version: 66.04
glider: 116
mission: 22
dive: 33
start: 7 31 109 17 59 38
data:
$ID,116
$MISSION,22
$DIVE,33
$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,-58174.328
$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,46
$R_STBD_OVSHOOT,36
$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
$GPS1,175016,2153.867,-15940.778,8,3.2,27,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-67.6
$GPS2,175846,2153.862,-15940.841,15,3.5,34,9.8
$SPEED_LIMITS,0.173,0.324
$TGT_NAME,T2
$TGT_LATLONG,2150.420,-15941.560
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.114,-0.304
$KALMAN_X,-46110.0,837.7,-166.6,47371.0,-1446.3
$KALMAN_Y,7988.1,-122.1,-49.0,-11882.3,577.5
$MHEAD_RNG_PITCHd_Wd,149.6,6493,-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,-243.3,0.0,0.0,0,100,0.00,0.00,-80.93,0.000,2,0.000,0.000,130,2575,3341
$GC,103,-1.39,-243.3,3.4,-7.1,12,140,16.15,2.47,-9.07,0.000,4,0.184,0.045,2792,1162,3931
$GC,274,-1.39,-243.3,38.0,-15.7,30,281,0.00,2.40,0.00,0.000,6,0.000,0.035,2792,2545,3935
$GC,471,-1.39,-243.3,66.8,-13.8,49,472,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2545,3935
$GC,791,-1.39,-243.3,105.6,-12.4,79,795,0.00,2.45,0.00,0.000,4,0.000,0.064,2792,3885,3935
$GC,897,-1.39,-243.3,120.0,-13.7,88,901,0.00,2.25,0.00,0.000,6,0.000,0.028,2792,2539,3935
$GC,1223,-1.39,-243.3,157.0,-10.5,118,1227,0.00,2.47,0.00,0.000,4,0.000,0.064,2792,3886,3935
$GC,1274,-1.39,-243.3,163.3,-12.4,122,1278,0.00,2.25,0.00,0.000,6,0.000,0.028,2792,2540,3935
$GC,1598,-1.39,-243.3,198.8,-10.3,152,1603,0.00,2.50,0.00,0.000,4,0.000,0.066,2792,3891,3935
$GC,1672,-1.39,-243.3,206.1,-9.6,158,1676,0.00,2.25,0.00,0.000,6,0.000,0.029,2792,2545,3935
$GC,1997,-1.39,-243.3,235.8,-8.5,188,2001,0.00,2.50,0.00,0.000,4,0.000,0.067,2792,3892,3935
$GC,2070,-1.39,-243.3,242.0,-8.0,194,2074,0.00,2.25,0.00,0.000,6,0.000,0.031,2792,2555,3935
$GC,2395,-1.39,-243.3,266.2,-8.7,224,2399,0.00,2.47,0.00,0.000,4,0.000,0.070,2792,3884,3935
$GC,2468,-1.39,-243.3,273.3,-9.3,230,2472,0.00,2.28,0.00,0.000,6,0.000,0.032,2792,2542,3935
$GC,2792,-1.39,-243.3,306.0,-10.1,260,2796,0.00,2.53,0.00,0.000,4,0.000,0.072,2792,3889,3936
$GC,2864,-1.39,-243.3,314.0,-11.5,266,2869,0.00,2.28,0.00,0.000,6,0.000,0.034,2792,2552,3935
$GC,3189,-1.39,-243.3,342.0,-8.3,296,3193,0.00,2.50,0.00,0.000,4,0.000,0.073,2792,3884,3932
$GC,3233,-1.39,-243.3,346.2,-9.5,299,3241,0.00,2.30,0.00,0.000,6,0.000,0.035,2792,2540,3933
$GC,3559,-1.39,-243.3,376.1,-9.6,330,3563,0.00,2.53,0.00,0.000,4,0.000,0.074,2792,3883,3929
$GC,3597,-1.39,-243.3,380.1,-10.7,333,3602,0.00,2.30,0.00,0.000,6,0.000,0.036,2792,2547,3929
$GC,3922,-1.39,-243.3,410.3,-8.7,363,3926,0.00,2.53,0.00,0.000,4,0.000,0.076,2792,3884,3927
$GC,3974,-1.39,-243.3,414.8,-9.1,367,3978,0.00,2.30,0.00,0.000,6,0.000,0.038,2792,2551,3926
$GC,4299,-1.39,-243.3,442.2,-8.5,397,4303,0.00,2.50,0.00,0.000,4,0.000,0.077,2792,3884,3925
$GC,4364,-1.39,-243.3,447.9,-9.2,402,4372,0.00,2.35,0.00,0.000,6,0.000,0.038,2792,2548,3924
