version: 66.04
glider: 116
mission: 22
dive: 27
start: 7 30 109 20 57 48
data:
$ID,116
$MISSION,22
$DIVE,27
$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,-58041.105
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,132
$PITCH_MAX,3449
$C_PITCH,3100
$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,2550
$C_ROLL_CLIMB,2520
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,40
$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
$GPS1,204201,2151.210,-15944.728,41,1.5,41,9.8
$_CALLS,3
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-66.2
$GPS2,205656,2151.303,-15945.027,12,1.2,12,9.8
$SPEED_LIMITS,0.173,0.324
$TGT_NAME,T2
$TGT_LATLONG,2150.420,-15941.560
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.310,-0.096
$KALMAN_X,-34346.6,-654.6,-188.9,29933.0,-1362.5
$KALMAN_Y,6741.6,-205.8,37.1,-15383.6,477.8
$MHEAD_RNG_PITCHd_Wd,97.5,6182,-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,-243.3,0.0,0.0,0,88,0.00,0.00,-68.00,0.000,2,0.000,0.000,133,2495,3281
$GC,90,-1.39,-243.3,3.2,-7.2,10,120,16.10,0.00,-10.30,0.000,6,0.183,0.000,2791,2495,3930
$GC,191,-1.39,-243.3,28.1,-17.0,23,192,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2495,3933
$GC,382,-1.39,-243.3,60.1,-16.9,41,386,0.00,2.55,0.00,0.000,4,0.000,0.061,2791,3890,3935
$GC,425,-1.39,-243.3,66.6,-14.3,44,433,0.00,2.30,0.00,0.000,6,0.000,0.028,2791,2537,3935
$GC,753,-1.39,-243.3,108.2,-12.6,75,757,0.00,2.50,0.00,0.000,4,0.000,0.065,2791,3891,3935
$GC,852,-1.39,-243.3,121.0,-11.6,83,860,0.00,2.28,0.00,0.000,6,0.000,0.028,2791,2545,3935
$GC,1177,-1.39,-243.3,155.7,-10.8,114,1181,0.00,2.47,0.00,0.000,4,0.000,0.066,2791,3890,3935
$GC,1240,-1.39,-243.3,162.7,-11.1,119,1244,0.00,2.22,0.00,0.000,6,0.000,0.028,2791,2550,3935
$GC,1565,-1.39,-243.3,197.8,-10.1,149,1566,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2547,3935
$GC,1884,-1.39,-243.3,228.1,-9.1,179,1888,0.00,2.50,0.00,0.000,4,0.000,0.070,2791,3893,3935
$GC,1983,-1.39,-243.3,238.7,-11.1,187,1991,0.00,2.28,0.00,0.000,6,0.000,0.031,2791,2565,3935
$GC,2308,-1.39,-243.3,269.9,-8.8,218,2313,0.00,2.47,0.00,0.000,4,0.000,0.072,2791,3890,3935
$GC,2364,-1.39,-243.3,275.2,-9.5,222,2371,0.00,2.28,0.00,0.000,6,0.000,0.032,2791,2549,3935
$GC,2689,-1.39,-243.3,305.9,-9.0,253,2693,0.00,2.53,0.00,0.000,4,0.000,0.074,2791,3894,3933
$GC,2723,-1.39,-243.3,308.9,-9.0,256,2727,0.00,2.30,0.00,0.000,6,0.000,0.035,2791,2546,3933
$GC,3048,-1.39,-243.3,337.3,-8.9,286,3052,0.00,2.53,0.00,0.000,4,0.000,0.075,2791,3888,3929
$GC,3104,-1.39,-243.3,342.6,-9.6,290,3111,0.00,2.30,0.00,0.000,6,0.000,0.035,2791,2545,3929
$GC,3428,-1.39,-243.3,370.7,-8.4,321,3432,0.00,2.53,0.00,0.000,4,0.000,0.077,2791,3885,3927
$GC,3480,-1.39,-243.3,375.1,-8.5,325,3485,0.00,2.30,0.00,0.000,6,0.000,0.037,2791,2548,3927
$GC,3805,-1.39,-243.3,401.6,-8.3,355,3806,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2549,3924
$GC,4124,-1.39,-243.3,430.0,-9.3,385,4128,0.00,2.53,0.00,0.000,4,0.000,0.081,2791,3884,3921
$GC,4167,-1.39,-243.3,434.4,-9.9,388,4175,0.00,2.33,0.00,0.000,6,0.000,0.038,2791,2543,3921
