version: 66.04
glider: 116
mission: 22
dive: 48
start: 8 2 109 4 16 3
data:
$ID,116
$MISSION,22
$DIVE,48
$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,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,-58422.047
$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,51
$R_STBD_OVSHOOT,30
$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
$GPS1,040700,2154.419,-15944.512,37,1.2,43,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-71.3
$GPS2,041508,2154.436,-15944.646,10,2.0,10,9.8
$SPEED_LIMITS,0.100,0.324
$TGT_NAME,TA
$TGT_LATLONG,2155.000,-15943.400
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.324,-0.020
$KALMAN_X,-71034.0,-1397.4,136.0,67697.4,-756.1
$KALMAN_Y,13859.3,340.9,139.0,-17346.5,271.9
$MHEAD_RNG_PITCHd_Wd,83.7,2381,-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,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,-73.85,0.000,2,0.000,0.000,124,2647,3368
$GC,95,-1.39,-243.3,3.6,-8.0,11,125,15.88,2.47,-8.43,0.000,4,0.179,0.043,2789,1237,3933
$GC,310,-1.39,-243.3,51.1,-16.0,32,319,0.00,2.42,0.00,0.000,6,0.000,0.035,2789,2624,3935
$GC,637,-1.39,-243.3,93.0,-12.5,63,638,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2624,3935
$GC,956,-1.39,-243.3,132.7,-11.6,93,959,0.00,2.38,0.00,0.000,4,0.000,0.033,2789,1240,3934
$GC,1001,-1.39,-243.3,138.1,-11.7,97,1004,0.00,2.40,0.00,0.000,6,0.000,0.036,2789,2632,3935
$GC,1331,-1.39,-243.3,175.6,-10.9,128,1332,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2633,3935
$STATE,1373,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1373,begin apogee
$GC,1378,-0.42,0.0,180.1,10.5,132,1686,0.98,0.00,297.77,0.568,6,0.071,0.000,3004,2529,2935
$STATE,1687,end apogee,CONTROL_FINISHED_OK
$STATE,1687,begin climb
$GC,1689,1.39,243.3,193.3,0.0,163,1999,1.75,2.58,298.05,0.557,4,0.048,0.066,3396,3890,1944
$GC,2252,1.39,245.7,155.2,9.9,211,2259,0.00,2.33,0.00,0.000,6,0.000,0.030,3396,2517,1940
$GC,2577,1.51,344.5,127.9,7.2,242,2711,0.12,2.62,124.62,0.542,4,0.051,0.061,3434,3890,1531
$GC,2765,1.51,344.5,109.3,12.3,258,2769,0.00,2.33,0.00,0.000,6,0.000,0.030,3434,2517,1528
$GC,3089,1.51,344.5,75.1,10.2,288,3093,0.00,2.53,0.00,0.000,4,0.000,0.061,3434,3895,1526
$GC,3200,1.51,344.5,63.4,11.2,297,3208,0.00,2.33,0.00,0.000,6,0.000,0.029,3434,2528,1525
$GC,3526,1.53,356.9,33.5,9.7,328,3550,0.00,2.45,15.12,0.483,4,0.000,0.037,3435,1140,1480
$GC,3588,1.53,356.9,27.0,10.2,333,3596,0.00,2.45,0.00,0.000,6,0.000,0.032,3434,2538,1479
$GC,3791,1.61,425.0,9.2,8.1,363,3854,0.00,0.00,59.97,0.490,2,0.000,0.000,3435,2538,1246
$STATE,3855,end climb,SURFACE_DEPTH_REACHED
$STATE,3855,begin surface coast
$FINISH,0.1,1.022885
$STATE,3899,end surface coast,CONTROL_FINISHED_OK
$STATE,3899,begin surface
$SM_CCo,3984,0.00,0.000,0,0,1240,416.03
$SM_GC,1.09,14.43,0.00,0.00,0.035,0.000,0.000,124,2631,1240,-13.58,0.08,416.03
$IRIDIUM_FIX,2145.77,-15945.93,271098,020221
$TT8_MAMPS,0.055224
$HUMID,1811
$INTERNAL_PRESSURE,11.5141
$TCM_TEMP,24.40
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.6,16.909
$10V_AH,10.1,5.335
$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,33.150,29.575,795.550,0.000,0.000,24.121,24.981,305.548,0.000,0.000,125.794,10.684,665.751,1723.132,717.774,753.996,618.203,33.345,1241.319,0.000,716.888,0.000,0.000,0.000
$DEVICE_MAMPS,178.711,65.962,568.347,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,243.219,0.000,0.000,0.000,0.000,0.000,55.180,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,12701,380
$CAP_FILE_SIZE,144574,0
$CFSIZE,260034560,251990016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020809,052328,2154.636,-15944.712,9,2.4,28,9.8