version: 66.04
glider: 116
mission: 22
dive: 9
start: 7 29 109 9 10 23
data:
$ID,116
$MISSION,22
$DIVE,9
$D_SURF,4
$D_FLARE,3
$D_TGT,240
$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,80
$T_MISSION,90
$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,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,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,-57689.262
$T_RSLEEP,3
$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,47
$R_STBD_OVSHOOT,22
$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
$GPS1,090055,2154.028,-15943.132,11,1.7,29,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-69.0
$GPS2,090931,2154.033,-15943.211,14,1.7,31,9.8
$SPEED_LIMITS,0.173,0.324
$TGT_NAME,T2
$TGT_LATLONG,2150.420,-15941.560
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.174,-0.274
$KALMAN_X,-2174.4,13.0,-403.6,438.3,-320.5
$KALMAN_Y,2473.3,369.7,-137.9,-6455.4,101.3
$MHEAD_RNG_PITCHd_Wd,137.9,7269,-13.1,-10.000
$D_GRID,240
$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,-243.3,0.0,0.0,0,86,0.00,0.00,-67.10,0.000,2,0.000,0.000,133,2526,3262
$GC,88,-1.39,-243.3,3.3,-7.2,10,123,16.05,0.00,-11.75,0.000,6,0.180,0.000,2813,2526,3927
$GC,192,-1.39,-243.3,26.9,-15.2,23,193,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2526,3973
$GC,380,-1.39,-243.3,54.6,-13.9,41,384,0.00,2.45,0.00,0.000,4,0.000,0.061,2813,3876,3971
$GC,420,-1.39,-243.3,60.6,-16.1,44,424,0.00,2.35,0.00,0.000,6,0.000,0.028,2813,2474,3971
$GC,745,-1.39,-243.3,102.1,-11.4,74,749,0.00,2.58,0.00,0.000,4,0.000,0.064,2813,3880,3972
$GC,808,-1.39,-243.3,108.9,-10.6,79,813,0.00,2.35,0.00,0.000,6,0.000,0.028,2813,2468,3972
$GC,1133,-1.39,-243.3,143.7,-10.4,109,1137,0.00,2.60,0.00,0.000,4,0.000,0.065,2813,3881,3972
$GC,1217,-1.39,-243.3,152.1,-10.1,116,1221,0.00,2.35,0.00,0.000,6,0.000,0.028,2813,2477,3972
$GC,1542,-1.39,-243.3,182.2,-9.5,146,1546,0.00,2.58,0.00,0.000,4,0.000,0.067,2813,3873,3970
$GC,1641,-1.39,-243.3,192.5,-9.8,154,1649,0.00,2.35,0.00,0.000,6,0.000,0.029,2813,2474,3971
$GC,1968,-1.39,-243.3,222.3,-8.5,185,1972,0.00,2.60,0.00,0.000,4,0.000,0.069,2813,3876,3975
$GC,2044,-1.39,-243.3,230.0,-9.3,191,2053,0.00,2.40,0.00,0.000,6,0.000,0.031,2812,2478,3973
$STATE,2156,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2156,begin apogee
$GC,2160,-0.42,0.0,240.5,9.6,202,2490,1.00,0.00,318.02,0.617,6,0.065,0.000,3032,2475,2937
$STATE,2492,end apogee,CONTROL_FINISHED_OK
$STATE,2492,begin climb
$GC,2494,1.39,243.3,260.6,0.0,235,2809,1.73,2.75,303.92,0.604,4,0.041,0.071,3424,3888,1944
$GC,2925,1.39,243.3,228.0,11.6,272,2929,0.00,2.40,0.00,0.000,6,0.000,0.033,3425,2497,1941
$GC,3250,1.41,258.3,194.2,9.6,302,3271,0.00,0.00,18.65,0.573,6,0.000,0.000,3425,2495,1884
$GC,3589,1.45,292.9,161.8,9.0,334,3640,0.00,2.65,44.28,0.594,4,0.000,0.067,3425,3880,1741
$GC,3692,1.46,303.8,151.9,9.7,343,3717,0.00,2.38,14.68,0.553,6,0.000,0.033,3425,2482,1697
$GC,4035,1.46,303.8,115.5,11.2,375,4039,0.00,2.60,0.00,0.000,4,0.000,0.065,3424,3888,1694
$GC,4068,1.46,303.8,111.8,10.6,377,4075,0.00,2.38,0.00,0.000,6,0.000,0.031,3425,2492,1693
$GC,4392,1.47,309.2,80.3,9.8,408,4406,0.00,2.60,7.12,0.487,4,0.000,0.062,3425,3894,1675
$GC,4466,1.47,309.2,72.0,11.3,414,4474,0.00,2.40,0.00,0.000,6,0.000,0.030,3424,2494,1674
$GC,4792,1.54,371.1,44.9,8.3,445,4876,0.12,2.60,76.55,0.546,4,0.045,0.060,3462,3889,1423
$GC,4934,1.54,371.1,30.4,11.4,457,4939,0.00,2.35,0.00,0.000,6,0.000,0.029,3463,2497,1422
$GC,5138,1.56,386.2,10.2,9.6,484,5159,0.00,2.47,16.62,0.490,4,0.000,0.039,3464,1111,1361
$STATE,5197,end climb,SURFACE_DEPTH_REACHED
$STATE,5197,begin surface coast
$FINISH,0.1,1.022946
$STATE,5237,end surface coast,CONTROL_FINISHED_OK
$STATE,5237,begin surface
$SM_CCo,5324,0.00,0.000,0,0,1355,387.82
$SM_GC,1.15,14.73,0.00,0.00,0.041,0.000,0.000,129,2487,1355,-13.71,0.34,387.82
$IRIDIUM_FIX,2143.45,-15943.76,231098,070721
$TT8_MAMPS,0.065195
$HUMID,1894
$INTERNAL_PRESSURE,11.4946
$TCM_TEMP,24.10
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.7,9.016
$10V_AH,10.1,2.151
$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,33.625,54.600,799.850,0.000,0.000,24.315,32.991,313.490,0.000,0.000,251.027,31.486,918.912,2523.298,747.405,955.568,697.814,33.338,1362.888,0.000,897.006,0.000,0.000,0.000
$DEVICE_MAMPS,180.245,70.564,617.435,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,325.605,0.000,0.000,0.000,0.000,0.000,118.308,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,15859,501
$CAP_FILE_SIZE,188728,0
$CFSIZE,260034560,256479232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290709,104007,2153.331,-15943.281,27,1.1,28,9.8