version: 66.04
glider: 116
mission: 22
dive: 30
start: 7 31 109 7 44 55
data:
$ID,116
$MISSION,22
$DIVE,30
$D_SURF,4
$D_FLARE,3
$D_TGT,660
$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,220
$T_MISSION,275
$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,750
$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,-58105.945
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,132
$PITCH_MAX,3449
$C_PITCH,3100
$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,2550
$C_ROLL_CLIMB,2520
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,43
$R_STBD_OVSHOOT,31
$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
$GPS1,073336,2150.764,-15942.345,28,1.0,28,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-67.4
$GPS2,074402,2150.826,-15942.549,12,1.3,12,9.8
$SPEED_LIMITS,0.173,0.324
$TGT_NAME,T0
$TGT_LATLONG,2154.000,-15942.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.112,0.305
$KALMAN_X,-41782.7,-220.7,-86.8,41086.0,-853.8
$KALMAN_Y,6921.2,252.9,177.3,-17046.1,-176.1
$MHEAD_RNG_PITCHd_Wd,10.3,5953,-13.1,-10.000
$D_GRID,660
$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,-243.3,0.0,0.0,0,92,0.00,0.00,-73.20,0.000,2,0.000,0.000,125,2569,3292
$GC,95,-1.39,-243.3,3.0,-6.1,11,132,16.10,2.45,-9.90,0.000,4,0.182,0.072,2791,3878,3932
$GC,175,-1.39,-243.3,26.3,-17.4,21,183,0.00,2.28,0.00,0.000,6,0.000,0.028,2791,2543,3934
$GC,373,-1.39,-243.3,58.8,-13.9,40,378,0.00,2.45,0.00,0.000,4,0.000,0.061,2791,3881,3935
$GC,417,-1.39,-243.3,65.2,-14.7,43,425,0.00,2.28,0.00,0.000,6,0.000,0.029,2791,2550,3935
$GC,744,-1.39,-243.3,106.3,-11.0,74,749,0.00,2.45,0.00,0.000,4,0.000,0.064,2791,3883,3934
$GC,878,-1.39,-243.3,123.8,-12.3,85,886,0.00,2.25,0.00,0.000,6,0.000,0.029,2792,2535,3934
$GC,1203,-1.39,-243.3,159.3,-10.0,116,1207,0.00,2.47,0.00,0.000,4,0.000,0.064,2791,3877,3934
$GC,1246,-1.39,-243.3,164.3,-11.4,119,1254,0.00,2.25,0.00,0.000,6,0.000,0.029,2791,2551,3934
$GC,1571,-1.39,-243.3,197.2,-10.3,150,1576,0.00,2.45,0.00,0.000,4,0.000,0.067,2791,3876,3934
$GC,1704,-1.39,-243.3,212.7,-11.1,161,1712,0.00,2.25,0.00,0.000,6,0.000,0.031,2791,2563,3934
$GC,2030,-1.39,-243.3,245.7,-10.2,192,2031,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2563,3934
$GC,2348,-1.39,-243.3,279.4,-11.0,222,2352,0.00,2.47,0.00,0.000,4,0.000,0.071,2791,3884,3934
$GC,2442,-1.39,-243.3,290.4,-12.2,230,2450,0.00,2.30,0.00,0.000,6,0.000,0.034,2791,2555,3934
$GC,2768,-1.39,-243.3,323.5,-9.4,261,2772,0.00,2.47,0.00,0.000,4,0.000,0.073,2791,3876,3934
$GC,2853,-1.39,-243.3,331.7,-9.9,268,2857,0.00,2.28,0.00,0.000,6,0.000,0.035,2791,2549,3934
$GC,3178,-1.39,-243.3,362.4,-9.7,298,3179,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2549,3930
