version: 66.04
glider: 116
mission: 22
dive: 32
start: 7 31 109 15 23 25
data:
$ID,116
$MISSION,22
$DIVE,32
$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,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,450
$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,-58138.035
$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,45
$R_STBD_OVSHOOT,27
$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
$GPS1,151337,2154.584,-15941.377,32,1.0,32,9.8
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-68.9
$GPS2,152232,2154.556,-15941.439,13,1.2,13,9.8
$SPEED_LIMITS,0.173,0.324
$TGT_NAME,TB
$TGT_LATLONG,2153.300,-15940.300
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.270,-0.180
$KALMAN_X,-45044.4,1004.5,-1.9,44939.2,-1475.8
$KALMAN_Y,7823.1,-188.1,-169.6,-10253.9,497.4
$MHEAD_RNG_PITCHd_Wd,113.9,3041,-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,-67.62,0.000,2,0.000,0.000,127,2559,3314
$GC,90,-1.39,-243.3,3.5,-7.8,10,119,16.17,0.00,-9.32,0.000,6,0.184,0.000,2791,2558,3930
$GC,190,-1.39,-243.3,30.6,-18.5,22,194,0.00,2.42,0.00,0.000,4,0.000,0.059,2791,3887,3934
$GC,233,-1.39,-243.3,39.9,-20.8,25,241,0.00,2.30,0.00,0.000,6,0.000,0.029,2790,2538,3934
$GC,431,-1.39,-243.3,73.1,-13.4,44,435,0.00,2.35,0.00,0.000,4,0.000,0.032,2791,1159,3934
$GC,472,-1.39,-243.3,78.3,-13.7,47,477,0.00,2.40,0.00,0.000,6,0.000,0.033,2791,2551,3934
$GC,797,-1.39,-243.3,119.9,-13.5,77,801,0.00,2.45,0.00,0.000,4,0.000,0.065,2791,3889,3934
$GC,918,-1.39,-243.3,138.7,-15.7,87,926,0.00,2.25,0.00,0.000,6,0.000,0.028,2791,2534,3934
$GC,1243,-1.39,-243.3,181.1,-11.9,118,1247,0.00,2.50,0.00,0.000,4,0.000,0.064,2791,3891,3934
$GC,1319,-1.39,-243.3,190.7,-11.7,124,1328,0.00,2.28,0.00,0.000,6,0.000,0.028,2791,2549,3934
$GC,1645,-1.39,-243.3,227.5,-11.5,155,1646,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2549,3934
$GC,1964,-1.39,-243.3,262.3,-10.8,185,1968,0.00,2.50,0.00,0.000,4,0.000,0.070,2791,3892,3935
$GC,2049,-1.39,-243.3,271.2,-10.1,192,2054,0.00,2.25,0.00,0.000,6,0.000,0.031,2791,2557,3934
$GC,2374,-1.39,-243.3,306.2,-10.8,222,2378,0.00,2.47,0.00,0.000,4,0.000,0.071,2791,3883,3934
$GC,2437,-1.39,-243.3,313.4,-11.8,227,2441,0.00,2.28,0.00,0.000,6,0.000,0.033,2791,2544,3934
$GC,2761,-1.39,-243.3,345.3,-8.3,257,2765,0.00,2.53,0.00,0.000,4,0.000,0.073,2791,3890,3934
$GC,2857,-1.39,-243.3,353.9,-10.3,265,2861,0.00,2.30,0.00,0.000,6,0.000,0.034,2791,2541,3934
$GC,3182,-1.39,-243.3,382.6,-7.8,295,3186,0.00,2.55,0.00,0.000,4,0.000,0.074,2791,3890,3934
$GC,3232,-1.39,-243.3,386.9,-8.6,299,3239,0.00,2.30,0.00,0.000,6,0.000,0.035,2791,2552,3932
$GC,3557,-1.39,-243.3,415.8,-8.4,330,3561,0.00,2.53,0.00,0.000,4,0.000,0.076,2791,3884,3929
$GC,3612,-1.39,-243.3,421.1,-9.8,334,3619,0.00,2.30,0.00,0.000,6,0.000,0.036,2791,2551,3929
$STATE,3935,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3935,begin apogee
$GC,3940,-0.42,0.0,450.2,9.4,365,4259,1.02,0.00,309.10,0.763,6,0.076,0.000,3010,2551,2936
