version: 66.04
glider: 116
mission: 22
dive: 24
start: 7 30 109 12 9 24
data:
$ID,116
$MISSION,22
$DIVE,24
$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,-57981.488
$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,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
$GPS1,115937,2151.047,-15945.584,33,1.0,33,9.8
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-65.4
$GPS2,120832,2151.069,-15945.677,13,1.2,13,9.8
$SPEED_LIMITS,0.173,0.324
$TGT_NAME,T2
$TGT_LATLONG,2150.420,-15941.560
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.324,-0.004
$KALMAN_X,-27674.7,326.8,-261.9,21242.7,-1317.7
$KALMAN_Y,5683.0,-75.5,-35.8,-14810.5,-239.8
$MHEAD_RNG_PITCHd_Wd,80.8,7179,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.39,-243.3,0.0,0.0,0,100,0.00,0.00,-80.55,0.000,2,0.000,0.000,134,2465,3415
$GC,102,-1.39,-243.3,4.2,-10.3,12,131,16.20,0.00,-7.40,0.000,6,0.183,0.000,2811,2466,3931
$GC,201,-1.39,-243.3,32.2,-17.0,23,202,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2465,3932
$GC,392,-1.39,-243.3,60.6,-14.3,41,396,0.00,2.58,0.00,0.000,4,0.000,0.060,2811,3877,3934
$GC,419,-1.39,-243.3,64.3,-13.8,43,424,0.00,2.38,0.00,0.000,6,0.000,0.028,2811,2458,3933
$GC,745,-1.39,-243.3,105.6,-11.4,73,749,0.00,2.62,0.00,0.000,4,0.000,0.064,2811,3884,3935
$GC,851,-1.39,-243.3,119.3,-12.7,82,855,0.00,2.35,0.00,0.000,6,0.000,0.028,2811,2473,3936
$GC,1175,-1.39,-243.3,155.8,-12.1,112,1180,0.00,2.58,0.00,0.000,4,0.000,0.064,2811,3876,3936
$GC,1249,-1.39,-243.3,165.1,-12.8,118,1253,0.00,2.35,0.00,0.000,6,0.000,0.028,2811,2472,3936
$GC,1574,-1.39,-243.3,203.6,-10.4,148,1579,0.00,2.60,0.00,0.000,4,0.000,0.066,2811,3880,3936
$GC,1640,-1.39,-243.3,211.2,-10.6,153,1648,0.00,2.40,0.00,0.000,6,0.000,0.029,2811,2475,3936
$GC,1967,-1.39,-243.3,239.3,-8.1,184,1972,0.00,2.60,0.00,0.000,4,0.000,0.069,2810,3877,3936
$GC,2041,-1.39,-243.3,246.0,-9.1,190,2045,0.00,2.38,0.00,0.000,6,0.000,0.031,2811,2474,3936
$GC,2366,-1.39,-243.3,276.1,-9.9,220,2370,0.00,2.60,0.00,0.000,4,0.000,0.070,2811,3875,3936
$GC,2451,-1.39,-243.3,284.6,-10.4,227,2455,0.00,2.38,0.00,0.000,6,0.000,0.032,2811,2478,3936
$GC,2776,-1.39,-243.3,316.7,-9.4,257,2780,0.00,2.62,0.00,0.000,4,0.000,0.072,2811,3883,3936
$GC,2898,-1.39,-243.3,328.9,-9.8,267,2906,0.00,2.42,0.00,0.000,6,0.000,0.035,2811,2468,3934
$GC,3223,-1.39,-243.3,356.8,-8.9,298,3228,0.00,2.65,0.00,0.000,4,0.000,0.074,2811,3880,3931
$GC,3334,-1.39,-243.3,367.1,-8.9,307,3342,0.00,2.42,0.00,0.000,6,0.000,0.035,2811,2471,3930
$GC,3660,-1.39,-243.3,394.3,-8.0,338,3664,0.00,2.65,0.00,0.000,4,0.000,0.076,2811,3876,3928
$GC,3778,-1.39,-243.3,404.2,-8.0,348,3783,0.00,2.42,0.00,0.000,6,0.000,0.037,2811,2473,3927
$GC,4103,-1.39,-243.3,427.8,-6.8,378,4108,0.00,2.65,0.00,0.000,4,0.000,0.077,2811,3875,3924
$GC,4211,-1.39,-243.3,435.7,-7.0,387,4215,0.00,2.42,0.00,0.000,6,0.000,0.038,2811,2478,3924
$STATE,4418,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4418,begin apogee
$GC,4422,-0.42,0.0,450.8,7.9,406,4741,1.00,0.00,307.17,0.778,6,0.074,0.000,3028,2477,2936
