version: 66.04
glider: 116
mission: 22
dive: 35
start: 7 31 109 23 25 34
data:
$ID,116
$MISSION,22
$DIVE,35
$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,-58205.105
$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,2625
$C_ROLL_CLIMB,2540
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$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
$GPS1,231606,2151.603,-15941.736,42,1.1,47,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-66.0
$GPS2,232438,2151.663,-15941.920,15,1.3,15,9.8
$SPEED_LIMITS,0.100,0.324
$TGT_NAME,T2
$TGT_LATLONG,2150.420,-15941.560
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.244,-0.214
$KALMAN_X,-49286.4,-468.8,-95.1,49935.8,-1696.9
$KALMAN_Y,8573.0,234.8,123.1,-17071.5,56.6
$MHEAD_RNG_PITCHd_Wd,121.5,2384,-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,-243.3,0.0,0.0,0,101,0.00,0.00,-81.25,0.000,2,0.000,0.000,130,2538,3364
$GC,103,-1.39,-243.3,3.7,-8.9,12,132,16.00,0.00,-8.48,0.000,6,0.180,0.000,2791,2538,3931
$GC,203,-1.39,-243.3,29.6,-17.6,24,204,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2538,3933
$GC,393,-1.39,-243.3,58.8,-13.1,42,394,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2538,3935
$GC,712,-1.39,-243.3,101.5,-13.6,72,717,0.00,2.47,0.00,0.000,4,0.000,0.062,2792,3890,3935
$GC,741,-1.39,-243.3,105.5,-14.3,74,744,0.00,2.15,0.00,0.000,6,0.000,0.029,2792,2601,3935
$GC,1071,-1.39,-243.3,146.2,-12.4,105,1075,0.00,2.38,0.00,0.000,4,0.000,0.064,2792,3890,3934
$GC,1099,-1.39,-243.3,149.8,-13.2,107,1103,0.00,2.12,0.00,0.000,6,0.000,0.029,2792,2618,3935
$GC,1429,-1.39,-243.3,185.8,-10.5,138,1433,0.00,2.38,0.00,0.000,4,0.000,0.036,2792,1229,3935
$GC,1484,-1.39,-243.3,191.6,-10.5,142,1491,0.00,2.42,0.00,0.000,6,0.000,0.036,2792,2627,3935
$GC,1809,-1.39,-243.3,226.1,-10.5,173,1810,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2627,3935
$GC,2127,-1.39,-243.3,258.1,-9.8,203,2131,0.00,2.35,0.00,0.000,4,0.000,0.072,2792,3893,3935
$GC,2223,-1.39,-243.3,268.1,-10.7,211,2227,0.00,2.15,0.00,0.000,6,0.000,0.032,2792,2620,3935
$GC,2553,-1.39,-243.3,302.9,-10.4,242,2557,0.00,2.40,0.00,0.000,4,0.000,0.041,2792,1235,3935
$GC,2608,-1.39,-243.3,308.6,-10.1,246,2615,0.00,2.45,0.00,0.000,6,0.000,0.042,2792,2627,3935
$GC,2933,-1.39,-243.3,338.8,-9.2,277,2937,0.00,2.38,0.00,0.000,4,0.000,0.077,2792,3893,3935
$GC,2988,-1.39,-243.3,344.4,-10.1,281,2995,0.00,2.17,0.00,0.000,6,0.000,0.035,2792,2621,3935
$GC,3313,-1.39,-243.3,374.6,-9.1,312,3316,0.00,2.40,0.00,0.000,4,0.000,0.077,2792,3893,3931
$GC,3374,-1.39,-243.3,380.1,-9.0,317,3381,0.00,2.17,0.00,0.000,6,0.000,0.036,2792,2627,3930
$GC,3699,-1.39,-243.3,406.4,-7.8,348,3703,0.00,2.45,0.00,0.000,4,0.000,0.046,2792,1230,3928
$GC,3762,-1.39,-243.3,411.5,-8.4,353,3766,0.00,2.47,0.00,0.000,6,0.000,0.045,2792,2626,3928
$GC,4087,-1.39,-243.3,439.7,-8.3,383,4088,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2625,3926
$STATE,4212,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4212,begin apogee