$STATE,4260,end apogee,CONTROL_FINISHED_OK
$STATE,4261,begin climb
$GC,4263,1.39,243.3,468.3,0.0,397,4588,1.77,2.62,313.10,0.739,4,0.049,0.078,3403,3890,1943
$GC,4671,1.39,243.3,434.7,13.1,431,4679,0.00,2.42,0.00,0.000,6,0.000,0.038,3403,2531,1940
$GC,4996,1.39,243.3,401.0,10.3,462,4997,0.00,0.00,0.00,0.000,6,0.000,0.000,3403,2531,1938
$GC,5315,1.41,263.1,370.0,9.4,492,5346,0.00,0.00,24.60,0.719,6,0.000,0.000,3403,2531,1863
$GC,5665,1.41,263.1,331.1,12.4,525,5666,0.00,0.00,0.00,0.000,6,0.000,0.000,3403,2531,1859
$GC,5982,1.41,263.1,296.6,10.2,555,5986,0.00,2.55,0.00,0.000,4,0.000,0.071,3403,3883,1858
$GC,6037,1.41,263.1,290.1,12.3,559,6044,0.00,2.38,0.00,0.000,6,0.000,0.037,3403,2515,1857
$GC,6363,1.41,263.1,256.7,10.6,590,6367,0.00,2.47,0.00,0.000,4,0.000,0.048,3403,1119,1857
$GC,6414,1.41,263.1,250.9,10.9,594,6419,0.00,2.47,0.00,0.000,6,0.000,0.041,3403,2518,1856
$GC,6739,1.42,269.4,219.5,9.8,624,6751,0.00,0.00,7.75,0.613,6,0.000,0.000,3403,2518,1837
$GC,7069,1.54,365.9,190.9,7.3,655,7202,0.15,2.53,123.93,0.666,4,0.051,0.041,3445,1116,1444
$GC,7264,1.54,365.9,167.5,13.2,671,7271,0.00,2.50,0.00,0.000,6,0.000,0.038,3445,2527,1441
$GC,7588,1.54,365.9,127.5,11.7,702,7593,0.00,2.53,0.00,0.000,4,0.000,0.065,3445,3895,1439
$GC,7617,1.54,365.9,124.2,12.0,704,7621,0.00,2.38,0.00,0.000,6,0.000,0.031,3445,2503,1438
$GC,7941,1.54,365.9,81.6,13.9,734,7945,0.00,2.55,0.00,0.000,4,0.000,0.060,3445,3892,1437
$GC,7980,1.54,365.9,76.4,14.0,737,7984,0.00,2.35,0.00,0.000,6,0.000,0.031,3445,2509,1437
$GC,8305,1.58,402.8,38.9,9.0,767,8358,0.00,0.00,45.95,0.552,6,0.000,0.000,3445,2507,1293
$GC,8550,1.58,402.8,15.8,10.6,793,8557,0.00,0.00,0.00,0.000,6,0.000,0.000,3445,2507,1291
$GC,8625,1.58,402.8,7.4,12.6,806,8631,0.00,0.00,0.00,0.000,6,0.000,0.000,3445,2507,1291
$STATE,8659,end climb,SURFACE_DEPTH_REACHED
$STATE,8659,begin surface coast
$FINISH,0.0,1.022880
$STATE,8699,end surface coast,CONTROL_FINISHED_OK
$STATE,8699,begin surface
$SM_CCo,8723,24.65,0.504,0,0,1101,450.13
$SM_GC,1.12,0.00,0.00,24.65,0.000,0.000,0.504,130,2572,1101,-13.66,0.62,450.13
$IRIDIUM_FIX,2145.77,-15911.42,251098,111127
$TT8_MAMPS,0.055991
$HUMID,1826
$INTERNAL_PRESSURE,11.3774
$TCM_TEMP,23.80
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.7,13.667
$10V_AH,10.0,4.107
$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,33.775,72.800,824.425,24.650,0.000,22.815,26.239,332.587,0.000,0.000,60.379,13.603,1541.494,4568.195,814.788,1450.128,892.714,33.348,1682.329,0.000,1405.452,0.000,0.000,0.000
$DEVICE_MAMPS,184.080,78.234,763.165,503.919,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,542.294,0.000,0.000,0.000,0.000,0.000,124.965,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,25289,819
$CAP_FILE_SIZE,296854,0
$CFSIZE,260034560,253685760
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310709,175016,2153.867,-15940.778,8,3.2,27,9.8