version: 66.04
glider: 116
mission: 22
dive: 6
start: 7 29 109 4 36 18
data:
$ID,116
$MISSION,22
$DIVE,6
$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,-57609.156
$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,51
$R_STBD_OVSHOOT,23
$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
$GPS1,042730,2155.450,-15942.295,39,1.3,39,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-71.9
$GPS2,043526,2155.482,-15942.378,15,1.7,15,9.8
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,T1
$TGT_LATLONG,2153.300,-15946.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.202,-0.164
$KALMAN_X,-475.6,-27.8,64.3,-259.9,-312.8
$KALMAN_Y,1287.0,718.4,136.5,-3214.8,-84.2
$MHEAD_RNG_PITCHd_Wd,221.2,7421,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.64,-146.0,0.0,0.0,0,87,0.00,0.00,-67.30,0.000,2,0.000,0.000,133,2481,3519
$GC,89,-1.64,-146.0,4.5,-10.4,10,112,15.73,2.42,-0.20,0.000,4,0.180,0.047,2759,1083,3535
$GC,334,-1.64,-146.0,53.9,-15.1,34,338,0.00,2.40,0.00,0.000,6,0.000,0.032,2759,2482,3540
$GC,659,-1.64,-146.0,93.7,-10.9,64,664,0.00,2.55,0.00,0.000,4,0.000,0.064,2759,3881,3541
$GC,734,-1.64,-146.0,102.8,-12.4,70,738,0.00,2.35,0.00,0.000,6,0.000,0.028,2759,2465,3541
$GC,1058,-1.64,-146.0,138.3,-10.9,100,1062,0.00,2.58,0.00,0.000,4,0.000,0.063,2759,3873,3542
$GC,1123,-1.64,-146.0,146.7,-12.2,105,1131,0.00,2.42,0.00,0.000,6,0.000,0.028,2759,2478,3542
$STATE,1436,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1436,begin apogee
$GC,1441,-0.42,0.0,180.3,10.4,135,1630,1.27,0.00,180.60,0.571,6,0.077,0.000,3029,2478,2936
$STATE,1632,end apogee,CONTROL_FINISHED_OK
$STATE,1632,begin climb
$GC,1634,1.64,146.0,186.4,0.0,154,1825,1.85,2.42,178.43,0.558,4,0.044,0.042,3452,1106,2340
$GC,1920,1.64,146.0,170.4,11.0,178,1928,0.00,2.45,0.00,0.000,6,0.000,0.035,3453,2493,2338
$GC,2247,1.76,248.9,152.5,5.3,209,2377,0.00,0.00,125.15,0.555,6,0.000,0.000,3451,2493,1921
$GC,2694,1.76,248.9,111.7,12.7,252,2696,0.00,0.00,0.00,0.000,6,0.000,0.000,3451,2493,1917
$GC,3014,1.78,261.5,77.3,9.4,282,3038,0.00,2.60,15.48,0.509,4,0.000,0.063,3451,3884,1869
$GC,3099,1.80,279.0,69.4,9.2,289,3130,0.00,2.35,22.40,0.518,6,0.000,0.030,3452,2489,1798
$GC,3450,1.85,320.9,38.2,8.1,322,3510,0.00,0.00,51.65,0.518,6,0.000,0.000,3451,2490,1626
$GC,3702,1.89,350.4,16.1,8.6,350,3743,0.00,0.00,33.75,0.494,6,0.000,0.000,3451,2490,1506
$GC,3811,1.90,360.4,6.1,9.5,368,3825,0.00,0.00,10.60,0.446,6,0.000,0.000,3451,2489,1465
$STATE,3830,end climb,SURFACE_DEPTH_REACHED
$STATE,3830,begin surface coast
$FINISH,0.4,1.022889
$STATE,3864,end surface coast,CONTROL_FINISHED_OK
$STATE,3864,begin surface
$SM_CCo,3948,0.00,0.000,0,0,1462,362.06
$SM_GC,1.10,14.75,0.00,0.00,0.042,0.000,0.000,134,2489,1462,-13.69,0.40,362.06
$IRIDIUM_FIX,2145.77,-15942.95,231098,030315
$TT8_MAMPS,0.068263
$HUMID,1892
$INTERNAL_PRESSURE,11.5532
$TCM_TEMP,24.30
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.9,8.170
$10V_AH,10.1,1.958
$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,33.600,24.550,618.050,0.000,0.000,30.507,25.974,291.275,0.000,0.000,648.478,15.834,686.976,1846.001,598.057,693.179,606.532,33.329,1050.751,0.000,661.453,0.000,0.000,0.000
$DEVICE_MAMPS,180.245,63.661,570.648,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,243.116,0.000,0.000,0.000,0.000,0.000,54.572,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,12762,377
$CAP_FILE_SIZE,142047,0
$CFSIZE,260034560,256811008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290709,054307,2155.280,-15942.962,12,1.3,29,9.8