version: 66.04
glider: 116
mission: 22
dive: 34
start: 7 31 109 20 43 3
data:
$ID,116
$MISSION,22
$DIVE,34
$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,750
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,250
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$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,450
$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,-58189.203
$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,45
$R_STBD_OVSHOOT,23
$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
$GPS1,203226,2152.736,-15941.340,38,3.2,57,9.8
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-68.2
$GPS2,204208,2152.755,-15941.516,14,1.2,14,9.8
$SPEED_LIMITS,0.100,0.324
$TGT_NAME,T2
$TGT_LATLONG,2150.420,-15941.560
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.174,-0.274
$KALMAN_X,-47665.9,241.1,-176.5,48382.8,-1609.0
$KALMAN_Y,8276.0,45.8,171.2,-14611.6,341.9
$MHEAD_RNG_PITCHd_Wd,137.7,4325,-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,-243.3,0.0,0.0,0,101,0.00,0.00,-80.57,0.000,2,0.000,0.000,129,2529,3338
$GC,104,-1.39,-243.3,3.5,-7.5,12,134,16.02,2.42,-9.10,0.000,4,0.181,0.045,2791,1156,3930
$GC,186,-1.39,-243.3,25.8,-14.9,22,193,0.00,2.42,0.00,0.000,6,0.000,0.034,2791,2553,3934
$GC,383,-1.39,-243.3,56.0,-14.9,41,384,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2553,3934
$GC,702,-1.39,-243.3,94.2,-11.2,71,706,0.00,2.42,0.00,0.000,4,0.000,0.064,2791,3886,3934
$GC,769,-1.39,-243.3,102.5,-11.8,77,773,0.00,2.25,0.00,0.000,6,0.000,0.029,2791,2545,3934
$GC,1093,-1.39,-243.3,138.8,-11.7,107,1094,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2545,3934
$GC,1413,-1.39,-243.3,175.5,-11.1,137,1417,0.00,2.47,0.00,0.000,4,0.000,0.066,2791,3885,3934
$GC,1457,-1.39,-243.3,180.7,-10.9,140,1464,0.00,2.28,0.00,0.000,6,0.000,0.029,2791,2548,3934
$GC,1783,-1.39,-243.3,214.5,-9.9,171,1787,0.00,2.47,0.00,0.000,4,0.000,0.067,2791,3889,3934
$GC,1844,-1.39,-243.3,221.3,-11.5,176,1849,0.00,2.25,0.00,0.000,6,0.000,0.031,2791,2555,3934
$GC,2175,-1.39,-243.3,258.2,-10.6,207,2179,0.00,2.47,0.00,0.000,4,0.000,0.069,2791,3884,3934
$GC,2226,-1.39,-243.3,263.8,-10.9,211,2230,0.00,2.28,0.00,0.000,6,0.000,0.032,2791,2540,3934
$GC,2551,-1.39,-243.3,293.5,-9.1,241,2552,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2540,3934
$GC,2869,-1.39,-243.3,325.9,-10.9,271,2873,0.00,2.50,0.00,0.000,4,0.000,0.073,2791,3884,3934
$GC,2945,-1.39,-243.3,334.3,-10.4,277,2954,0.00,2.33,0.00,0.000,6,0.000,0.035,2791,2548,3934
$GC,3271,-1.39,-243.3,363.8,-8.6,308,3276,0.00,2.50,0.00,0.000,4,0.000,0.074,2791,3884,3930
$GC,3304,-1.39,-243.3,366.8,-8.7,310,3312,0.00,2.30,0.00,0.000,6,0.000,0.037,2791,2551,3929
$GC,3631,-1.39,-243.3,394.5,-8.4,341,3632,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2552,3927
$GC,3948,-1.39,-243.3,421.5,-7.9,371,3949,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2551,3925
$GC,4266,-1.39,-243.3,445.3,-7.2,401,4271,0.00,2.53,0.00,0.000,4,0.000,0.079,2791,3883,3922