$GC,4217,-0.42,0.0,450.1,8.0,395,4536,1.00,0.00,307.38,0.772,6,0.076,0.000,3009,2535,2936
$STATE,4537,end apogee,CONTROL_FINISHED_OK
$STATE,4538,begin climb
$GC,4540,1.39,243.3,463.5,0.0,427,4864,1.77,2.67,311.77,0.743,4,0.051,0.079,3399,3881,1945
$GC,4975,1.39,243.3,429.1,12.3,464,4983,0.00,2.38,0.00,0.000,6,0.000,0.039,3400,2538,1940
$GC,5300,1.39,243.3,392.4,10.5,495,5305,0.00,2.53,0.00,0.000,4,0.000,0.052,3399,1134,1938
$GC,5389,1.39,243.3,382.5,10.7,502,5397,0.00,2.53,0.00,0.000,6,0.000,0.044,3400,2541,1937
$GC,5714,1.40,257.2,348.8,9.6,533,5739,0.00,2.58,16.75,0.711,4,0.000,0.076,3399,3887,1887
$GC,5788,1.40,257.2,340.7,11.0,539,5796,0.00,2.40,0.00,0.000,6,0.000,0.039,3400,2538,1886
$GC,6114,1.40,257.2,307.6,10.3,570,6115,0.00,0.00,0.00,0.000,6,0.000,0.000,3400,2535,1885
$GC,6433,1.43,278.9,277.5,9.4,600,6465,0.00,0.00,28.25,0.723,6,0.000,0.000,3400,2535,1799
$GC,6783,1.43,278.9,243.1,10.1,633,6787,0.00,2.55,0.00,0.000,4,0.000,0.071,3399,3893,1795
$GC,6826,1.43,278.9,237.9,12.1,636,6834,0.00,2.40,0.00,0.000,6,0.000,0.037,3400,2531,1795
$GC,7151,1.48,321.9,205.7,8.8,667,7220,0.10,2.65,55.92,0.690,4,0.061,0.067,3433,3897,1623
$GC,7243,1.48,321.9,195.7,11.8,675,7247,0.00,2.38,0.00,0.000,6,0.000,0.035,3433,2532,1621
$GC,7567,1.48,321.9,158.9,11.3,705,7571,0.00,2.45,0.00,0.000,4,0.000,0.043,3433,1138,1618
$GC,7611,1.48,321.9,154.0,10.7,708,7619,0.00,2.50,0.00,0.000,6,0.000,0.038,3433,2555,1618
$GC,7937,1.48,321.9,117.7,10.9,739,7942,0.00,2.45,0.00,0.000,4,0.000,0.064,3432,3891,1617
$GC,8014,1.48,321.9,108.1,11.7,745,8023,0.00,2.35,0.00,0.000,6,0.000,0.032,3433,2532,1617
$GC,8340,1.48,321.9,72.1,11.2,776,8344,0.00,2.40,0.00,0.000,4,0.000,0.039,3433,1146,1617
$GC,8383,1.48,321.9,67.1,12.1,779,8391,0.00,2.42,0.00,0.000,6,0.000,0.035,3433,2544,1617
$GC,8709,1.56,380.2,36.0,8.4,810,8791,0.00,2.45,72.30,0.555,4,0.000,0.059,3433,3883,1386
$GC,8859,1.56,380.2,22.6,10.2,823,8863,0.00,2.30,0.00,0.000,6,0.000,0.030,3433,2526,1384
$STATE,9063,end climb,SURFACE_DEPTH_REACHED
$STATE,9063,begin surface coast
$FINISH,-0.1,1.023088
$STATE,9110,end surface coast,CONTROL_FINISHED_OK
$STATE,9110,begin surface
$SM_CCo,9133,33.70,0.504,0,0,1100,450.13
$SM_GC,0.84,0.00,0.00,33.70,0.000,0.000,0.504,125,2634,1100,-13.68,0.25,450.13
$IRIDIUM_FIX,2143.45,-15943.76,251098,202028
$TT8_MAMPS,0.062127
$HUMID,1837
$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,23.8,14.299
$10V_AH,10.0,4.375
$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,33.475,82.050,792.375,33.700,0.000,31.169,28.289,309.093,0.000,0.000,62.852,15.275,1636.443,4798.022,820.914,1526.079,897.197,33.368,1720.178,0.000,1476.087,0.000,0.000,0.000
$DEVICE_MAMPS,180.245,79.001,772.369,503.919,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,573.924,0.000,0.000,0.000,0.000,0.000,117.843,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,28377,865
$CAP_FILE_SIZE,311491,0
$CFSIZE,260034560,253296640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010809,015936,2150.934,-15941.645,35,1.2,39,9.8