version: 66.04
glider: 116
mission: 22
dive: 25
start: 7 30 109 15 7 11
data:
$ID,116
$MISSION,22
$DIVE,25
$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,-57994.082
$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,47
$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
$GPS1,144730,2151.154,-15945.175,51,1.0,51,9.8
$_CALLS,4
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-67.8
$GPS2,150619,2151.152,-15945.502,11,1.1,11,9.8
$SPEED_LIMITS,0.173,0.324
$TGT_NAME,T2
$TGT_LATLONG,2150.420,-15941.560
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.323,-0.027
$KALMAN_X,-30515.3,265.1,53.4,24132.3,-2276.3
$KALMAN_Y,6071.0,-427.6,101.3,-14833.7,112.3
$MHEAD_RNG_PITCHd_Wd,84.9,6911,-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,18,-1.39,-243.3,0.0,0.0,0,94,0.00,0.00,-73.80,0.000,2,0.000,0.000,133,2497,3351
$GC,97,-1.39,-243.3,3.4,-7.7,11,134,16.17,2.50,-8.75,0.000,4,0.183,0.045,2810,1080,3932
$GC,211,-1.39,-243.3,31.3,-15.0,24,219,0.00,2.45,0.00,0.000,6,0.000,0.032,2811,2478,3933
$GC,409,-1.39,-243.3,58.1,-12.8,43,410,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2479,3935
$GC,729,-1.39,-243.3,97.2,-12.1,73,733,0.00,2.55,0.00,0.000,4,0.000,0.064,2811,3876,3935
$GC,805,-1.39,-243.3,106.5,-12.0,79,813,0.00,2.38,0.00,0.000,6,0.000,0.028,2810,2469,3935
$GC,1131,-1.39,-243.3,142.9,-11.6,110,1135,0.00,2.58,0.00,0.000,4,0.000,0.064,2811,3876,3935
$GC,1250,-1.39,-243.3,157.1,-12.3,120,1255,0.00,2.35,0.00,0.000,6,0.000,0.028,2810,2470,3935
$GC,1575,-1.39,-243.3,192.2,-10.1,150,1579,0.00,2.40,0.00,0.000,4,0.000,0.038,2810,1076,3935
$GC,1606,-1.39,-243.3,195.7,-10.4,152,1614,0.00,2.45,0.00,0.000,6,0.000,0.035,2811,2472,3935
$GC,1932,-1.39,-243.3,226.6,-9.0,183,1936,0.00,2.58,0.00,0.000,4,0.000,0.069,2810,3876,3935
$GC,2052,-1.39,-243.3,237.5,-9.3,193,2056,0.00,2.35,0.00,0.000,6,0.000,0.030,2810,2479,3935
$GC,2377,-1.39,-243.3,266.7,-8.4,223,2381,0.00,2.60,0.00,0.000,4,0.000,0.070,2810,3876,3935
$GC,2461,-1.39,-243.3,274.5,-9.2,230,2466,0.00,2.38,0.00,0.000,6,0.000,0.032,2811,2476,3935
$GC,2786,-1.39,-243.3,301.4,-7.9,260,2790,0.00,2.62,0.00,0.000,4,0.000,0.072,2810,3883,3931
$GC,2885,-1.39,-243.3,309.5,-7.9,268,2893,0.00,2.40,0.00,0.000,6,0.000,0.034,2811,2478,3931
$GC,3211,-1.39,-243.3,334.3,-7.5,299,3216,0.00,2.62,0.00,0.000,4,0.000,0.073,2810,3877,3928
$GC,3285,-1.39,-243.3,340.6,-9.2,305,3289,0.00,2.40,0.00,0.000,6,0.000,0.035,2810,2476,3928
$GC,3609,-1.39,-243.3,368.6,-9.3,335,3614,0.00,2.62,0.00,0.000,4,0.000,0.074,2811,3874,3925
$GC,3754,-1.39,-243.3,383.0,-9.7,347,3762,0.00,2.42,0.00,0.000,6,0.000,0.036,2810,2468,3924
$GC,4079,-1.39,-243.3,413.0,-9.2,378,4084,0.00,2.65,0.00,0.000,4,0.000,0.077,2810,3875,3922
$GC,4167,-1.39,-243.3,421.7,-9.6,385,4175,0.00,2.42,0.00,0.000,6,0.000,0.037,2811,2473,3921
$STATE,4491,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4491,begin apogee
$GC,4495,-0.42,0.0,450.8,8.8,416,4807,1.02,0.00,305.12,0.777,6,0.075,0.000,3030,2473,2936