$GC,3496,-1.39,-243.3,390.1,-8.0,328,3501,0.00,2.53,0.00,0.000,4,0.000,0.076,2791,3884,3927
$GC,3620,-1.39,-243.3,401.2,-8.8,338,3627,0.00,2.30,0.00,0.000,6,0.000,0.038,2791,2553,3927
$GC,3945,-1.39,-243.3,428.0,-8.6,369,3949,0.00,2.53,0.00,0.000,4,0.000,0.078,2791,3884,3924
$GC,4044,-1.39,-243.3,437.5,-9.7,377,4052,0.00,2.33,0.00,0.000,6,0.000,0.038,2791,2546,3924
$GC,4370,-1.39,-243.3,466.8,-9.2,408,4374,0.00,2.55,0.00,0.000,4,0.000,0.080,2791,3883,3921
$GC,4488,-1.39,-243.3,478.3,-9.0,418,4493,0.00,2.33,0.00,0.000,6,0.000,0.039,2791,2549,3921
$GC,4813,-1.39,-243.3,505.8,-7.6,448,4818,0.00,2.55,0.00,0.000,4,0.000,0.082,2791,3875,3918
$GC,4887,-1.39,-243.3,511.9,-8.5,454,4891,0.00,2.33,0.00,0.000,6,0.000,0.040,2791,2544,3918
$GC,5212,-1.39,-243.3,538.2,-7.8,484,5216,0.00,2.58,0.00,0.000,4,0.000,0.085,2791,3880,3916
$GC,5285,-1.39,-243.3,544.6,-8.5,490,5289,0.00,2.33,0.00,0.000,6,0.000,0.041,2791,2552,3916
$GC,5610,-1.39,-243.3,570.5,-7.4,520,5614,0.00,2.58,0.00,0.000,4,0.000,0.087,2791,3880,3913
$GC,5671,-1.39,-243.3,575.8,-8.4,525,5676,0.00,2.35,0.00,0.000,6,0.000,0.041,2791,2544,3913
$GC,5996,-1.39,-243.3,599.3,-6.7,555,6000,0.00,2.53,0.00,0.000,4,0.000,0.078,2791,3874,3911
$GC,6058,-1.39,-243.3,603.7,-7.0,560,6062,0.00,2.35,0.00,0.000,6,0.000,0.042,2791,2535,3911
$GC,6383,-1.39,-243.3,627.4,-7.9,590,6387,0.00,2.58,0.00,0.000,4,0.000,0.079,2791,3880,3909
$GC,6534,-1.39,-243.3,639.7,-7.9,603,6539,0.00,2.35,0.00,0.000,6,0.000,0.042,2791,2542,3908
$STATE,6783,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6783,begin apogee
$GC,6787,-0.42,0.0,660.2,8.6,626,7108,1.02,0.00,313.65,0.926,6,0.080,0.000,3006,2539,2936
$STATE,7109,end apogee,CONTROL_FINISHED_OK
$STATE,7110,begin climb
$GC,7112,1.39,243.3,675.9,0.0,658,7449,1.83,2.65,325.10,0.882,4,0.055,0.057,3403,1119,1944
$GC,7499,1.39,243.3,652.5,10.7,690,7506,0.00,2.53,0.00,0.000,6,0.000,0.045,3403,2510,1942
$GC,7824,1.39,243.3,621.6,10.0,721,7828,0.00,2.65,0.00,0.000,4,0.000,0.079,3403,3894,1938
$GC,7863,1.39,243.3,617.3,11.8,724,7867,0.00,2.45,0.00,0.000,6,0.000,0.043,3403,2517,1938
$GC,8187,1.39,243.3,580.6,11.2,754,8188,0.00,0.00,0.00,0.000,6,0.000,0.000,3403,2516,1936
$GC,8507,1.39,243.3,541.8,12.6,784,8508,0.00,0.00,0.00,0.000,6,0.000,0.000,3403,2517,1935
$GC,8825,1.39,243.3,503.8,11.4,814,8826,0.00,0.00,0.00,0.000,6,0.000,0.000,3403,2516,1934
$GC,9143,1.39,243.3,468.1,10.0,844,9144,0.00,0.00,0.00,0.000,6,0.000,0.000,3403,2517,1934
$GC,9462,1.39,243.3,432.2,11.9,874,9466,0.00,2.60,0.00,0.000,4,0.000,0.077,3403,3888,1933
$GC,9601,1.39,243.3,413.9,13.7,886,9605,0.00,2.42,0.00,0.000,6,0.000,0.042,3403,2516,1933
$GC,9926,1.39,243.3,373.4,11.2,916,9930,0.00,2.62,0.00,0.000,4,0.000,0.074,3403,3895,1933
