version: 66.04
glider: 116
mission: 22
dive: 5
start: 7 29 109 3 21 41
data:
$ID,116
$MISSION,22
$DIVE,5
$D_SURF,4
$D_FLARE,3
$D_TGT,180
$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,60
$T_MISSION,75
$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,150
$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,300
$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,-57592.691
$T_RSLEEP,2
$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,41
$R_STBD_OVSHOOT,21
$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
$GPS1,031632,2155.809,-15942.067,12,1.6,12,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-69.3
$GPS2,032050,2155.815,-15942.085,15,1.6,15,9.8
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,T0
$TGT_LATLONG,2154.000,-15942.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.037,-0.257
$KALMAN_X,-38.6,51.4,108.7,-318.1,-92.7
$KALMAN_Y,909.4,623.4,357.9,-2339.6,-61.4
$MHEAD_RNG_PITCHd_Wd,162.0,3364,-17.5,-10.000
$D_GRID,180
$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,17,-1.64,-146.0,0.0,0.0,0,87,0.00,0.00,-67.05,0.000,2,0.000,0.000,134,2473,3485
$GC,90,-1.64,-146.0,3.8,-8.3,10,113,15.77,2.55,-0.75,0.000,4,0.183,0.069,2758,3880,3535
$GC,366,-1.64,-146.0,60.2,-14.6,37,370,0.00,2.35,0.00,0.000,6,0.000,0.028,2758,2467,3536
$GC,692,-1.64,-146.0,102.7,-13.5,67,697,0.00,2.58,0.00,0.000,4,0.000,0.064,2759,3876,3537
$GC,744,-1.64,-146.0,110.2,-14.3,71,748,0.00,2.35,0.00,0.000,6,0.000,0.028,2759,2469,3537
$GC,1068,-1.64,-146.0,147.5,-11.5,101,1073,0.00,2.58,0.00,0.000,4,0.000,0.064,2758,3876,3537
$GC,1108,-1.64,-146.0,152.4,-13.2,104,1112,0.00,2.35,0.00,0.000,6,0.000,0.028,2759,2472,3538
$STATE,1367,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1367,begin apogee
$GC,1372,-0.42,0.0,180.8,10.3,128,1561,1.25,0.00,178.45,0.569,6,0.080,0.000,3026,2506,2936
$STATE,1563,end apogee,CONTROL_FINISHED_OK
$STATE,1563,begin climb
$GC,1565,1.64,146.0,187.3,0.0,147,1755,1.88,2.53,175.05,0.554,4,0.044,0.041,3454,1109,2347
$GC,1914,1.67,173.4,168.5,8.7,177,1961,0.00,2.42,36.45,0.537,6,0.000,0.035,3454,2505,2228
$GC,2278,1.72,213.8,135.4,8.1,211,2332,0.00,0.00,50.22,0.538,6,0.000,0.000,3453,2505,2065
$GC,2651,1.73,219.2,101.9,9.8,246,2664,0.00,2.58,7.82,0.456,4,0.000,0.064,3452,3890,2042
$GC,2713,1.73,219.2,94.9,10.3,251,2722,0.00,2.38,0.00,0.000,6,0.000,0.029,3453,2494,2040
$GC,3039,1.74,227.2,64.2,9.6,282,3055,0.00,2.60,10.07,0.475,4,0.000,0.061,3453,3884,2008
$GC,3096,1.74,229.7,58.4,9.9,287,3108,0.00,2.33,2.05,0.122,6,0.000,0.029,3453,2498,1997
$GC,3425,1.82,290.9,33.4,7.2,318,3508,0.00,2.50,73.12,0.512,4,0.000,0.039,3453,1116,1750
$GC,3637,1.86,328.3,17.3,8.3,339,3687,0.00,2.40,43.08,0.488,6,0.000,0.033,3453,2507,1598
$GC,3756,1.87,332.2,6.3,9.8,358,3770,0.00,2.47,5.15,0.364,4,0.000,0.037,3454,1112,1581
$STATE,3781,end climb,SURFACE_DEPTH_REACHED
$STATE,3782,begin surface coast
$FINISH,2.6,1.022869
$STATE,3792,end surface coast,CONTROL_FINISHED_OK
$STATE,3793,begin surface
$SM_CCo,3878,0.00,0.000,0,0,1576,333.85
$SM_GC,1.25,15.05,0.00,0.00,0.055,0.000,0.000,133,2480,1576,-13.70,0.14,333.85
$IRIDIUM_FIX,2148.09,-15945.13,231098,030328
$TT8_MAMPS,0.069797
$HUMID,1878
$INTERNAL_PRESSURE,11.5825
$TCM_TEMP,24.50
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.6,7.875
$10V_AH,10.1,1.913
$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,33.950,39.400,581.475,0.000,0.000,0.000,0.000,0.000,0.000,0.000,573.271,15.270,680.371,1791.167,564.358,697.708,213.616,33.316,1037.612,0.000,684.519,0.000,0.000,0.000
$DEVICE_MAMPS,183.313,164.905,569.114,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,234.656,0.000,0.000,0.000,0.000,0.000,47.506,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,9598,364
$CAP_FILE_SIZE,153247,0
$CFSIZE,260034560,256872448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290709,042730,2155.450,-15942.295,39,1.3,39,9.8