version: 66.04
glider: 116
mission: 22
dive: 23
start: 7 30 109 9 14 49
data:
$ID,116
$MISSION,22
$DIVE,23
$D_SURF,4
$D_FLARE,3
$D_TGT,450
$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,150
$T_MISSION,175
$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,350
$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,-57967.449
$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,40
$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
$GPS1,090522,2151.293,-15945.969,11,3.3,30,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-68.1
$GPS2,091358,2151.314,-15946.092,15,3.4,34,9.8
$SPEED_LIMITS,0.173,0.324
$TGT_NAME,T2
$TGT_LATLONG,2150.420,-15941.560
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.324,-0.021
$KALMAN_X,-25040.0,21.6,-439.6,18366.4,-1209.0
$KALMAN_Y,5696.2,270.7,-129.2,-14619.6,-175.8
$MHEAD_RNG_PITCHd_Wd,83.9,7966,-13.1,-10.000
$D_GRID,450
$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,-243.3,0.0,0.0,0,93,0.00,0.00,-73.75,0.000,2,0.000,0.000,131,2492,3349
$GC,96,-1.39,-243.3,3.3,-7.5,11,125,16.25,0.00,-8.75,0.000,6,0.185,0.000,2810,2492,3929
$GC,196,-1.39,-243.3,29.1,-15.8,23,197,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2492,3930
$GC,386,-1.39,-243.3,59.1,-15.1,41,390,0.00,2.53,0.00,0.000,4,0.000,0.061,2811,3876,3931
$GC,452,-1.39,-243.3,68.2,-14.2,46,459,0.00,2.38,0.00,0.000,6,0.000,0.028,2810,2458,3932
$GC,778,-1.39,-243.3,106.8,-11.5,77,782,0.00,2.60,0.00,0.000,4,0.000,0.064,2811,3875,3935
$GC,897,-1.39,-243.3,120.9,-10.9,87,901,0.00,2.35,0.00,0.000,6,0.000,0.028,2811,2467,3935
$GC,1221,-1.39,-243.3,155.9,-11.4,117,1225,0.00,2.60,0.00,0.000,4,0.000,0.064,2811,3880,3935
$GC,1327,-1.39,-243.3,168.3,-11.0,126,1332,0.00,2.35,0.00,0.000,6,0.000,0.029,2812,2478,3935
$GC,1652,-1.39,-243.3,200.7,-9.2,156,1657,0.00,2.58,0.00,0.000,4,0.000,0.067,2810,3876,3935
$GC,1808,-1.39,-243.3,215.5,-9.2,169,1816,0.00,2.35,0.00,0.000,6,0.000,0.031,2811,2480,3935
$GC,2133,-1.39,-243.3,243.3,-8.1,200,2138,0.00,2.60,0.00,0.000,4,0.000,0.070,2811,3882,3935
$GC,2233,-1.39,-243.3,252.2,-9.3,208,2241,0.00,2.40,0.00,0.000,6,0.000,0.032,2810,2470,3935
$GC,2559,-1.39,-243.3,278.1,-7.7,239,2563,0.00,2.62,0.00,0.000,4,0.000,0.071,2811,3882,3935
$GC,2636,-1.39,-243.3,284.5,-7.9,245,2643,0.00,2.40,0.00,0.000,6,0.000,0.034,2811,2474,3935
$GC,2962,-1.39,-243.3,310.2,-7.7,276,2966,0.00,2.62,0.00,0.000,4,0.000,0.072,2810,3881,3935
$GC,3058,-1.39,-243.3,318.4,-8.3,284,3062,0.00,2.40,0.00,0.000,6,0.000,0.035,2810,2475,3932
$GC,3382,-1.39,-243.3,344.3,-7.8,314,3387,0.00,2.62,0.00,0.000,4,0.000,0.074,2811,3876,3930
$GC,3449,-1.39,-243.3,349.7,-8.4,319,3456,0.00,2.42,0.00,0.000,6,0.000,0.036,2811,2467,3929
$GC,3774,-1.39,-243.3,375.5,-7.8,350,3778,0.00,2.65,0.00,0.000,4,0.000,0.076,2811,3876,3927
$GC,3936,-1.39,-243.3,388.0,-7.3,364,3941,0.00,2.42,0.00,0.000,6,0.000,0.038,2811,2474,3925
$GC,4261,-1.39,-243.3,412.0,-7.4,394,4265,0.00,2.65,0.00,0.000,4,0.000,0.078,2811,3876,3923
$GC,4412,-1.39,-243.3,423.8,-7.5,407,4416,0.00,2.45,0.00,0.000,6,0.000,0.038,2811,2465,3922
$GC,4737,-1.39,-243.3,445.8,-6.6,437,4741,0.00,2.67,0.00,0.000,4,0.000,0.079,2810,3874,3920
