version: 66.04
glider: 116
mission: 22
dive: 31
start: 7 31 109 11 43 47
data:
$ID,116
$MISSION,22
$DIVE,31
$D_SURF,4
$D_FLARE,3
$D_TGT,660
$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,220
$T_MISSION,275
$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,750
$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,-58123.805
$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,48
$R_STBD_OVSHOOT,31
$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
$GPS1,113024,2152.823,-15941.984,36,1.9,36,9.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-65.0
$GPS2,114255,2152.838,-15942.172,12,1.5,17,9.8
$SPEED_LIMITS,0.173,0.324
$TGT_NAME,T0
$TGT_LATLONG,2154.000,-15942.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.178,0.207
$KALMAN_X,-43800.1,570.5,316.5,42558.9,-2048.6
$KALMAN_Y,7020.6,-135.0,180.4,-13029.0,-585.4
$MHEAD_RNG_PITCHd_Wd,30.8,2172,-16.5,-10.000
$D_GRID,660
$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,-1.57,-163.4,0.0,0.0,0,100,0.00,0.00,-80.53,0.000,2,0.000,0.000,127,2564,3375
$GC,103,-1.65,-227.8,3.4,-7.3,12,133,15.82,2.42,-7.53,0.000,4,0.184,0.071,2734,3887,3868
$GC,258,-1.65,-227.8,49.0,-25.0,28,262,0.00,2.25,0.00,0.000,6,0.000,0.029,2735,2551,3869
$GC,455,-1.65,-227.8,85.9,-19.1,46,459,0.00,2.45,0.00,0.000,4,0.000,0.062,2734,3880,3870
$GC,539,-1.65,-227.8,102.6,-18.1,53,543,0.00,2.25,0.00,0.000,6,0.000,0.029,2734,2539,3871
$GC,869,-1.65,-227.8,155.1,-14.4,84,870,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2538,3872
$GC,1187,-1.65,-227.8,197.7,-12.4,114,1191,0.00,2.47,0.00,0.000,4,0.000,0.067,2734,3876,3873
$GC,1349,-1.65,-227.8,218.8,-12.8,128,1353,0.00,2.25,0.00,0.000,6,0.000,0.031,2734,2546,3873
$GC,1674,-1.65,-227.8,260.4,-12.7,158,1675,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2546,3874
$GC,1993,-1.65,-227.8,296.7,-11.3,188,1998,0.00,2.50,0.00,0.000,4,0.000,0.071,2734,3883,3872
$GC,2081,-1.65,-227.8,307.0,-11.5,195,2089,0.00,2.28,0.00,0.000,6,0.000,0.035,2734,2551,3871
$GC,2406,-1.65,-227.8,341.1,-10.7,226,2411,0.00,2.50,0.00,0.000,4,0.000,0.074,2734,3877,3869
$GC,2502,-1.65,-227.8,352.4,-11.5,234,2506,0.00,2.28,0.00,0.000,6,0.000,0.035,2734,2554,3869
$GC,2826,-1.65,-227.8,385.9,-10.4,264,2830,0.00,2.50,0.00,0.000,4,0.000,0.075,2734,3876,3866
$GC,2929,-1.65,-227.8,397.3,-11.0,273,2933,0.00,2.30,0.00,0.000,6,0.000,0.036,2734,2540,3865
$GC,3254,-1.65,-227.8,431.5,-10.5,303,3258,0.00,2.53,0.00,0.000,4,0.000,0.077,2734,3879,3863
$GC,3317,-1.65,-227.8,438.3,-11.3,308,3321,0.00,2.30,0.00,0.000,6,0.000,0.038,2734,2552,3862
$GC,3641,-1.65,-227.8,472.6,-10.4,338,3646,0.00,2.53,0.00,0.000,4,0.000,0.080,2734,3874,3860
$GC,3761,-1.65,-227.8,485.7,-11.3,348,3765,0.00,2.30,0.00,0.000,6,0.000,0.039,2734,2553,3859
$GC,4085,-1.65,-227.8,521.7,-10.5,378,4089,0.00,2.55,0.00,0.000,4,0.000,0.083,2734,3880,3856
$GC,4146,-1.65,-227.8,528.2,-10.1,383,4150,0.00,2.33,0.00,0.000,6,0.000,0.040,2734,2550,3856
$GC,4471,-1.67,-243.3,555.5,-7.1,413,4475,0.00,2.55,0.00,0.000,4,0.000,0.085,2734,3874,3853
$GC,4533,-1.67,-243.3,560.3,-7.4,418,4537,0.00,2.33,0.00,0.000,6,0.000,0.041,2734,2552,3852
$GC,4859,-1.67,-243.3,585.6,-7.7,448,4863,0.00,2.58,0.00,0.000,4,0.000,0.087,2734,3881,3850
$GC,4954,-1.67,-243.3,594.2,-10.1,456,4958,0.00,2.35,0.00,0.000,6,0.000,0.042,2734,2550,3850
$GC,5279,-1.67,-243.3,620.7,-7.7,486,5280,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2550,3848
$GC,5597,-1.67,-243.3,645.5,-7.9,516,5602,0.00,2.53,0.00,0.000,4,0.000,0.079,2734,3875,3845
$GC,5664,-1.67,-243.3,651.0,-8.7,521,5671,0.00,2.35,0.00,0.000,6,0.000,0.041,2734,2532,3844
$STATE,5775,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5775,begin apogee
$GC,5779,-0.42,0.0,660.3,8.6,532,6080,1.33,0.00,294.10,0.925,6,0.086,0.000,3008,2532,2936
$STATE,6081,end apogee,CONTROL_FINISHED_OK