$GC,9953,1.39,243.3,370.4,11.6,918,9957,0.00,2.42,0.00,0.000,6,0.000,0.041,3403,2517,1933
$GC,10283,1.46,302.0,342.7,8.4,949,10366,0.00,2.58,73.95,0.811,4,0.000,0.052,3403,1120,1704
$GC,10406,1.50,332.1,331.6,9.2,959,10454,0.10,2.53,40.90,0.771,6,0.065,0.044,3434,2521,1581
$GC,10772,1.50,332.1,288.9,12.2,993,10776,0.00,2.58,0.00,0.000,4,0.000,0.073,3434,3888,1576
$GC,10823,1.50,332.1,282.4,12.9,997,10828,0.00,2.42,0.00,0.000,6,0.000,0.039,3434,2506,1575
$GC,11148,1.50,332.1,241.7,12.2,1027,11149,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,2504,1574
$GC,11466,1.50,332.1,202.6,12.0,1057,11471,0.00,2.60,0.00,0.000,4,0.000,0.068,3435,3891,1574
$GC,11506,1.50,332.1,197.4,13.9,1060,11510,0.00,2.40,0.00,0.000,6,0.000,0.037,3434,2511,1573
$GC,11830,1.50,332.1,158.5,11.6,1090,11832,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,2509,1573
$GC,12149,1.50,332.1,121.5,10.3,1120,12153,0.00,2.55,0.00,0.000,4,0.000,0.064,3434,3894,1572
$GC,12182,1.50,332.1,118.0,10.2,1123,12186,0.00,2.38,0.00,0.000,6,0.000,0.034,3434,2511,1572
$GC,12507,1.54,365.6,85.9,9.1,1153,12560,0.00,2.65,41.35,0.615,4,0.000,0.061,3434,3890,1445
$GC,12584,1.56,385.9,78.8,9.4,1160,12620,0.00,2.38,27.33,0.592,6,0.000,0.032,3434,2507,1362
$GC,12939,1.59,410.9,41.2,9.3,1193,12976,0.00,2.65,31.90,0.562,4,0.000,0.060,3434,3892,1261
$GC,13003,1.63,439.8,34.8,9.2,1198,13048,0.00,2.38,37.50,0.548,6,0.000,0.031,3434,2522,1144
$GC,13239,1.63,439.8,11.9,11.5,1226,13245,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,2522,1141
$GC,13315,1.69,493.1,4.6,8.5,1239,13324,0.05,0.00,6.32,0.436,2,0.086,0.000,3460,2523,1122
$STATE,13325,end climb,SURFACE_DEPTH_REACHED
$STATE,13325,begin surface coast
$FINISH,-0.2,1.000826
$STATE,13375,end surface coast,CONTROL_FINISHED_OK
$STATE,13375,begin surface
$SM_CCo,13460,0.00,0.000,0,0,1119,445.71
$SM_GC,1.09,14.77,0.00,0.00,0.041,0.000,0.000,127,2563,1119,-13.63,0.37,445.71
$IRIDIUM_FIX,2141.13,-15941.58,251098,030344
$TT8_MAMPS,0.059059
$HUMID,1837
$INTERNAL_PRESSURE,11.3579
$TCM_TEMP,23.80
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.6,13.216
$10V_AH,10.0,3.903
$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,33.875,122.625,898.000,0.000,0.000,24.938,31.344,405.552,0.000,0.000,90.879,12.111,2390.507,7360.927,879.668,2220.493,1214.055,33.357,2124.294,0.000,2157.622,0.000,0.000,0.000
$DEVICE_MAMPS,181.779,109.681,925.769,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,838.650,0.000,0.000,0.000,0.000,0.000,170.394,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,37843,1249
$CAP_FILE_SIZE,447690,0
$CFSIZE,260034560,253829120
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310709,113024,2152.823,-15941.984,36,1.9,36,9.8