version: 66.04
glider: 116
mission: 22
dive: 18
start: 7 30 109 0 8 28
data:
$ID,116
$MISSION,22
$DIVE,18
$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,-57879.098
$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,50
$R_STBD_OVSHOOT,21
$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
$GPS1,235456,2151.968,-15945.803,33,1.8,34,9.8
$_CALLS,2
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-69.6
$GPS2,000737,2152.042,-15945.951,31,1.1,31,9.8
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,T2
$TGT_LATLONG,2150.420,-15941.560
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.216,-0.145
$KALMAN_X,-15822.9,-1125.8,-536.8,10648.6,-343.4
$KALMAN_Y,5261.3,141.1,132.0,-12973.0,417.9
$MHEAD_RNG_PITCHd_Wd,114.0,8125,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.64,-146.0,0.0,0.0,0,82,0.00,0.00,-61.90,0.000,2,0.000,0.000,129,2494,3293
$GC,84,-1.64,-146.0,3.3,-7.0,9,113,15.85,2.55,-3.85,0.000,4,0.183,0.068,2757,3873,3534
$GC,366,-1.64,-146.0,66.0,-20.0,37,374,0.00,2.35,0.00,0.000,6,0.000,0.027,2757,2482,3535
$GC,692,-1.64,-146.0,110.5,-11.7,68,696,0.00,2.58,0.00,0.000,4,0.000,0.064,2757,3877,3537
$GC,833,-1.64,-146.0,128.7,-13.8,80,837,0.00,2.35,0.00,0.000,6,0.000,0.027,2757,2463,3538
$GC,1157,-1.64,-146.0,166.9,-11.7,110,1162,0.00,2.60,0.00,0.000,4,0.000,0.064,2757,3881,3538
$GC,1246,-1.64,-146.0,178.0,-12.5,117,1254,0.00,2.38,0.00,0.000,6,0.000,0.028,2757,2479,3538
$GC,1571,-1.64,-146.0,211.5,-10.1,148,1575,0.00,2.40,0.00,0.000,4,0.000,0.039,2757,1082,3538
$GC,1632,-1.64,-146.0,217.7,-10.0,153,1639,0.00,2.42,0.00,0.000,6,0.000,0.035,2757,2483,3538
$STATE,1904,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1904,begin apogee
$GC,1908,-0.42,0.0,240.9,8.3,179,2097,1.25,0.00,182.80,0.604,6,0.076,0.000,3026,2483,2936
$STATE,2099,end apogee,CONTROL_FINISHED_OK
$STATE,2099,begin climb
$GC,2101,1.64,146.0,245.7,0.0,198,2292,1.88,2.53,181.90,0.594,4,0.044,0.041,3452,1104,2340
$GC,2489,1.68,183.7,222.3,8.3,231,2546,0.00,2.45,46.97,0.581,6,0.000,0.036,3452,2502,2187
$GC,2862,1.74,230.6,190.4,7.8,266,2927,0.00,2.47,58.20,0.584,4,0.000,0.041,3452,1109,1995
$GC,3084,1.74,230.6,168.2,11.1,285,3089,0.00,2.45,0.00,0.000,6,0.000,0.037,3452,2509,1992
$GC,3409,1.74,230.6,134.3,10.6,315,3413,0.00,2.55,0.00,0.000,4,0.000,0.067,3452,3890,1990
$GC,3504,1.74,230.6,122.9,12.0,323,3508,0.00,2.35,0.00,0.000,6,0.000,0.030,3452,2497,1989
$GC,3829,1.78,258.4,92.2,8.7,353,3872,0.00,2.65,32.53,0.554,4,0.000,0.061,3452,3888,1882
$GC,3888,1.81,285.4,86.5,8.8,358,3931,0.00,2.35,34.17,0.543,6,0.000,0.029,3452,2496,1772
$GC,4250,1.86,329.2,52.0,8.0,392,4311,0.00,2.60,54.20,0.528,4,0.000,0.059,3452,3891,1594
$GC,4417,1.89,348.8,37.5,9.1,406,4449,0.00,2.35,25.17,0.504,6,0.000,0.028,3452,2497,1514
$GC,4640,1.89,350.1,16.6,9.9,430,4646,0.00,0.00,0.00,0.000,6,0.000,0.000,3452,2496,1512
$GC,4715,1.89,350.1,9.1,10.7,443,4721,0.00,0.00,0.00,0.000,6,0.000,0.000,3452,2496,1512
$STATE,4765,end climb,SURFACE_DEPTH_REACHED
$STATE,4765,begin surface coast
$FINISH,0.4,1.022933
$STATE,4805,end surface coast,CONTROL_FINISHED_OK
$STATE,4805,begin surface
$SM_CCo,4888,0.00,0.000,0,0,1506,350.78
$SM_GC,1.05,14.68,0.00,0.00,0.043,0.000,0.000,126,2496,1506,-13.71,0.59,350.78
$IRIDIUM_FIX,2143.45,-15933.43,241098,000043
$TT8_MAMPS,0.067496
$HUMID,1845
$INTERNAL_PRESSURE,11.5239
$TCM_TEMP,24.30
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.9,10.725
$10V_AH,10.1,2.749
$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,33.650,44.375,615.950,0.000,0.000,48.022,61.492,458.656,0.000,0.000,251.991,31.744,874.953,2352.221,593.231,946.133,885.503,33.347,1162.719,0.000,885.133,0.000,0.000,0.000
$DEVICE_MAMPS,182.546,68.263,604.396,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,298.793,0.000,0.000,0.000,0.000,0.000,89.943,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,12724,459
$CAP_FILE_SIZE,179496,0
$CFSIZE,260034560,255594496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300709,013043,2151.860,-15946.014,9,1.4,15,9.8