version: 66.04
glider: 116
mission: 22
dive: 55
start: 8 2 109 19 50 31
data:
$ID,116
$MISSION,22
$DIVE,55
$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,-58609.938
$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,28
$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
$GPS1,193906,2154.877,-15943.035,12,1.4,29,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-65.2
$GPS2,194938,2154.878,-15943.167,11,1.7,11,9.8
$SPEED_LIMITS,0.100,0.278
$TGT_NAME,BobNE
$TGT_LATLONG,2154.185,-15941.805
$TGT_RADIUS,400.000
$KALMAN_CONTROL,0.267,-0.078
$KALMAN_X,-79951.9,696.8,-619.6,77810.7,-861.9
$KALMAN_Y,15277.9,-399.4,279.0,-17342.0,100.6
$MHEAD_RNG_PITCHd_Wd,96.4,2670,-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,-170.3,0.0,0.0,0,107,0.00,0.00,-86.80,0.000,2,0.000,0.000,122,2635,3386
$GC,110,-1.55,-170.3,4.0,-10.2,13,139,15.62,2.42,-3.70,0.000,4,0.176,0.041,2759,1235,3633
$GC,209,-1.55,-170.3,31.1,-15.9,24,213,0.00,2.40,0.00,0.000,6,0.000,0.035,2759,2626,3635
$GC,406,-1.55,-170.3,64.6,-15.2,42,407,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,2627,3634
$GC,725,-1.55,-170.3,107.3,-12.9,72,727,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,2626,3633
$GC,1044,-1.55,-170.3,146.4,-10.8,102,1048,0.00,2.30,0.00,0.000,4,0.000,0.065,2759,3890,3632
$GC,1095,-1.55,-170.3,152.5,-12.2,106,1099,0.00,2.10,0.00,0.000,6,0.000,0.028,2759,2622,3632
$GC,1426,-1.55,-170.3,188.6,-10.1,137,1430,0.00,2.35,0.00,0.000,4,0.000,0.036,2759,1242,3638
$GC,1545,-1.55,-170.3,200.2,-9.7,147,1549,0.00,2.40,0.00,0.000,6,0.000,0.037,2759,2633,3641
$GC,1869,-1.55,-170.3,233.0,-10.5,177,1871,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,2633,3637
$GC,2188,-1.55,-170.3,265.4,-9.7,207,2189,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,2633,3632
$STATE,2240,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2241,begin apogee
$GC,2247,-0.42,0.0,270.6,9.8,212,2466,1.12,0.00,211.80,0.628,6,0.075,0.000,3002,2533,2936
$STATE,2467,end apogee,CONTROL_FINISHED_OK
$STATE,2467,begin climb
$GC,2469,1.55,170.3,279.7,0.0,234,2697,1.92,2.45,214.30,0.617,4,0.046,0.042,3435,1131,2241
$GC,2821,1.55,170.3,256.1,10.2,264,2825,0.00,2.47,0.00,0.000,6,0.000,0.038,3436,2534,2239
$GC,3146,1.59,207.0,226.2,8.5,294,3197,0.00,2.58,45.42,0.609,4,0.000,0.070,3435,3892,2092
$GC,3219,1.61,219.1,219.5,9.5,300,3240,0.00,2.38,16.73,0.574,6,0.000,0.035,3435,2527,2042
$GC,3558,1.61,219.1,184.1,10.8,332,3559,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2527,2038
$GC,3875,1.66,260.4,152.9,8.4,362,3936,0.00,2.50,49.60,0.601,4,0.000,0.042,3435,1140,1874
$GC,3970,1.74,329.4,145.1,7.3,370,4066,0.05,2.45,86.60,0.587,6,0.090,0.037,3458,2536,1593
$GC,4385,1.74,329.4,98.1,11.9,408,4386,0.00,0.00,0.00,0.000,6,0.000,0.000,3458,2536,1588
$GC,4701,1.74,329.4,62.5,10.2,438,4705,0.00,2.45,0.00,0.000,4,0.000,0.061,3458,3888,1586
$GC,4807,1.74,329.4,50.9,10.8,447,4811,0.00,2.30,0.00,0.000,6,0.000,0.031,3458,2520,1586
$GC,5131,1.77,353.3,21.7,9.1,477,5163,0.00,0.00,28.80,0.515,6,0.000,0.000,3459,2518,1495
$GC,5230,1.81,381.7,12.6,8.9,492,5265,0.00,0.00,32.72,0.503,6,0.000,0.000,3459,2518,1379
$STATE,5320,end climb,SURFACE_DEPTH_REACHED
$STATE,5321,begin surface coast
$FINISH,0.4,1.022924
$STATE,5361,end surface coast,CONTROL_FINISHED_OK
$STATE,5361,begin surface
$SM_CCo,5385,8.93,0.439,0,0,1304,400.08
$SM_GC,0.63,0.00,0.00,8.93,0.000,0.000,0.439,125,2655,1304,-13.66,0.76,400.08
$IRIDIUM_FIX,2148.09,-15940.77,271098,181833
$TT8_MAMPS,0.071331
$HUMID,1855
$INTERNAL_PRESSURE,11.475
$TCM_TEMP,24.10
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.9,18.157
$10V_AH,9.9,5.883
$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,33.100,33.925,685.975,8.925,0.000,26.261,28.540,424.412,0.000,0.000,61.095,11.800,949.109,2663.046,644.123,938.137,837.327,33.340,1232.338,0.000,890.475,0.000,0.000,0.000
$DEVICE_MAMPS,176.410,69.797,628.173,438.724,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,335.891,0.000,0.000,0.000,0.000,0.000,93.667,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,15856,514
$CAP_FILE_SIZE,192433,0
$CFSIZE,260034560,251142144
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020809,212128,2155.019,-15942.713,8,4.6,28,9.8