version: 66.04
glider: 116
mission: 22
dive: 54
start: 8 2 109 18 7 28
data:
$ID,116
$MISSION,22
$DIVE,54
$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,175
$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,-58597.508
$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,52
$R_STBD_OVSHOOT,27
$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
$GPS1,175258,2154.948,-15943.113,14,2.8,34,9.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-66.9
$GPS2,180636,2154.908,-15943.234,40,1.1,40,9.8
$SPEED_LIMITS,0.100,0.278
$TGT_NAME,BobNE
$TGT_LATLONG,2154.185,-15941.805
$TGT_RADIUS,400.000
$KALMAN_CONTROL,0.272,-0.059
$KALMAN_X,-79348.7,1179.2,-354.6,76342.5,-1392.3
$KALMAN_Y,15170.8,-482.2,207.8,-17024.6,276.1
$MHEAD_RNG_PITCHd_Wd,92.4,2797,-16.1,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.55,-170.3,0.0,0.0,0,94,0.00,0.00,-73.57,0.000,2,0.000,0.000,122,2639,3386
$GC,96,-1.55,-170.3,3.6,-7.9,11,125,15.62,2.42,-3.70,0.000,4,0.176,0.044,2748,1248,3634
$GC,161,-1.55,-170.3,25.2,-18.9,19,165,0.00,2.38,0.00,0.000,6,0.000,0.035,2748,2624,3635
$GC,358,-1.55,-170.3,60.0,-17.7,37,362,0.00,2.30,0.00,0.000,4,0.000,0.061,2748,3894,3635
$GC,397,-1.55,-170.3,67.8,-20.6,40,401,0.00,2.10,0.00,0.000,6,0.000,0.028,2748,2623,3635
$GC,727,-1.55,-170.3,120.8,-15.6,71,731,0.00,2.35,0.00,0.000,4,0.000,0.033,2748,1235,3636
$GC,823,-1.55,-170.3,132.8,-11.9,79,827,0.00,2.40,0.00,0.000,6,0.000,0.035,2748,2630,3636
$GC,1147,-1.55,-170.3,168.6,-10.6,109,1151,0.00,2.30,0.00,0.000,4,0.000,0.067,2748,3889,3637
$GC,1250,-1.55,-170.3,180.9,-12.1,118,1253,0.00,2.10,0.00,0.000,6,0.000,0.028,2748,2616,3637
$GC,1580,-1.55,-170.3,220.0,-11.8,149,1584,0.00,2.35,0.00,0.000,4,0.000,0.035,2748,1235,3637
$GC,1679,-1.55,-170.3,232.2,-12.3,157,1687,0.00,2.42,0.00,0.000,6,0.000,0.037,2748,2622,3637
$GC,2005,-1.55,-170.3,266.0,-8.5,188,2009,0.00,2.35,0.00,0.000,4,0.000,0.071,2748,3893,3637
$STATE,2042,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2042,begin apogee
$GC,2049,-0.42,0.0,270.2,11.4,191,2269,1.17,0.00,213.27,0.620,6,0.079,0.000,2999,2535,2936
$STATE,2270,end apogee,CONTROL_FINISHED_OK
$STATE,2270,begin climb
$GC,2272,1.55,170.3,279.4,0.0,213,2499,1.92,2.50,212.55,0.609,4,0.048,0.042,3439,1136,2240
$GC,2706,1.55,174.5,249.3,9.8,250,2718,0.00,2.45,6.35,0.478,6,0.000,0.037,3439,2534,2224
$GC,3044,1.58,192.7,216.4,9.3,282,3073,0.00,2.55,23.27,0.594,4,0.000,0.067,3439,3891,2149
$GC,3142,1.58,192.7,206.3,11.4,290,3146,0.00,2.33,0.00,0.000,6,0.000,0.033,3439,2531,2149
$GC,3467,1.64,245.5,176.2,7.9,320,3540,0.00,2.45,64.53,0.607,4,0.000,0.041,3440,1136,1935
$GC,3664,1.64,245.5,155.4,12.2,337,3669,0.00,2.45,0.00,0.000,6,0.000,0.036,3440,2538,1932
$GC,3989,1.66,263.1,125.5,9.3,367,4017,0.00,2.55,21.38,0.563,4,0.000,0.063,3439,3890,1863
$GC,4115,1.66,263.1,111.7,11.9,378,4119,0.00,2.33,0.00,0.000,6,0.000,0.031,3439,2513,1861
$GC,4441,1.69,281.3,81.1,9.3,408,4470,0.00,0.00,23.38,0.543,6,0.000,0.000,3439,2511,1788
$GC,4789,1.81,379.6,50.8,6.1,441,4920,0.00,2.40,121.18,0.528,4,0.000,0.038,3440,1140,1387
$GC,4966,1.82,388.9,34.4,9.6,456,4984,0.00,2.42,12.90,0.472,6,0.000,0.032,3439,2538,1350
$GC,5178,1.95,492.8,17.0,5.9,479,5301,0.00,0.00,115.65,0.492,6,0.000,0.000,3439,2538,927
$STATE,5318,end climb,SURFACE_DEPTH_REACHED
$STATE,5318,begin surface coast
$FINISH,0.1,1.022909
$STATE,5352,end surface coast,CONTROL_FINISHED_OK
$STATE,5353,begin surface
$SM_CCo,5437,0.00,0.000,0,0,922,493.79
$SM_GC,0.95,14.85,0.00,0.00,0.048,0.000,0.000,124,2632,922,-13.60,0.14,493.79
$IRIDIUM_FIX,2148.09,-15940.77,271098,181848
$TT8_MAMPS,0.055991
$HUMID,1793
$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,23.9,17.994
$10V_AH,10.1,5.818
$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,33.575,52.375,814.450,0.000,0.000,50.626,56.316,510.115,0.000,0.000,65.131,40.090,923.313,2615.783,734.032,1020.880,964.383,33.344,1381.235,0.000,945.507,0.000,0.000,0.000
$DEVICE_MAMPS,176.410,70.564,619.736,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,328.180,0.000,0.000,0.000,0.000,0.000,106.474,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,15876,506
$CAP_FILE_SIZE,197531,0
$CFSIZE,260034560,251260928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020809,193906,2154.877,-15943.035,12,1.4,29,9.8