version: 66.04
glider: 116
mission: 22
dive: 45
start: 8 1 109 23 12 22
data:
$ID,116
$MISSION,22
$DIVE,45
$D_SURF,4
$D_FLARE,3
$D_TGT,270
$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,90
$T_MISSION,120
$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,400
$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,-58378.973
$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,2530
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,47
$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
$GPS1,230032,2152.787,-15944.546,12,1.3,13,9.8
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-67.5
$GPS2,231126,2152.838,-15944.804,16,1.3,16,9.8
$SPEED_LIMITS,0.100,0.324
$TGT_NAME,TA
$TGT_LATLONG,2155.000,-15943.400
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.316,0.075
$KALMAN_X,-66212.8,-1065.1,-211.1,62618.1,-1294.9
$KALMAN_Y,12129.0,100.0,76.5,-18267.6,274.1
$MHEAD_RNG_PITCHd_Wd,66.8,4674,-13.1,-10.000
$D_GRID,270
$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,-243.3,0.0,0.0,0,93,0.00,0.00,-73.57,0.000,2,0.000,0.000,123,2641,3352
$GC,95,-1.39,-243.3,3.3,-7.0,11,125,15.85,2.33,-8.90,0.000,4,0.178,0.074,2785,3883,3935
$GC,153,-1.39,-243.3,22.8,-19.6,19,161,0.00,2.15,0.00,0.000,6,0.000,0.030,2786,2616,3935
$GC,351,-1.39,-243.3,54.3,-13.1,38,352,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2616,3935
$GC,671,-1.39,-243.3,92.7,-12.7,68,675,0.00,2.33,0.00,0.000,4,0.000,0.065,2785,3881,3935
$GC,743,-1.39,-243.3,101.9,-12.9,74,747,0.00,2.08,0.00,0.000,6,0.000,0.028,2786,2629,3935
$GC,1073,-1.39,-243.3,139.5,-10.9,105,1077,0.00,2.30,0.00,0.000,4,0.000,0.066,2786,3882,3935
$GC,1125,-1.39,-243.3,145.4,-11.6,109,1129,0.00,2.08,0.00,0.000,6,0.000,0.028,2786,2629,3935
$GC,1455,-1.39,-243.3,185.7,-11.8,140,1459,0.00,2.38,0.00,0.000,4,0.000,0.036,2785,1236,3935
$GC,1506,-1.39,-243.3,191.4,-11.3,144,1510,0.00,2.40,0.00,0.000,6,0.000,0.037,2786,2624,3935
$GC,1831,-1.39,-243.3,225.6,-10.5,174,1832,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2624,3935
$GC,2149,-1.39,-243.3,256.7,-9.1,204,2150,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2624,3935
$STATE,2307,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2307,begin apogee
$GC,2311,-0.42,0.0,270.8,8.9,219,2621,1.02,0.00,299.95,0.634,6,0.071,0.000,3006,2541,2936
$STATE,2622,end apogee,CONTROL_FINISHED_OK
$STATE,2622,begin climb
$GC,2624,1.39,243.3,284.5,0.0,250,2939,1.75,2.58,301.00,0.622,4,0.048,0.071,3399,3890,1943
$GC,2963,1.42,266.1,268.1,9.4,280,3000,0.00,2.38,29.50,0.592,6,0.000,0.034,3399,2516,1851
$GC,3317,1.42,266.1,233.1,10.2,313,3322,0.00,2.58,0.00,0.000,4,0.000,0.069,3399,3891,1847
$GC,3373,1.42,266.1,226.8,11.2,317,3380,0.00,2.35,0.00,0.000,6,0.000,0.035,3399,2526,1845
$GC,3698,1.50,333.1,196.6,8.1,348,3792,0.00,2.62,83.82,0.624,4,0.000,0.067,3399,3885,1578
$GC,3875,1.50,333.1,180.4,10.8,363,3883,0.00,2.38,0.00,0.000,6,0.000,0.034,3399,2524,1575
$GC,4201,1.56,382.9,149.7,8.6,394,4276,0.15,2.62,62.83,0.602,4,0.049,0.064,3442,3888,1375
$GC,4323,1.56,382.9,135.4,13.7,405,4327,0.00,2.35,0.00,0.000,6,0.000,0.033,3443,2518,1374
$GC,4648,1.56,382.9,95.1,12.1,435,4652,0.00,2.53,0.00,0.000,4,0.000,0.063,3443,3888,1371
$GC,4703,1.56,382.9,87.6,13.1,439,4710,0.00,2.33,0.00,0.000,6,0.000,0.031,3443,2518,1371
$GC,5027,1.56,382.9,49.6,11.6,470,5031,0.00,2.50,0.00,0.000,4,0.000,0.061,3443,3894,1370
$GC,5140,1.56,382.9,37.5,10.3,480,5144,0.00,2.30,0.00,0.000,6,0.000,0.030,3443,2525,1370
$GC,5337,1.63,439.2,20.0,8.4,498,5413,0.00,2.58,65.22,0.525,4,0.000,0.061,3443,3887,1145
$GC,5469,1.63,439.2,6.4,11.3,519,5476,0.00,2.30,0.00,0.000,6,0.000,0.029,3443,2522,1144
$STATE,5491,end climb,SURFACE_DEPTH_REACHED
$STATE,5491,begin surface coast
$FINISH,-0.0,1.014050
$STATE,5531,end surface coast,CONTROL_FINISHED_OK
$STATE,5531,begin surface
$SM_CCo,5616,0.00,0.000,0,0,1140,440.56
$SM_GC,0.89,14.38,0.00,0.00,0.032,0.000,0.000,124,2631,1140,-13.59,0.08,440.56
$IRIDIUM_FIX,2143.45,-15943.76,261098,212126
$TT8_MAMPS,0.068263
$HUMID,1880
$INTERNAL_PRESSURE,11.4458
$TCM_TEMP,23.90
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.8,16.367
$10V_AH,10.0,5.169
$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,33.150,52.725,842.325,0.000,0.000,23.588,28.103,451.837,0.000,0.000,77.495,16.106,945.449,2719.056,790.042,959.003,862.993,33.341,1420.577,0.000,912.283,0.000,0.000,0.000
$DEVICE_MAMPS,177.944,73.632,634.309,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,344.478,0.000,0.000,0.000,0.000,0.000,110.689,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,15832,530
$CAP_FILE_SIZE,198633,0
$CFSIZE,260034560,252260352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020809,004707,2153.470,-15944.641,36,1.0,37,9.8