$STATE,4808,end apogee,CONTROL_FINISHED_OK
$STATE,4808,begin climb
$GC,4810,1.39,243.3,467.8,0.0,447,5135,1.75,2.55,313.27,0.745,4,0.046,0.054,3421,1095,1944
$GC,5175,1.39,243.3,442.6,11.1,478,5180,0.00,2.55,0.00,0.000,6,0.000,0.045,3421,2507,1943
$GC,5501,1.39,243.3,407.7,11.0,508,5502,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2507,1939
$GC,5818,1.39,243.3,374.1,10.3,538,5822,0.00,2.55,0.00,0.000,4,0.000,0.049,3421,1093,1937
$GC,5869,1.39,243.3,368.5,10.7,542,5873,0.00,2.53,0.00,0.000,6,0.000,0.044,3421,2503,1937
$GC,6195,1.39,243.3,334.3,10.4,572,6199,0.00,2.62,0.00,0.000,4,0.000,0.078,3420,3888,1934
$GC,6267,1.39,243.3,325.0,13.9,578,6271,0.00,2.42,0.00,0.000,6,0.000,0.038,3421,2496,1934
$GC,6593,1.39,243.3,288.6,11.3,608,6594,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2496,1933
$GC,6911,1.39,246.2,256.1,9.9,638,6915,0.00,2.47,0.00,0.000,4,0.000,0.049,3421,1099,1933
$GC,6943,1.39,246.2,252.4,11.1,640,6951,0.00,2.50,0.00,0.000,6,0.000,0.041,3421,2510,1933
$GC,7268,1.49,323.4,223.7,7.8,671,7376,0.10,2.62,99.20,0.701,4,0.060,0.070,3455,3887,1617
$GC,7481,1.49,323.4,196.7,14.4,689,7489,0.00,2.45,0.00,0.000,6,0.000,0.035,3455,2493,1613
$GC,7807,1.49,323.4,154.0,13.8,720,7808,0.00,0.00,0.00,0.000,6,0.000,0.000,3455,2491,1611
$GC,8125,1.49,323.4,112.2,11.8,750,8129,0.00,2.45,0.00,0.000,4,0.000,0.042,3455,1095,1610
$GC,8164,1.49,323.4,107.8,11.0,753,8168,0.00,2.47,0.00,0.000,6,0.000,0.036,3455,2509,1609
$GC,8489,1.49,323.4,70.6,10.1,783,8490,0.00,0.00,0.00,0.000,6,0.000,0.000,3455,2509,1609
$GC,8809,1.49,328.9,35.3,9.8,813,8820,0.00,0.00,6.15,0.472,6,0.000,0.000,3455,2509,1594
$GC,9012,1.49,328.9,16.2,10.1,835,9019,0.00,0.00,0.00,0.000,6,0.000,0.000,3455,2509,1594
$GC,9087,1.49,328.9,8.9,10.2,848,9093,0.00,0.00,0.00,0.000,6,0.000,0.000,3455,2509,1595
$STATE,9137,end climb,SURFACE_DEPTH_REACHED
$STATE,9137,begin surface coast
$FINISH,0.3,1.022982
$STATE,9178,end surface coast,CONTROL_FINISHED_OK
$STATE,9178,begin surface
$SM_CCo,9202,12.38,0.502,0,0,1509,350.04
$SM_GC,0.70,0.00,0.00,12.38,0.000,0.000,0.502,134,2509,1509,-13.74,0.96,350.04
$IRIDIUM_FIX,2141.13,-15943.76,241098,151544
$TT8_MAMPS,0.064428
$HUMID,1906
$INTERNAL_PRESSURE,11.4165
$TCM_TEMP,23.70
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.8,11.990
$10V_AH,10.0,3.325
$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,33.750,79.925,723.750,12.375,0.000,109.175,120.817,632.296,0.000,0.000,67.368,11.970,1653.820,4976.006,732.956,1557.014,1416.761,33.349,1627.102,0.000,1504.162,0.000,0.000,0.000
$DEVICE_MAMPS,182.546,78.234,776.971,501.618,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,574.226,0.000,0.000,0.000,0.000,0.000,169.346,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,28384,864
$CAP_FILE_SIZE,320499,0
$CFSIZE,260034560,254709760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300709,174149,2151.141,-15945.020,11,1.6,28,9.8