version: 66.04
glider: 116
mission: 22
dive: 36
start: 8 1 109 2 9 27
data:
$ID,116
$MISSION,22
$DIVE,36
$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,-58217.688
$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,46
$R_STBD_OVSHOOT,26
$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
$GPS1,015936,2150.934,-15941.645,35,1.2,39,9.8
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-68.1
$GPS2,020831,2151.018,-15941.781,11,1.2,11,9.8
$SPEED_LIMITS,0.100,0.324
$TGT_NAME,T0
$TGT_LATLONG,2154.000,-15942.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.113,0.304
$KALMAN_X,-50695.7,-1060.3,-45.1,52121.5,-1220.8
$KALMAN_Y,9298.5,310.2,25.2,-18974.4,302.0
$MHEAD_RNG_PITCHd_Wd,10.5,5535,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-1.39,-243.3,0.0,0.0,0,99,0.00,0.00,-79.30,0.000,2,0.000,0.000,125,2636,3302
$GC,102,-1.39,-243.3,3.3,-7.4,12,138,16.05,2.33,-9.88,0.000,4,0.181,0.072,2792,3886,3932
$GC,261,-1.39,-243.3,39.8,-18.0,29,269,0.00,2.12,0.00,0.000,6,0.000,0.029,2793,2615,3935
$GC,459,-1.39,-243.3,69.9,-15.6,48,460,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2615,3934
$GC,778,-1.39,-243.3,113.0,-13.0,78,779,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2615,3935
$GC,1096,-1.39,-243.3,151.5,-12.4,108,1098,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2615,3935
$GC,1414,-1.39,-243.3,188.2,-10.5,138,1418,0.00,2.35,0.00,0.000,4,0.000,0.070,2792,3881,3935
$GC,1509,-1.39,-243.3,198.7,-11.1,146,1513,0.00,2.10,0.00,0.000,6,0.000,0.029,2792,2625,3935
$GC,1839,-1.39,-243.3,235.3,-10.9,177,1840,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2624,3935
$GC,2158,-1.39,-243.3,268.8,-9.5,207,2162,0.00,2.40,0.00,0.000,4,0.000,0.039,2793,1231,3935
$GC,2198,-1.39,-243.3,272.6,-10.0,210,2202,0.00,2.42,0.00,0.000,6,0.000,0.039,2793,2620,3935
$GC,2522,-1.39,-243.3,306.0,-10.1,240,2526,0.00,2.38,0.00,0.000,4,0.000,0.074,2792,3895,3935
$GC,2621,-1.39,-243.3,316.3,-10.2,248,2629,0.00,2.17,0.00,0.000,6,0.000,0.034,2792,2630,3935
$GC,2948,-1.39,-243.3,346.8,-9.6,279,2949,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2629,3935
$GC,3265,-1.39,-243.3,375.9,-9.7,309,3270,0.00,2.45,0.00,0.000,4,0.000,0.044,2793,1231,3933
$GC,3309,-1.39,-243.3,380.2,-9.1,312,3317,0.00,2.47,0.00,0.000,6,0.000,0.043,2792,2633,3932
$GC,3635,-1.39,-243.3,410.2,-8.8,343,3639,0.00,2.35,0.00,0.000,4,0.000,0.078,2792,3886,3929
$GC,3730,-1.39,-243.3,419.0,-9.2,351,3734,0.00,2.17,0.00,0.000,6,0.000,0.037,2793,2623,3928
$STATE,4053,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4053,begin apogee
$GC,4058,-0.42,0.0,450.1,9.3,381,4377,0.98,0.00,307.70,0.767,6,0.075,0.000,3005,2535,2936
$STATE,4378,end apogee,CONTROL_FINISHED_OK
$STATE,4379,begin climb
$GC,4381,1.39,243.3,463.4,0.0,413,4705,1.80,2.60,311.30,0.742,4,0.051,0.052,3402,1144,1944