$STATE,4328,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4328,begin apogee
$GC,4336,-0.42,0.0,450.1,8.4,406,4648,1.00,0.00,305.45,0.775,6,0.077,0.000,3007,2520,2936
$STATE,4649,end apogee,CONTROL_FINISHED_OK
$STATE,4649,begin climb
$GC,4651,1.39,243.3,462.2,0.0,437,4977,1.80,2.67,312.02,0.743,4,0.051,0.079,3402,3884,1944
$GC,5045,1.39,243.3,435.1,11.5,472,5049,0.00,2.42,0.00,0.000,6,0.000,0.039,3402,2512,1940
$GC,5370,1.39,243.3,400.8,10.8,502,5374,0.00,2.53,0.00,0.000,4,0.000,0.053,3403,1111,1939
$GC,5401,1.39,243.3,397.2,11.4,504,5409,0.00,2.55,0.00,0.000,6,0.000,0.044,3402,2515,1938
$GC,5726,1.39,243.3,361.4,11.5,535,5731,0.00,2.50,0.00,0.000,4,0.000,0.049,3403,1116,1936
$GC,5798,1.39,243.3,353.3,11.1,541,5806,0.00,2.55,0.00,0.000,6,0.000,0.044,3403,2524,1936
$GC,6124,1.42,268.2,321.5,9.3,572,6161,0.00,2.62,30.45,0.734,4,0.000,0.076,3402,3889,1842
$GC,6210,1.42,268.2,312.4,11.3,579,6218,0.00,2.45,0.00,0.000,6,0.000,0.038,3402,2513,1840
$GC,6536,1.43,275.7,281.5,9.8,610,6548,0.00,0.00,9.75,0.665,6,0.000,0.000,3402,2511,1813
$GC,6864,1.43,275.7,246.0,11.5,641,6865,0.00,0.00,0.00,0.000,6,0.000,0.000,3402,2511,1811
$GC,7183,1.43,275.7,208.0,11.5,671,7187,0.00,2.58,0.00,0.000,4,0.000,0.067,3402,3889,1810
$GC,7259,1.43,275.7,199.0,12.3,677,7267,0.00,2.40,0.00,0.000,6,0.000,0.037,3403,2520,1810
$GC,7585,1.54,371.5,168.7,7.3,708,7718,0.15,0.00,123.00,0.665,6,0.048,0.000,3447,2520,1421
$GC,8033,1.54,371.5,115.3,12.3,751,8038,0.00,2.45,0.00,0.000,4,0.000,0.041,3448,1124,1415
$GC,8118,1.54,371.5,105.1,12.0,758,8122,0.00,2.47,0.00,0.000,6,0.000,0.037,3448,2533,1414
$GC,8442,1.54,371.5,64.8,12.3,788,8443,0.00,0.00,0.00,0.000,6,0.000,0.000,3448,2533,1413
$GC,8761,1.54,371.5,29.3,11.0,818,8762,0.00,0.00,0.00,0.000,6,0.000,0.000,3448,2534,1412
$GC,8959,1.54,371.5,8.5,10.3,845,8965,0.00,0.00,0.00,0.000,6,0.000,0.000,3448,2533,1413
$STATE,8999,end climb,SURFACE_DEPTH_REACHED
$STATE,8999,begin surface coast
$FINISH,-0.1,1.009804
$STATE,9039,end surface coast,CONTROL_FINISHED_OK
$STATE,9039,begin surface
$SM_CCo,9063,38.17,0.517,0,0,1101,450.13
$SM_GC,0.80,0.00,0.00,38.17,0.000,0.000,0.517,129,2533,1101,-13.66,-0.48,450.13
$IRIDIUM_FIX,2143.45,-15940.77,251098,181814
$TT8_MAMPS,0.060593
$HUMID,1881
$INTERNAL_PRESSURE,11.3579
$TCM_TEMP,23.40
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.8,14.092
$10V_AH,10.0,4.286
$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,33.675,68.525,780.675,38.175,0.000,26.022,29.568,381.888,0.000,0.000,62.695,14.245,1613.582,4835.167,820.119,1456.391,955.586,33.349,1662.540,0.000,1411.874,0.000,0.000,0.000
$DEVICE_MAMPS,181.012,79.001,775.437,516.958,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,570.525,0.000,0.000,0.000,0.000,0.000,117.548,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,28388,859
$CAP_FILE_SIZE,306272,0
$CFSIZE,260034560,253431808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310709,231606,2151.603,-15941.736,42,1.1,47,9.8