$STATE,4798,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4798,begin apogee
$GC,4805,-0.42,0.0,450.1,7.9,442,5115,1.00,0.00,304.00,0.785,6,0.076,0.000,3026,2494,2936
$STATE,5116,end apogee,CONTROL_FINISHED_OK
$STATE,5116,begin climb
$GC,5118,1.39,243.3,462.9,0.0,473,5442,1.77,2.72,312.45,0.746,4,0.048,0.078,3420,3888,1944
$GC,5537,1.39,243.3,429.6,12.6,509,5545,0.00,2.47,0.00,0.000,6,0.000,0.040,3421,2496,1939
$GC,5863,1.39,243.3,394.4,10.6,540,5864,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2496,1938
$GC,6181,1.39,243.3,360.5,10.7,570,6185,0.00,2.62,0.00,0.000,4,0.000,0.077,3420,3885,1936
$GC,6253,1.39,243.3,352.4,10.8,576,6258,0.00,2.45,0.00,0.000,6,0.000,0.041,3420,2485,1935
$GC,6583,1.39,243.3,317.3,10.1,607,6588,0.00,2.65,0.00,0.000,4,0.000,0.074,3420,3885,1933
$GC,6627,1.39,243.3,312.2,12.1,610,6635,0.00,2.45,0.00,0.000,6,0.000,0.039,3421,2503,1933
$GC,6953,1.39,244.2,280.8,10.0,641,6957,0.00,2.60,0.00,0.000,4,0.000,0.073,3421,3888,1933
$GC,6990,1.39,244.2,276.5,10.8,644,6998,0.00,2.45,0.00,0.000,6,0.000,0.039,3421,2500,1933
$GC,7316,1.39,244.2,243.4,10.5,675,7317,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2500,1932
$GC,7634,1.39,244.2,210.1,10.8,705,7639,0.00,2.60,0.00,0.000,4,0.000,0.070,3420,3890,1931
$GC,7779,1.39,244.2,193.5,11.9,717,7787,0.00,2.42,0.00,0.000,6,0.000,0.035,3421,2500,1931
$GC,8105,1.45,292.2,163.6,8.7,748,8171,0.00,0.00,59.33,0.678,6,0.000,0.000,3421,2499,1744
$GC,8488,1.45,296.9,127.2,9.9,784,8499,0.00,0.00,6.15,0.529,6,0.000,0.000,3420,2499,1725
$GC,8816,1.49,323.4,96.2,9.3,815,8858,0.10,2.62,35.17,0.612,4,0.056,0.063,3451,3895,1617
$GC,8951,1.49,323.4,80.1,12.5,826,8959,0.00,2.42,0.00,0.000,6,0.000,0.031,3452,2495,1615
$GC,9277,1.59,408.4,48.4,7.6,857,9395,0.00,2.53,105.97,0.563,4,0.000,0.040,3451,1102,1271
$GC,9452,1.59,408.4,31.7,11.2,872,9456,0.00,2.45,0.00,0.000,6,0.000,0.034,3452,2504,1269
$GC,9654,1.63,442.7,10.0,9.0,898,9697,0.00,2.58,34.70,0.516,4,0.000,0.060,3451,3888,1131
$STATE,9707,end climb,SURFACE_DEPTH_REACHED
$STATE,9707,begin surface coast
$FINISH,-0.1,1.022994
$STATE,9735,end surface coast,CONTROL_FINISHED_OK
$STATE,9736,begin surface
$SM_CCo,9822,0.00,0.000,0,0,1127,443.75
$SM_GC,1.01,14.65,0.00,0.00,0.038,0.000,0.000,133,2466,1127,-13.70,-0.25,443.75
$IRIDIUM_FIX,2145.77,-15945.93,241098,060607
$TT8_MAMPS,0.055991
$HUMID,1861
$INTERNAL_PRESSURE,11.3969
$TCM_TEMP,23.90
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.8,11.560
$10V_AH,10.0,3.102
$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,33.775,95.650,857.775,0.000,0.000,22.179,30.539,304.238,0.000,0.000,66.880,34.902,1725.526,5156.517,836.019,1710.482,899.244,33.351,1811.245,0.000,1634.172,0.000,0.000,0.000
$DEVICE_MAMPS,184.847,79.001,784.641,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,604.944,0.000,0.000,0.000,0.000,0.000,139.794,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,28403,911
$CAP_FILE_SIZE,328427,0
$CFSIZE,260034560,254984192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300709,115937,2151.047,-15945.584,33,1.0,33,9.8