version: 66.04
glider: 116
mission: 22
dive: 40
start: 8 1 109 16 18 45
data:
$ID,116
$MISSION,22
$DIVE,40
$D_SURF,4
$D_FLARE,3
$D_TGT,180
$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,60
$T_MISSION,75
$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,-58276.648
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,132
$PITCH_MAX,3449
$C_PITCH,3095
$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,2628
$C_ROLL_CLIMB,2555
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,42
$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
$GPS1,160224,2151.485,-15941.874,40,0.9,40,9.8
$_CALLS,3
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-67.7
$GPS2,161750,2151.504,-15942.107,13,1.0,13,9.8
$SPEED_LIMITS,0.100,0.324
$TGT_NAME,T2
$TGT_LATLONG,2150.420,-15941.560
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.241,-0.217
$KALMAN_X,-58927.7,958.2,-355.9,58092.1,-586.8
$KALMAN_Y,11387.6,-284.3,-41.8,-19497.3,172.0
$MHEAD_RNG_PITCHd_Wd,122.1,2218,-13.1,-10.000
$D_GRID,180
$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,-81.07,0.000,2,0.000,0.000,124,2637,3404
$GC,104,-1.39,-243.3,3.8,-9.0,12,134,16.10,2.45,-7.85,0.000,4,0.181,0.044,2786,1222,3932
$GC,164,-1.39,-243.3,24.1,-19.9,20,168,0.00,2.42,0.00,0.000,6,0.000,0.035,2786,2620,3933
$GC,361,-1.39,-243.3,56.9,-15.8,38,365,0.00,2.38,0.00,0.000,4,0.000,0.031,2786,1228,3935
$GC,400,-1.39,-243.3,62.4,-13.7,41,404,0.00,2.42,0.00,0.000,6,0.000,0.035,2786,2626,3935
$GC,725,-1.39,-243.3,104.0,-12.4,71,726,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2626,3935
$GC,1043,-1.39,-243.3,142.8,-12.5,101,1044,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2626,3935
$GC,1361,-1.39,-243.3,176.5,-9.3,131,1366,0.00,2.35,0.00,0.000,4,0.000,0.068,2786,3894,3935
$STATE,1399,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1400,begin apogee
$GC,1406,-0.42,0.0,180.3,9.5,134,1715,1.00,0.00,298.12,0.574,6,0.074,0.000,3001,2544,2936
$STATE,1716,end apogee,CONTROL_FINISHED_OK
$STATE,1716,begin climb
$GC,1718,1.39,243.3,198.5,0.0,165,2028,1.77,2.55,297.90,0.563,4,0.048,0.064,3397,3890,1944
$GC,2280,1.43,279.3,160.9,9.0,213,2336,0.00,2.28,45.45,0.538,6,0.000,0.030,3397,2545,1797
$GC,2653,1.51,340.9,129.2,8.3,248,2738,0.12,2.42,77.53,0.538,4,0.051,0.038,3436,1169,1546
$GC,2796,1.51,340.9,114.7,11.3,260,2800,0.00,2.45,0.00,0.000,6,0.000,0.035,3436,2565,1544
$GC,3120,1.51,340.9,80.9,10.1,290,3122,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2565,1541
$GC,3439,1.59,410.4,52.4,8.1,320,3534,0.00,2.47,85.38,0.510,4,0.000,0.035,3436,1165,1263
$GC,3602,1.61,427.5,37.5,9.5,334,3629,0.00,2.42,22.25,0.482,6,0.000,0.034,3436,2558,1193
$GC,3827,1.61,427.5,13.1,12.2,359,3833,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2558,1191
$GC,3904,1.73,524.2,6.0,7.3,372,3927,0.05,0.00,20.10,0.465,2,0.084,0.000,3464,2558,1113
$STATE,3927,end climb,SURFACE_DEPTH_REACHED
$STATE,3927,begin surface coast
$FINISH,0.2,1.009828
$STATE,3966,end surface coast,CONTROL_FINISHED_OK
$STATE,3966,begin surface
$SM_CCo,3991,1.27,0.064,0,0,1101,450.13
$SM_GC,1.23,0.00,0.00,1.27,0.000,0.000,0.064,124,2637,1101,-13.66,0.25,450.13
$IRIDIUM_FIX,2141.13,-15943.76,261098,161645
$TT8_MAMPS,0.072098
$HUMID,1756
$INTERNAL_PRESSURE,11.4555
$TCM_TEMP,24.40
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.5,15.368
$10V_AH,10.1,4.870
$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,33.700,29.075,846.725,1.275,0.000,92.585,83.269,518.632,0.000,0.000,192.582,13.091,671.902,1752.499,753.306,747.065,978.244,33.354,1284.723,0.000,705.045,0.000,0.000,0.000
$DEVICE_MAMPS,181.012,68.263,574.483,64.428,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,244.427,0.000,0.000,0.000,0.000,0.000,69.887,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,12712,382
$CAP_FILE_SIZE,154252,0
$CFSIZE,260034560,252776448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010809,172602,2151.153,-15942.396,9,1.8,10,9.8