$STATE,4342,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4342,begin apogee
$GC,4346,-0.42,0.0,450.3,9.1,405,4658,1.02,0.00,305.42,0.777,6,0.077,0.000,3008,2544,2936
$STATE,4660,end apogee,CONTROL_FINISHED_OK
$STATE,4660,begin climb
$GC,4661,1.39,243.3,467.6,0.0,436,4986,1.77,2.65,312.75,0.748,4,0.051,0.080,3405,3891,1944
$GC,5070,1.39,243.3,442.8,10.4,473,5078,0.00,2.42,0.00,0.000,6,0.000,0.040,3406,2521,1940
$GC,5397,1.43,277.7,412.3,9.0,504,5446,0.00,0.00,44.55,0.738,6,0.000,0.000,3406,2521,1803
$GC,5765,1.43,277.7,373.6,11.0,539,5769,0.00,2.55,0.00,0.000,4,0.000,0.054,3406,1112,1799
$GC,5860,1.43,277.7,363.0,10.8,547,5864,0.00,2.53,0.00,0.000,6,0.000,0.044,3406,2524,1798
$GC,6185,1.43,277.7,328.2,10.6,577,6189,0.00,2.58,0.00,0.000,4,0.000,0.076,3406,3890,1796
$GC,6249,1.43,277.7,320.9,11.8,582,6253,0.00,2.40,0.00,0.000,6,0.000,0.040,3406,2517,1796
$GC,6574,1.47,306.6,287.8,9.2,612,6615,0.00,0.00,36.97,0.734,6,0.000,0.000,3406,2513,1684
$GC,6933,1.47,306.6,249.9,11.4,646,6934,0.00,0.00,0.00,0.000,6,0.000,0.000,3406,2514,1681
$GC,7251,1.47,306.6,212.3,11.4,676,7255,0.00,2.58,0.00,0.000,4,0.000,0.069,3406,3889,1679
$GC,7293,1.47,306.6,206.9,12.1,679,7301,0.00,2.42,0.00,0.000,6,0.000,0.037,3406,2513,1679
$GC,7619,1.47,306.6,171.2,10.7,710,7623,0.00,2.55,0.00,0.000,4,0.000,0.067,3406,3887,1678
$GC,7665,1.47,306.6,166.4,11.2,714,7669,0.00,2.38,0.00,0.000,6,0.000,0.035,3406,2507,1678
$GC,7989,1.47,312.0,133.6,9.9,744,8000,0.00,0.00,6.03,0.542,6,0.000,0.000,3406,2506,1664
$GC,8318,1.50,338.1,104.2,9.3,775,8359,0.00,0.00,35.22,0.624,6,0.000,0.000,3406,2506,1556
$GC,8679,1.60,418.3,71.0,7.8,809,8789,0.17,2.65,101.25,0.581,4,0.039,0.061,3460,3888,1230
$GC,8855,1.60,418.3,52.3,11.3,824,8864,0.00,2.38,0.00,0.000,6,0.000,0.031,3461,2512,1228
$GC,9184,1.60,418.3,16.3,11.3,858,9192,0.00,2.53,0.00,0.000,4,0.000,0.061,3460,3892,1227
$GC,9226,1.60,418.3,11.4,11.9,865,9233,0.00,2.33,0.00,0.000,6,0.000,0.030,3461,2521,1227
$STATE,9288,end climb,SURFACE_DEPTH_REACHED
$STATE,9288,begin surface coast
$FINISH,-0.2,1.010821
$STATE,9321,end surface coast,CONTROL_FINISHED_OK
$STATE,9321,begin surface
$SM_CCo,9407,0.00,0.000,0,0,1222,420.44
$SM_GC,0.99,15.02,0.00,0.00,0.051,0.000,0.000,124,2565,1222,-13.63,0.40,420.44
$IRIDIUM_FIX,2143.45,-15945.93,241098,202037
$TT8_MAMPS,0.079001
$HUMID,1862
$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,23.8,12.434
$10V_AH,10.1,3.520
$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,34.100,78.175,842.200,0.000,0.000,69.575,89.416,525.968,0.000,0.000,66.725,12.389,1651.421,5066.368,832.681,1508.765,1232.313,33.347,1715.626,0.000,1466.785,0.000,0.000,0.000
$DEVICE_MAMPS,183.313,88.205,776.971,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,585.253,0.000,0.000,0.000,0.000,0.000,141.570,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,28359,882
$CAP_FILE_SIZE,322556,0
$CFSIZE,260034560,254455808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300709,233537,2150.991,-15944.396,28,1.1,29,9.8