$STATE,4391,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4391,begin apogee
$GC,4395,-0.42,0.0,450.1,8.2,405,4714,1.02,0.00,307.55,0.770,6,0.077,0.000,3009,2546,2936
$STATE,4715,end apogee,CONTROL_FINISHED_OK
$STATE,4716,begin climb
$GC,4718,1.39,243.3,461.9,0.0,437,5043,1.77,2.65,312.10,0.742,4,0.051,0.053,3401,1129,1944
$GC,5094,1.39,243.3,432.7,11.5,469,5098,0.00,2.50,0.00,0.000,6,0.000,0.044,3401,2516,1941
$GC,5424,1.39,243.3,397.7,11.7,500,5428,0.00,2.60,0.00,0.000,4,0.000,0.077,3400,3887,1939
$GC,5463,1.39,243.3,392.8,12.7,503,5467,0.00,2.40,0.00,0.000,6,0.000,0.039,3401,2517,1938
$GC,5787,1.47,312.7,360.7,8.1,533,5879,0.00,0.00,88.97,0.734,6,0.000,0.000,3401,2517,1661
$GC,6196,1.47,312.7,319.0,12.6,572,6197,0.00,0.00,0.00,0.000,6,0.000,0.000,3401,2517,1655
$GC,6515,1.49,330.7,283.6,9.5,602,6543,0.12,2.62,22.98,0.701,4,0.057,0.071,3436,3888,1587
$GC,6599,1.49,330.7,273.3,12.6,609,6606,0.00,2.40,0.00,0.000,6,0.000,0.038,3436,2514,1586
$GC,6924,1.49,330.7,231.6,13.9,640,6928,0.00,2.47,0.00,0.000,4,0.000,0.048,3436,1120,1584
$GC,6996,1.49,330.7,221.7,13.8,646,7001,0.00,2.50,0.00,0.000,6,0.000,0.041,3436,2529,1583
$GC,7321,1.49,330.7,181.3,12.8,676,7325,0.00,2.53,0.00,0.000,4,0.000,0.069,3436,3888,1582
$GC,7360,1.49,330.7,176.4,12.9,679,7364,0.00,2.38,0.00,0.000,6,0.000,0.036,3436,2515,1582
$GC,7684,1.49,330.7,136.1,11.7,709,7688,0.00,2.42,0.00,0.000,4,0.000,0.042,3436,1123,1581
$GC,7721,1.49,330.7,131.6,11.6,712,7729,0.00,2.50,0.00,0.000,6,0.000,0.038,3436,2526,1581
$GC,8047,1.49,330.7,93.7,11.8,743,8048,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2526,1581
$GC,8365,1.49,330.7,61.8,10.1,773,8369,0.00,2.50,0.00,0.000,4,0.000,0.063,3436,3893,1581
$GC,8397,1.49,330.7,58.1,11.0,775,8405,0.00,2.38,0.00,0.000,6,0.000,0.031,3437,2511,1581
$GC,8723,1.62,430.3,30.1,7.2,806,8856,0.00,2.47,121.38,0.551,4,0.000,0.039,3436,1133,1181
$GC,8907,1.64,445.2,12.9,9.6,827,8935,0.00,2.42,17.90,0.504,6,0.000,0.033,3437,2524,1120
$STATE,8995,end climb,SURFACE_DEPTH_REACHED
$STATE,8995,begin surface coast
$FINISH,-0.0,1.023226
$STATE,9046,end surface coast,CONTROL_FINISHED_OK
$STATE,9047,begin surface
$SM_CCo,9070,4.45,0.374,0,0,1101,450.13
$SM_GC,0.76,0.00,0.00,4.45,0.000,0.000,0.374,129,2525,1101,-13.67,-0.74,450.13
$IRIDIUM_FIX,2148.09,-15928.27,251098,151544
$TT8_MAMPS,0.079768
$HUMID,1861
$INTERNAL_PRESSURE,11.3579
$TCM_TEMP,23.60
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.8,13.880
$10V_AH,10.0,4.199
$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,33.625,92.400,870.875,4.450,0.000,27.455,24.868,294.010,0.000,0.000,62.205,35.666,1602.111,4723.028,840.139,1547.801,867.619,33.348,1756.207,0.000,1475.477,0.000,0.000,0.000
$DEVICE_MAMPS,184.080,76.700,770.068,373.529,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,564.104,0.000,0.000,0.000,0.000,0.000,130.118,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,28361,851
$CAP_FILE_SIZE,310010,0
$CFSIZE,260034560,253550592
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310709,203226,2152.736,-15941.340,38,3.2,57,9.8