version: 66.04
glider: 116
mission: 22
dive: 14
start: 7 29 109 17 37 30
data:
$ID,116
$MISSION,22
$DIVE,14
$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,-57778.367
$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,45
$R_STBD_OVSHOOT,20
$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
$GPS1,172404,2151.781,-15943.767,12,2.1,32,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-66.9
$GPS2,173638,2151.809,-15944.085,10,1.6,10,9.8
$SPEED_LIMITS,0.173,0.324
$TGT_NAME,T2
$TGT_LATLONG,2150.420,-15941.560
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.320,-0.056
$KALMAN_X,-8231.0,-1190.3,-253.4,6054.2,-989.4
$KALMAN_Y,3618.4,-394.1,100.8,-11196.8,-55.8
$MHEAD_RNG_PITCHd_Wd,90.1,5047,-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,-243.3,0.0,0.0,0,114,0.00,0.00,-93.95,0.000,2,0.000,0.000,133,2498,3393
$GC,116,-1.39,-243.3,3.6,-8.4,14,145,16.00,0.00,-7.95,0.000,6,0.179,0.000,2810,2498,3929
$GC,216,-1.39,-243.3,30.0,-17.8,26,217,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2497,3930
$GC,406,-1.39,-243.3,57.3,-12.3,44,410,0.00,2.53,0.00,0.000,4,0.000,0.060,2810,3884,3930
$GC,446,-1.39,-243.3,62.5,-13.1,47,450,0.00,2.38,0.00,0.000,6,0.000,0.027,2810,2460,3930
$GC,771,-1.39,-243.3,100.8,-11.4,77,775,0.00,2.60,0.00,0.000,4,0.000,0.065,2810,3877,3932
$GC,843,-1.39,-243.3,109.2,-11.3,83,847,0.00,2.35,0.00,0.000,6,0.000,0.028,2810,2468,3932
$GC,1168,-1.39,-243.3,145.5,-11.7,113,1172,0.00,2.60,0.00,0.000,4,0.000,0.065,2810,3877,3934
$GC,1286,-1.39,-243.3,158.8,-10.7,123,1290,0.00,2.35,0.00,0.000,6,0.000,0.028,2810,2472,3934
$GC,1611,-1.39,-243.3,190.1,-8.8,153,1612,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2470,3934
$GC,1929,-1.39,-243.3,213.8,-7.6,183,1934,0.00,2.58,0.00,0.000,4,0.000,0.069,2810,3876,3932
$GC,2069,-1.39,-243.3,226.0,-9.0,195,2073,0.00,2.38,0.00,0.000,6,0.000,0.031,2810,2473,3932
$STATE,2233,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2233,begin apogee
$GC,2237,-0.42,0.0,240.3,8.9,210,2547,1.00,0.00,300.35,0.611,6,0.069,0.000,3028,2471,2935
$STATE,2548,end apogee,CONTROL_FINISHED_OK
$STATE,2548,begin climb
$GC,2550,1.39,243.3,256.6,0.0,241,2862,1.75,2.47,300.90,0.597,4,0.044,0.045,3422,1109,1944
$GC,2971,1.40,252.3,228.4,9.7,277,2989,0.00,2.45,12.18,0.533,6,0.000,0.037,3422,2502,1908
$GC,3307,1.40,252.3,193.5,10.4,308,3312,0.00,2.58,0.00,0.000,4,0.000,0.069,3422,3888,1904
$GC,3391,1.40,252.3,184.8,10.5,315,3395,0.00,2.38,0.00,0.000,6,0.000,0.031,3422,2489,1903
$GC,3721,1.40,252.3,153.2,10.9,346,3722,0.00,0.00,0.00,0.000,6,0.000,0.000,3422,2487,1902
$GC,4040,1.40,252.3,120.9,10.2,376,4044,0.00,2.40,0.00,0.000,4,0.000,0.041,3422,1104,1900
$GC,4095,1.40,252.3,115.0,11.0,380,4102,0.00,2.45,0.00,0.000,6,0.000,0.035,3422,2512,1900
$GC,4420,1.44,287.2,82.9,9.0,411,4468,0.00,2.55,41.30,0.565,4,0.000,0.063,3422,3887,1765
$GC,4559,1.44,287.2,68.6,11.7,423,4564,0.00,2.35,0.00,0.000,6,0.000,0.030,3422,2497,1763
$GC,4884,1.56,385.4,40.2,7.3,453,5008,0.12,0.00,120.60,0.531,6,0.046,0.000,3463,2495,1364
$GC,5201,1.56,385.4,8.5,10.8,492,5208,0.00,2.58,0.00,0.000,4,0.000,0.061,3462,3895,1360
$STATE,5242,end climb,SURFACE_DEPTH_REACHED
$STATE,5242,begin surface coast
$FINISH,0.6,1.022929
$STATE,5271,end surface coast,CONTROL_FINISHED_OK
$STATE,5271,begin surface
$SM_CCo,5358,0.00,0.000,0,0,1355,387.82
$SM_GC,1.11,14.93,0.00,0.00,0.048,0.000,0.000,129,2470,1355,-13.72,-0.14,387.82
$IRIDIUM_FIX,2143.45,-15940.77,231098,151559
$TT8_MAMPS,0.071331
$HUMID,1871
$INTERNAL_PRESSURE,11.4848
$TCM_TEMP,24.00
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.6,10.004
$10V_AH,10.0,2.499
$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,33.800,44.400,775.325,0.000,0.000,29.746,27.848,580.388,0.000,0.000,149.953,11.288,915.843,2581.907,727.859,931.596,959.134,33.337,1332.746,0.000,897.347,0.000,0.000,0.000
$DEVICE_MAMPS,179.478,69.030,611.299,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,327.676,0.000,0.000,0.000,0.000,0.000,96.689,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,15842,504
$CAP_FILE_SIZE,193523,0
$CFSIZE,260034560,255983616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290709,190749,2151.820,-15944.479,11,1.7,29,9.8