version: 66.04
glider: 116
mission: 22
dive: 46
start: 8 2 109 0 58 11
data:
$ID,116
$MISSION,22
$DIVE,46
$D_SURF,4
$D_FLARE,3
$D_TGT,270
$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,90
$T_MISSION,120
$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,45
$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,400
$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,-58392.898
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,132
$PITCH_MAX,3449
$C_PITCH,3095
$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,2628
$C_ROLL_CLIMB,2530
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,49
$R_STBD_OVSHOOT,24
$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
$GPS1,004707,2153.470,-15944.641,36,1.0,37,9.8
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-66.3
$GPS2,005714,2153.561,-15944.857,13,1.0,13,9.8
$SPEED_LIMITS,0.100,0.324
$TGT_NAME,TA
$TGT_LATLONG,2155.000,-15943.400
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.318,0.066
$KALMAN_X,-67869.5,-1456.6,75.3,64290.9,-1073.8
$KALMAN_Y,12813.9,260.1,113.9,-17821.1,330.4
$MHEAD_RNG_PITCHd_Wd,68.5,3655,-13.1,-10.000
$D_GRID,270
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.39,-243.3,0.0,0.0,0,93,0.00,0.00,-74.15,0.000,2,0.000,0.000,124,2633,3199
$GC,95,-1.39,-243.3,3.0,-7.0,11,132,15.75,2.28,-11.77,0.000,4,0.176,0.071,2787,3884,3932
$GC,194,-1.39,-243.3,27.3,-18.5,24,198,0.00,2.10,0.00,0.000,6,0.000,0.028,2787,2621,3931
$GC,398,-1.39,-243.3,62.1,-15.5,43,402,0.00,2.33,0.00,0.000,4,0.000,0.062,2787,3892,3932
$GC,450,-1.39,-243.3,70.1,-15.6,47,453,0.00,2.10,0.00,0.000,6,0.000,0.028,2787,2620,3932
$GC,780,-1.39,-243.3,117.9,-13.9,78,784,0.00,2.33,0.00,0.000,4,0.000,0.066,2787,3893,3932
$GC,823,-1.39,-243.3,124.5,-14.2,81,831,0.00,2.12,0.00,0.000,6,0.000,0.028,2787,2626,3932
$GC,1149,-1.39,-243.3,163.9,-11.4,112,1153,0.00,2.33,0.00,0.000,4,0.000,0.066,2788,3891,3932
$GC,1192,-1.39,-243.3,169.5,-12.3,115,1200,0.00,2.12,0.00,0.000,6,0.000,0.028,2787,2630,3932
$GC,1518,-1.39,-243.3,203.6,-9.5,146,1519,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2629,3932
$GC,1836,-1.39,-243.3,238.4,-11.1,176,1840,0.00,2.33,0.00,0.000,4,0.000,0.070,2787,3884,3932
$GC,1924,-1.39,-243.3,248.6,-11.2,183,1932,0.00,2.12,0.00,0.000,6,0.000,0.031,2787,2641,3932
$STATE,2132,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2132,begin apogee
$GC,2136,-0.42,0.0,270.1,9.4,203,2446,0.98,0.00,300.88,0.629,6,0.071,0.000,3001,2530,2936
$STATE,2447,end apogee,CONTROL_FINISHED_OK
$STATE,2447,begin climb
$GC,2449,1.39,243.3,284.4,0.0,234,2762,1.77,2.53,300.95,0.618,4,0.048,0.046,3398,1141,1944
$GC,2963,1.45,293.1,254.0,8.6,278,3034,0.00,2.45,63.42,0.609,6,0.000,0.038,3398,2531,1741
$GC,3359,1.51,345.3,220.5,8.5,315,3433,0.12,2.62,66.82,0.614,4,0.052,0.068,3438,3891,1528
$GC,3491,1.51,345.3,205.8,12.2,326,3496,0.00,2.35,0.00,0.000,6,0.000,0.035,3438,2529,1525
$GC,3816,1.51,345.3,166.4,12.4,356,3820,0.00,2.53,0.00,0.000,4,0.000,0.065,3437,3890,1522
$GC,3858,1.51,345.3,160.7,12.5,359,3866,0.00,2.35,0.00,0.000,6,0.000,0.033,3438,2532,1521
$GC,4185,1.51,345.3,122.9,10.7,390,4189,0.00,2.50,0.00,0.000,4,0.000,0.063,3437,3890,1520
$GC,4251,1.51,345.3,114.0,13.7,395,4259,0.00,2.35,0.00,0.000,6,0.000,0.032,3438,2525,1519
$GC,4576,1.51,345.3,78.2,11.2,426,4580,0.00,2.50,0.00,0.000,4,0.000,0.061,3437,3895,1518
$GC,4634,1.51,345.3,71.7,10.5,431,4638,0.00,2.33,0.00,0.000,6,0.000,0.031,3437,2515,1518
$GC,4958,1.52,354.7,41.2,9.7,461,4970,0.00,0.00,9.95,0.502,6,0.000,0.000,3437,2513,1490
$GC,5160,1.60,419.0,21.6,8.2,480,5246,0.00,2.55,77.20,0.524,4,0.000,0.058,3437,3891,1228
$GC,5297,1.60,419.0,6.8,10.9,500,5304,0.00,2.30,0.00,0.000,6,0.000,0.028,3438,2525,1226
$STATE,5321,end climb,SURFACE_DEPTH_REACHED
$STATE,5321,begin surface coast
$FINISH,0.7,1.022921
$STATE,5354,end surface coast,CONTROL_FINISHED_OK
$STATE,5355,begin surface
$SM_CCo,5439,0.00,0.000,0,0,1222,420.44
$SM_GC,0.98,14.73,0.00,0.00,0.045,0.000,0.000,124,2638,1222,-13.59,0.28,420.44
$IRIDIUM_FIX,2143.45,-15943.76,261098,232327
$TT8_MAMPS,0.055224
$HUMID,1858
$INTERNAL_PRESSURE,11.4653
$TCM_TEMP,24.10
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.8,16.551
$10V_AH,10.1,5.230
$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,33.350,51.850,819.225,0.000,0.000,24.879,31.075,407.116,0.000,0.000,56.910,13.297,926.340,2602.908,756.269,962.193,805.925,33.345,1392.156,0.000,916.505,0.000,0.000,0.000
$DEVICE_MAMPS,175.643,71.331,628.940,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,331.423,0.000,0.000,0.000,0.000,0.000,77.107,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,15861,510
$CAP_FILE_SIZE,192665,0
$CFSIZE,260034560,252149760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020809,022932,2154.027,-15944.643,9,1.5,10,9.8