$STATE,6081,begin climb
$GC,6083,1.67,243.3,671.5,0.0,562,6420,2.00,2.62,325.35,0.877,4,0.054,0.057,3450,1125,1944
$GC,6481,1.67,243.3,637.8,13.1,595,6489,0.00,2.53,0.00,0.000,6,0.000,0.048,3450,2510,1941
$GC,6806,1.67,243.3,597.3,12.4,626,6811,0.00,2.53,0.00,0.000,4,0.000,0.052,3450,1124,1937
$GC,6838,1.67,243.3,593.0,12.1,628,6846,0.00,2.55,0.00,0.000,6,0.000,0.048,3450,2525,1937
$GC,7164,1.67,243.3,554.6,10.9,659,7168,0.00,2.62,0.00,0.000,4,0.000,0.083,3450,3891,1935
$GC,7247,1.67,243.3,544.7,12.7,666,7251,0.00,2.42,0.00,0.000,6,0.000,0.043,3450,2521,1934
$GC,7571,1.67,243.3,507.0,11.6,696,7575,0.00,2.55,0.00,0.000,4,0.000,0.055,3450,1112,1934
$GC,7629,1.67,243.3,500.3,12.1,701,7633,0.00,2.55,0.00,0.000,6,0.000,0.047,3450,2528,1934
$GC,7953,1.67,243.3,460.1,11.8,731,7957,0.00,2.60,0.00,0.000,4,0.000,0.079,3450,3892,1933
$GC,7996,1.67,243.3,454.3,12.5,734,8004,0.00,2.45,0.00,0.000,6,0.000,0.042,3450,2524,1933
$GC,8323,1.67,243.3,420.2,11.0,765,8327,0.00,2.60,0.00,0.000,4,0.000,0.077,3450,3887,1932
$GC,8361,1.67,243.3,415.7,11.9,768,8366,0.00,2.42,0.00,0.000,6,0.000,0.041,3450,2509,1932
$GC,8686,1.67,243.3,382.3,10.3,798,8690,0.00,2.53,0.00,0.000,4,0.000,0.054,3450,1107,1931
$GC,8725,1.67,243.3,378.1,11.3,801,8729,0.00,2.55,0.00,0.000,6,0.000,0.046,3450,2530,1932
$GC,9049,1.67,243.3,341.1,10.9,831,9050,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,2530,1931
$GC,9369,1.67,243.3,307.4,10.8,861,9370,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,2530,1931
$GC,9686,1.67,243.3,274.8,10.7,891,9690,0.00,2.55,0.00,0.000,4,0.000,0.048,3450,1109,1930
$GC,9729,1.67,243.3,270.1,10.9,894,9737,0.00,2.53,0.00,0.000,6,0.000,0.042,3450,2528,1930
$GC,10055,1.69,258.9,237.1,9.4,925,10079,0.00,2.58,17.45,0.731,4,0.000,0.071,3450,3905,1880
$GC,10113,1.69,258.9,231.0,10.5,930,10118,0.00,2.45,0.00,0.000,6,0.000,0.037,3450,2499,1879
$GC,10440,1.69,263.3,199.7,9.8,960,10453,0.00,2.62,6.78,0.614,4,0.000,0.067,3450,3890,1862
$GC,10514,1.69,263.3,190.9,11.3,966,10522,0.00,2.40,0.00,0.000,6,0.000,0.035,3449,2502,1862
$GC,10840,1.74,302.0,159.4,8.4,997,10893,0.00,0.00,51.10,0.680,6,0.000,0.000,3450,2502,1704
$GC,11209,1.74,302.0,119.9,11.0,1032,11210,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,2502,1700
$GC,11527,1.74,302.0,85.1,10.4,1062,11531,0.00,2.58,0.00,0.000,4,0.000,0.061,3450,3896,1700
$GC,11566,1.74,302.0,80.7,11.7,1065,11570,0.00,2.35,0.00,0.000,6,0.000,0.031,3450,2513,1700
$GC,11890,1.74,302.0,47.8,10.8,1095,11891,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,2512,1700
$GC,12082,1.81,360.9,31.4,7.6,1113,12165,0.00,0.00,74.30,0.556,6,0.000,0.000,3450,2512,1463
$GC,12360,1.83,371.2,7.2,9.6,1152,12374,0.00,0.00,11.93,0.491,6,0.000,0.000,3450,2512,1422
$STATE,12397,end climb,SURFACE_DEPTH_REACHED
$STATE,12397,begin surface coast
$FINISH,-0.2,1.022880
$STATE,12441,end surface coast,CONTROL_FINISHED_OK
$STATE,12441,begin surface
$SM_CCo,12525,0.00,0.000,0,0,1417,372.61
$SM_GC,1.16,14.60,0.00,0.00,0.038,0.000,0.000,127,2558,1417,-13.62,0.23,372.61
$IRIDIUM_FIX,2143.45,-15913.59,251098,111147
$TT8_MAMPS,0.057525
$HUMID,1806
$INTERNAL_PRESSURE,11.3872
$TCM_TEMP,23.90
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.6,13.456
$10V_AH,10.0,4.019
$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,33.750,113.300,781.000,0.000,0.000,52.014,61.565,436.662,0.000,0.000,85.740,17.228,2246.327,6911.937,786.053,2060.470,1250.370,33.354,1923.122,0.000,1995.813,0.000,0.000,0.000
$DEVICE_MAMPS,184.080,87.438,925.002,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,783.086,0.000,0.000,0.000,0.000,0.000,160.758,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,37857,1166
$CAP_FILE_SIZE,418341,0
$CFSIZE,260034560,253698048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310709,151337,2154.584,-15941.377,32,1.0,32,9.8