version: 66.04
glider: 116
mission: 22
dive: 13
start: 7 29 109 15 51 54
data:
$ID,116
$MISSION,22
$DIVE,13
$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,531.31976
$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,-57766.449
$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,44
$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
$GPS1,153837,2152.035,-15943.417,8,1.6,14,9.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-64.8
$GPS2,155102,2152.023,-15943.628,14,1.3,14,9.8
$SPEED_LIMITS,0.173,0.324
$TGT_NAME,T2
$TGT_LATLONG,2150.420,-15941.560
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.304,-0.112
$KALMAN_X,-6399.9,-960.3,-183.0,4704.5,-756.6
$KALMAN_Y,3362.4,-362.8,202.1,-10673.4,-53.9
$MHEAD_RNG_PITCHd_Wd,100.4,4632,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.39,-243.3,0.0,0.0,0,114,0.00,0.00,-93.10,0.000,2,0.000,0.000,130,2508,3349
$GC,116,-1.39,-243.3,3.3,-7.1,14,147,16.12,2.53,-8.75,0.000,4,0.183,0.045,2812,1077,3930
$GC,197,-1.39,-243.3,26.3,-15.8,23,205,0.00,2.45,0.00,0.000,6,0.000,0.033,2812,2476,3931
$GC,395,-1.39,-243.3,52.5,-11.4,42,399,0.00,2.55,0.00,0.000,4,0.000,0.062,2812,3880,3932
$GC,459,-1.39,-243.3,60.2,-12.7,47,463,0.00,2.35,0.00,0.000,6,0.000,0.028,2812,2472,3933
$GC,784,-1.39,-243.3,97.1,-11.1,77,788,0.00,2.58,0.00,0.000,4,0.000,0.064,2812,3878,3935
$GC,879,-1.39,-243.3,107.1,-9.5,85,884,0.00,2.35,0.00,0.000,6,0.000,0.027,2812,2462,3935
$GC,1204,-1.39,-243.3,139.2,-10.1,115,1208,0.00,2.60,0.00,0.000,4,0.000,0.064,2812,3881,3936
$GC,1267,-1.39,-243.3,145.8,-10.6,120,1271,0.00,2.35,0.00,0.000,6,0.000,0.028,2812,2472,3935
$GC,1591,-1.39,-243.3,179.0,-10.0,150,1592,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2472,3935
$GC,1909,-1.39,-243.3,210.2,-10.1,180,1914,0.00,2.60,0.00,0.000,4,0.000,0.068,2812,3880,3935
$GC,2030,-1.39,-243.3,222.0,-10.4,190,2034,0.00,2.38,0.00,0.000,6,0.000,0.029,2811,2467,3935
$STATE,2238,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2238,begin apogee
$GC,2243,-0.42,0.0,240.1,8.2,209,2552,0.98,0.00,300.45,0.611,6,0.069,0.000,3029,2507,2936
$STATE,2553,end apogee,CONTROL_FINISHED_OK
$STATE,2553,begin climb
$GC,2555,1.39,243.3,255.4,0.0,240,2868,1.75,2.53,301.70,0.597,4,0.044,0.044,3425,1105,1944
$GC,2956,1.39,243.3,232.6,10.6,274,2964,0.00,2.47,0.00,0.000,6,0.000,0.037,3425,2492,1942
$GC,3283,1.40,254.5,198.5,9.7,305,3307,0.00,2.65,14.15,0.549,4,0.000,0.068,3424,3886,1898
$GC,3432,1.40,254.5,183.0,10.2,318,3436,0.00,2.38,0.00,0.000,6,0.000,0.031,3425,2487,1896
$GC,3756,1.46,299.4,154.6,8.8,348,3816,0.00,0.00,56.20,0.586,6,0.000,0.000,3424,2486,1715
$GC,4130,1.46,301.1,120.3,10.0,383,4131,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,2486,1711
$GC,4450,1.50,332.6,90.3,9.1,413,4498,0.00,2.55,40.95,0.558,4,0.000,0.061,3425,3888,1580
$GC,4557,1.50,332.6,79.9,10.1,422,4562,0.00,2.35,0.00,0.000,6,0.000,0.030,3425,2500,1579
$GC,4882,1.53,363.1,52.5,9.2,452,4924,0.12,0.00,38.40,0.532,6,0.048,0.000,3464,2498,1455
$GC,5113,1.53,363.1,26.4,11.5,474,5114,0.00,0.00,0.00,0.000,6,0.000,0.000,3464,2498,1453
$GC,5310,1.53,363.1,5.0,11.2,504,5316,0.00,0.00,0.00,0.000,6,0.000,0.000,3464,2498,1452
$STATE,5320,end climb,SURFACE_DEPTH_REACHED
$STATE,5321,begin surface coast
$FINISH,0.3,1.015836
$STATE,5361,end surface coast,CONTROL_FINISHED_OK
$STATE,5361,begin surface
$SM_CCo,5384,78.55,0.495,0,0,769,531.32
$SM_GC,0.85,0.00,0.00,78.55,0.000,0.000,0.495,132,2497,769,-13.74,0.62,531.32
$IRIDIUM_FIX,2145.77,-15940.77,231098,151545
$TT8_MAMPS,0.071331
$HUMID,1855
$INTERNAL_PRESSURE,11.4458
$TCM_TEMP,24.00
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.9,9.795
$10V_AH,10.1,2.432
$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,33.475,39.725,751.850,78.550,0.000,131.504,375.791,0.000,0.000,0.000,40.316,14.187,943.344,2708.376,792.370,938.526,832.641,33.330,1395.546,0.000,904.329,0.000,0.000,0.000
$DEVICE_MAMPS,182.546,82.069,610.532,494.715,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,333.647,0.000,0.000,0.000,0.000,0.000,79.950,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,15841,513
$CAP_FILE_SIZE,185270,0
$CFSIZE,260034560,255987712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290709,172404,2151.781,-15943.767,12,2.1,32,9.8