1.39,243.3,412.2,10.4,549,5935,0.00,2.72,0.00,0.000,4,0.000,0.078,3422,3890,1939
$GC,5992,1.39,243.3,404.5,12.7,554,5997,0.00,2.45,0.00,0.000,6,0.000,0.039,3422,2499,1938
$GC,6317,1.39,243.3,369.7,10.0,584,6321,0.00,2.53,0.00,0.000,4,0.000,0.053,3422,1097,1937
$GC,6411,1.40,253.7,359.7,9.7,592,6431,0.00,2.53,12.73,0.699,6,0.000,0.044,3422,2509,1901
$GC,6749,1.40,253.7,322.3,11.5,624,6750,0.00,0.00,0.00,0.000,6,0.000,0.000,3422,2509,1899
$GC,7066,1.40,253.7,287.3,10.2,654,7068,0.00,0.00,0.00,0.000,6,0.000,0.000,3422,2508,1897
$GC,7385,1.40,253.7,253.9,10.6,684,7389,0.00,2.58,0.00,0.000,4,0.000,0.072,3422,3887,1897
$GC,7413,1.40,253.7,250.8,11.0,686,7417,0.00,2.42,0.00,0.000,6,0.000,0.038,3422,2488,1896
$GC,7737,1.43,278.5,217.8,9.3,716,7774,0.00,2.67,31.50,0.703,4,0.000,0.069,3422,3890,1800
$GC,7833,1.43,278.5,208.5,10.2,724,7837,0.00,2.42,0.00,0.000,6,0.000,0.036,3422,2491,1798
$GC,8157,1.43,278.5,174.3,10.3,754,8162,0.00,2.60,0.00,0.000,4,0.000,0.067,3422,3887,1796
$GC,8223,1.43,278.5,166.8,11.6,759,8231,0.00,2.42,0.00,0.000,6,0.000,0.035,3422,2494,1796
$GC,8548,1.43,278.5,131.4,11.6,790,8553,0.00,2.58,0.00,0.000,4,0.000,0.065,3422,3887,1796
$GC,8604,1.43,278.5,124.6,12.4,794,8611,0.00,2.38,0.00,0.000,6,0.000,0.033,3422,2497,1797
$GC,8929,1.47,308.4,91.8,9.2,825,8970,0.00,0.00,38.45,0.612,6,0.000,0.000,3421,2498,1678
$GC,9290,1.50,335.8,58.0,9.2,859,9331,0.12,2.60,34.97,0.575,4,0.048,0.061,3462,3888,1567
$GC,9467,1.53,359.8,38.5,9.3,874,9504,0.00,2.38,31.10,0.553,6,0.000,0.031,3463,2493,1469
$GC,9694,1.56,383.3,16.5,9.3,898,9729,0.00,2.55,27.52,0.528,4,0.000,0.060,3463,3888,1372
$GC,9759,1.56,383.3,9.7,11.0,908,9766,0.00,2.38,0.00,0.000,6,0.000,0.031,3463,2499,1372
$STATE,9811,end climb,SURFACE_DEPTH_REACHED
$STATE,9811,begin surface coast
$FINISH,0.4,1.022968
$STATE,9851,end surface coast,CONTROL_FINISHED_OK
$STATE,9851,begin surface
$SM_CCo,9935,0.00,0.000,0,0,1367,385.12
$SM_GC,1.04,14.85,0.00,0.00,0.044,0.000,0.000,133,2496,1367,-13.69,0.59,385.12
$IRIDIUM_FIX,2143.45,-15943.76,241098,171750
$TT8_MAMPS,0.077467
$HUMID,1858
$INTERNAL_PRESSURE,11.3969
$TCM_TEMP,23.60
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.8,12.204
$10V_AH,10.0,3.421
$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,34.025,95.225,796.075,0.000,0.000,50.845,59.217,444.251,0.000,0.000,68.821,33.378,1763.825,5332.648,782.658,1675.266,1123.271,33.344,1732.749,0.000,1605.557,0.000,0.000,0.000
$DEVICE_MAMPS,184.847,79.001,778.505,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,614.223,0.000,0.000,0.000,0.000,0.000,129.035,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,28405,924
$CAP_FILE_SIZE,336651,0
$CFSIZE,260034560,254562304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300709,204201,2151.210,-15944.728,41,1.5,41,9.8