$STATE,4742,end apogee,CONTROL_FINISHED_OK
$STATE,4743,begin climb
$GC,4745,1.39,243.3,470.4,0.0,438,5070,1.77,2.58,313.50,0.750,4,0.048,0.057,3422,1090,1944
$GC,5113,1.39,243.3,449.0,10.9,469,5122,0.00,2.58,0.00,0.000,6,0.000,0.045,3422,2497,1942
$GC,5439,1.39,243.3,412.8,11.5,500,5443,0.00,2.65,0.00,0.000,4,0.000,0.079,3422,3891,1938
$GC,5511,1.39,243.3,403.7,12.8,506,5515,0.00,2.45,0.00,0.000,6,0.000,0.039,3422,2497,1937
$GC,5835,1.39,243.3,366.6,10.7,536,5836,0.00,0.00,0.00,0.000,6,0.000,0.000,3422,2496,1935
$GC,6154,1.39,243.3,333.0,10.1,566,6158,0.00,2.65,0.00,0.000,4,0.000,0.074,3421,3893,1933
$GC,6227,1.39,243.3,324.7,12.4,572,6231,0.00,2.45,0.00,0.000,6,0.000,0.040,3422,2491,1933
$GC,6551,1.39,243.3,291.3,10.3,602,6555,0.00,2.62,0.00,0.000,4,0.000,0.072,3422,3891,1932
$GC,6606,1.39,243.3,285.1,10.7,606,6613,0.00,2.42,0.00,0.000,6,0.000,0.038,3422,2496,1932
$GC,6931,1.42,270.8,254.4,9.2,637,6965,0.00,0.00,32.47,0.725,6,0.000,0.000,3422,2493,1832
$GC,7280,1.42,270.8,216.2,10.8,670,7285,0.00,2.62,0.00,0.000,4,0.000,0.069,3422,3894,1829
$GC,7353,1.42,270.8,207.8,11.9,676,7358,0.00,2.42,0.00,0.000,6,0.000,0.036,3422,2488,1828
$GC,7679,1.42,270.8,173.3,11.1,706,7683,0.00,2.45,0.00,0.000,4,0.000,0.045,3422,1096,1828
$GC,7730,1.42,270.8,167.6,11.1,710,7735,0.00,2.47,0.00,0.000,6,0.000,0.038,3422,2507,1828
$GC,8055,1.51,346.2,137.4,7.9,740,8162,0.12,2.58,95.20,0.644,4,0.051,0.040,3458,1102,1523
$GC,8234,1.51,346.2,117.8,11.1,755,8242,0.00,2.50,0.00,0.000,6,0.000,0.037,3458,2499,1521
$GC,8559,1.51,346.2,83.8,10.9,786,8564,0.00,2.58,0.00,0.000,4,0.000,0.065,3458,3895,1519
$GC,8591,1.51,346.2,79.9,11.8,788,8599,0.00,2.42,0.00,0.000,6,0.000,0.031,3458,2485,1519
$GC,8917,1.51,346.2,43.2,11.6,819,8921,0.00,2.58,0.00,0.000,4,0.000,0.061,3458,3894,1518
$GC,9005,1.55,372.3,33.4,9.3,826,9047,0.00,2.35,32.40,0.551,6,0.000,0.029,3458,2500,1418
$GC,9242,1.59,407.7,9.8,9.0,858,9284,0.00,0.00,36.15,0.522,6,0.000,0.000,3458,2499,1274
$STATE,9288,end climb,SURFACE_DEPTH_REACHED
$STATE,9288,begin surface coast
$FINISH,0.6,1.022991
$STATE,9318,end surface coast,CONTROL_FINISHED_OK
$STATE,9318,begin surface
$SM_CCo,9402,0.00,0.000,0,0,1269,408.92
$SM_GC,1.17,14.73,0.00,0.00,0.040,0.000,0.000,133,2499,1269,-13.69,0.65,408.92
$IRIDIUM_FIX,2143.45,-15948.92,241098,090918
$TT8_MAMPS,0.063661
$HUMID,1861
$INTERNAL_PRESSURE,11.3969
$TCM_TEMP,23.80
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.8,11.769
$10V_AH,9.9,3.216
$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,33.825,95.450,816.900,0.000,0.000,23.174,29.182,339.028,0.000,0.000,64.364,13.409,1658.571,4947.677,798.046,1600.338,922.469,33.346,1736.562,0.000,1548.673,0.000,0.000,0.000
$DEVICE_MAMPS,183.313,79.001,777.738,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,577.557,0.000,0.000,0.000,0.000,0.000,208.893,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,28383,870
$CAP_FILE_SIZE,316540,0
$CFSIZE,260034560,254865408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300709,144730,2151.154,-15945.175,51,1.0,51,9.8