$GC,4802,1.40,251.6,434.4,9.8,449,4819,0.00,2.53,11.43,0.652,6,0.000,0.045,3402,2545,1910
$GC,5139,1.40,251.6,400.9,10.2,480,5143,0.00,2.55,0.00,0.000,4,0.000,0.077,3402,3887,1906
$GC,5245,1.40,251.6,389.2,10.4,489,5249,0.00,2.35,0.00,0.000,6,0.000,0.039,3402,2541,1905
$GC,5569,1.40,251.6,355.9,10.5,519,5571,0.00,0.00,0.00,0.000,6,0.000,0.000,3402,2539,1904
$GC,5888,1.40,251.6,325.0,10.4,549,5892,0.00,2.50,0.00,0.000,4,0.000,0.051,3402,1136,1903
$GC,5933,1.40,251.6,320.2,10.8,553,5937,0.00,2.50,0.00,0.000,6,0.000,0.044,3402,2546,1903
$GC,6258,1.44,289.9,289.7,8.9,583,6317,0.00,2.62,47.90,0.729,4,0.000,0.073,3402,3888,1753
$GC,6377,1.44,289.9,277.4,11.7,593,6381,0.00,2.35,0.00,0.000,6,0.000,0.038,3402,2539,1751
$GC,6701,1.44,289.9,241.1,11.6,623,6705,0.00,2.50,0.00,0.000,4,0.000,0.048,3402,1133,1749
$GC,6762,1.44,289.9,233.7,12.1,628,6767,0.00,2.50,0.00,0.000,6,0.000,0.041,3402,2543,1749
$GC,7088,1.44,289.9,198.0,11.7,658,7092,0.00,2.50,0.00,0.000,4,0.000,0.069,3402,3887,1748
$GC,7131,1.44,289.9,192.4,12.9,661,7139,0.00,2.33,0.00,0.000,6,0.000,0.035,3402,2535,1748
$GC,7456,1.53,357.7,160.6,8.1,692,7552,0.15,2.55,86.12,0.654,4,0.047,0.063,3448,3887,1477
$GC,7576,1.53,357.7,147.7,12.8,702,7580,0.00,2.33,0.00,0.000,6,0.000,0.033,3449,2538,1475
$GC,7900,1.53,357.7,104.7,13.2,732,7901,0.00,0.00,0.00,0.000,6,0.000,0.000,3448,2536,1472
$GC,8220,1.53,357.7,68.7,11.8,762,8221,0.00,0.00,0.00,0.000,6,0.000,0.000,3448,2536,1472
$GC,8539,1.57,391.7,39.4,9.1,792,8588,0.00,2.53,42.30,0.552,4,0.000,0.059,3448,3891,1339
$GC,8627,1.57,391.7,30.6,10.4,799,8635,0.00,2.33,0.00,0.000,6,0.000,0.029,3448,2538,1338
$GC,8831,1.57,391.7,8.3,11.1,828,8838,0.00,0.00,0.00,0.000,6,0.000,0.000,3448,2535,1337
$STATE,8875,end climb,SURFACE_DEPTH_REACHED
$STATE,8875,begin surface coast
$FINISH,-0.1,1.022931
$STATE,8915,end surface coast,CONTROL_FINISHED_OK
$STATE,8915,begin surface
$SM_CCo,8940,28.12,0.500,0,0,1101,450.13
$SM_GC,1.00,0.00,0.00,28.12,0.000,0.000,0.500,126,2630,1101,-13.68,0.17,450.13
$IRIDIUM_FIX,2141.13,-15941.58,251098,232309
$TT8_MAMPS,0.059826
$HUMID,1833
$INTERNAL_PRESSURE,11.3969
$TCM_TEMP,24.10
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.8,14.509
$10V_AH,10.0,4.461
$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,33.750,67.575,806.750,28.125,0.000,28.544,27.201,340.145,0.000,0.000,61.683,11.952,1581.319,4724.009,794.937,1489.508,911.738,33.343,1674.870,0.000,1443.132,0.000,0.000,0.000
$DEVICE_MAMPS,181.012,78.234,767.000,500.084,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,559.039,0.000,0.000,0.000,0.000,0.000,115.651,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,25301,843
$CAP_FILE_SIZE,301065,0
$CFSIZE,260034560,253194240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010809,044007,2152.625,-15942.081,36,0.9,36,9.8