version: 66.04
glider: 116
mission: 22
dive: 16
start: 7 29 109 20 50 57
data:
$ID,116
$MISSION,22
$DIVE,16
$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,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,-57827.73
$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,42
$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
$GPS1,204100,2152.054,-15944.980,44,1.4,50,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-68.1
$GPS2,205006,2152.113,-15945.210,15,1.6,31,9.8
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,T2
$TGT_LATLONG,2150.420,-15941.560
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.228,-0.124
$KALMAN_X,-12057.4,-1359.6,-759.7,8617.5,-968.0
$KALMAN_Y,4666.6,-259.0,-60.6,-11661.3,531.2
$MHEAD_RNG_PITCHd_Wd,108.7,7014,-17.5,-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,-1.64,-146.0,0.0,0.0,0,86,0.00,0.00,-66.80,0.000,2,0.000,0.000,131,2500,3381
$GC,88,-1.64,-146.0,3.9,-8.7,10,112,15.80,2.53,-2.35,0.000,4,0.183,0.048,2755,1074,3535
$GC,157,-1.64,-146.0,24.8,-16.8,19,161,0.00,2.42,0.00,0.000,6,0.000,0.034,2755,2483,3536
$GC,359,-1.64,-146.0,59.2,-17.8,38,363,0.00,2.55,0.00,0.000,4,0.000,0.062,2755,3883,3536
$GC,432,-1.64,-146.0,70.8,-13.8,44,437,0.00,2.38,0.00,0.000,6,0.000,0.027,2755,2459,3537
$GC,756,-1.64,-146.0,114.3,-12.5,74,758,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2457,3538
$GC,1075,-1.64,-146.0,150.9,-10.7,104,1079,0.00,2.60,0.00,0.000,4,0.000,0.067,2756,3874,3540
$GC,1127,-1.64,-146.0,156.0,-9.4,108,1131,0.00,2.33,0.00,0.000,6,0.000,0.028,2756,2479,3540
$GC,1452,-1.64,-146.0,191.8,-11.5,138,1457,0.00,2.58,0.00,0.000,4,0.000,0.067,2755,3873,3540
$GC,1508,-1.64,-146.0,199.0,-13.2,142,1515,0.00,2.35,0.00,0.000,6,0.000,0.028,2755,2475,3540
$GC,1833,-1.64,-146.0,234.6,-9.8,173,1837,0.00,2.60,0.00,0.000,4,0.000,0.068,2756,3876,3540
$STATE,1882,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1882,begin apogee
$GC,1889,-0.42,0.0,240.1,10.9,177,2077,1.27,0.00,181.93,0.612,6,0.080,0.000,3027,2500,2936
$STATE,2079,end apogee,CONTROL_FINISHED_OK
$STATE,2079,begin climb
$GC,2081,1.64,146.0,247.9,0.0,196,2273,1.88,2.50,181.02,0.601,4,0.043,0.045,3453,1100,2340
$GC,2465,1.68,182.9,223.2,8.3,229,2517,0.00,2.47,46.05,0.588,6,0.000,0.038,3453,2508,2190
$GC,2843,1.70,194.8,191.8,9.4,264,2867,0.00,2.62,15.32,0.563,4,0.000,0.069,3452,3884,2140
$GC,2928,1.70,194.8,183.2,10.0,271,2936,0.00,2.40,0.00,0.000,6,0.000,0.032,3453,2480,2140
$GC,3254,1.73,221.0,153.9,8.8,302,3291,0.00,2.50,32.22,0.589,4,0.000,0.043,3453,1105,2034
$GC,3475,1.77,253.2,134.3,8.5,321,3520,0.00,2.47,39.53,0.584,6,0.000,0.035,3453,2521,1903
$GC,3836,1.78,262.5,102.8,9.6,355,3853,0.00,2.55,11.88,0.535,4,0.000,0.064,3452,3894,1865
$GC,3947,1.79,272.1,92.1,9.6,364,3968,0.00,2.40,13.50,0.537,6,0.000,0.030,3452,2494,1825
$GC,4285,1.88,338.6,65.9,6.9,396,4376,0.00,2.45,81.70,0.553,4,0.000,0.040,3452,1110,1555
$GC,4404,1.88,338.6,55.1,10.8,406,4411,0.00,2.42,0.00,0.000,6,0.000,0.033,3452,2502,1554
$GC,4728,1.88,338.6,22.2,10.2,437,4732,0.00,2.50,0.00,0.000,4,0.000,0.060,3453,3889,1551
$GC,4795,1.88,338.6,14.8,11.6,447,4802,0.00,2.33,0.00,0.000,6,0.000,0.028,3453,2500,1550
$GC,4870,1.88,338.6,7.2,10.1,460,4877,0.00,0.00,0.00,0.000,6,0.000,0.000,3452,2498,1550
$STATE,4905,end climb,SURFACE_DEPTH_REACHED
$STATE,4905,begin surface coast
$FINISH,0.2,1.011048
$STATE,4945,end surface coast,CONTROL_FINISHED_OK
$STATE,4945,begin surface
$SM_CCo,5028,0.00,0.000,0,0,1545,341.21
$SM_GC,1.21,14.65,0.00,0.00,0.043,0.000,0.000,130,2498,1545,-13.70,0.62,341.21
$IRIDIUM_FIX,2143.45,-15945.93,231098,191941
$TT8_MAMPS,0.055991
$HUMID,1871
$INTERNAL_PRESSURE,11.5141
$TCM_TEMP,24.20
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.9,10.336
$10V_AH,10.1,2.622
$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,33.600,54.325,603.150,0.000,0.000,30.247,28.757,342.699,0.000,0.000,152.986,31.760,902.300,2448.771,584.005,930.689,712.024,33.347,1151.177,0.000,871.227,0.000,0.000,0.000
$DEVICE_MAMPS,183.313,69.030,612.066,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,308.880,0.000,0.000,0.000,0.000,0.000,93.763,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,15877,473
$CAP_FILE_SIZE,180591,0
$CFSIZE,260034560,255799296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290709,221526,2152.017,-15945.506,8,1.3,9,9.8