version: 66.04
glider: 116
mission: 22
dive: 56
start: 8 2 109 21 33 59
data:
$ID,116
$MISSION,22
$DIVE,56
$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,-58642.723
$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,49
$R_STBD_OVSHOOT,36
$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
$GPS1,212128,2155.019,-15942.713,8,4.6,28,9.8
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-66.8
$GPS2,213306,2155.076,-15942.748,18,1.0,32,9.8
$SPEED_LIMITS,0.100,0.278
$TGT_NAME,BobNE
$TGT_LATLONG,2154.185,-15941.805
$TGT_RADIUS,400.000
$KALMAN_CONTROL,0.219,-0.172
$KALMAN_X,-80376.3,238.4,-466.8,79259.6,-494.8
$KALMAN_Y,15923.3,-183.1,159.8,-17727.5,231.7
$MHEAD_RNG_PITCHd_Wd,118.3,2313,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.55,-170.3,0.0,0.0,0,93,0.00,0.00,-74.12,0.000,2,0.000,0.000,125,2657,3388
$GC,95,-1.55,-170.3,3.6,-8.7,11,118,15.48,0.00,-3.75,0.000,6,0.173,0.000,2750,2657,3633
$GC,183,-1.55,-170.3,29.8,-20.3,22,184,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2657,3635
$GC,374,-1.55,-170.3,62.3,-14.9,40,375,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2657,3634
$GC,694,-1.55,-170.3,103.7,-13.5,70,697,0.00,2.20,0.00,0.000,4,0.000,0.061,2751,3873,3636
$GC,739,-1.55,-170.3,110.6,-15.8,74,742,0.00,2.08,0.00,0.000,6,0.000,0.028,2751,2616,3636
$GC,1069,-1.55,-170.3,151.3,-11.5,105,1073,0.00,2.30,0.00,0.000,4,0.000,0.062,2750,3876,3637
$GC,1120,-1.55,-170.3,157.3,-11.6,109,1124,0.00,2.08,0.00,0.000,6,0.000,0.028,2751,2620,3636
$GC,1450,-1.55,-170.3,191.6,-10.6,140,1454,0.00,2.35,0.00,0.000,4,0.000,0.036,2750,1234,3638
$GC,1517,-1.55,-170.3,199.2,-11.2,146,1522,0.00,2.38,0.00,0.000,6,0.000,0.035,2751,2613,3638
$GC,1842,-1.55,-170.3,237.2,-10.6,176,1843,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2613,3638
$STATE,2139,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2139,begin apogee
$GC,2143,-0.42,0.0,270.3,11.0,204,2363,1.15,0.00,211.98,0.631,6,0.077,0.000,2999,2548,2936
$STATE,2364,end apogee,CONTROL_FINISHED_OK
$STATE,2364,begin climb
$GC,2366,1.55,170.3,278.8,0.0,226,2593,1.92,2.58,211.73,0.618,4,0.048,0.043,3431,1133,2241
$GC,2755,1.55,170.3,249.5,11.1,259,2763,0.00,2.50,0.00,0.000,6,0.000,0.038,3431,2534,2238
$GC,3081,1.59,202.9,218.9,8.7,290,3123,0.00,0.00,40.50,0.609,6,0.000,0.000,3431,2534,2108
$GC,3440,1.60,209.6,188.3,9.7,324,3451,0.00,0.00,8.35,0.537,6,0.000,0.000,3431,2534,2082
$GC,3768,1.60,209.6,157.2,10.4,355,3772,0.00,2.47,0.00,0.000,4,0.000,0.041,3431,1120,2080
$GC,3856,1.60,209.6,148.2,10.6,362,3863,0.00,2.47,0.00,0.000,6,0.000,0.036,3431,2540,2079
$GC,4181,1.66,261.4,121.4,7.9,393,4254,0.08,2.53,62.80,0.599,4,0.068,0.064,3461,3891,1869
$GC,4313,1.67,265.1,108.5,9.9,404,4326,0.00,2.35,5.47,0.451,6,0.000,0.032,3461,2509,1855
$GC,4643,1.76,341.2,74.3,7.0,435,4744,0.00,0.00,94.25,0.561,6,0.000,0.000,3462,2509,1545
$GC,5062,1.81,380.3,37.1,8.5,475,5122,0.00,2.47,48.33,0.525,4,0.000,0.038,3462,1131,1385
$GC,5204,1.81,380.3,22.4,10.3,487,5213,0.00,2.45,0.00,0.000,6,0.000,0.031,3462,2532,1382
$STATE,5375,end climb,SURFACE_DEPTH_REACHED
$STATE,5376,begin surface coast
$FINISH,0.1,1.022891
$STATE,5416,end surface coast,CONTROL_FINISHED_OK
$STATE,5416,begin surface
$SM_CCo,5441,9.25,0.442,0,0,1304,400.08
$SM_GC,0.89,0.00,0.00,9.25,0.000,0.000,0.442,124,2650,1304,-13.67,0.62,400.08
$IRIDIUM_FIX,2145.77,-15940.77,271098,191914
$TT8_MAMPS,0.077467
$HUMID,1878
$INTERNAL_PRESSURE,11.475
$TCM_TEMP,24.00
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.8,18.323
$10V_AH,10.0,5.947
$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,33.325,33.475,683.400,9.250,0.000,24.871,26.576,467.032,0.000,0.000,67.317,32.155,965.576,2686.212,661.897,960.208,880.616,33.331,1242.958,0.000,896.160,0.000,0.000,0.000
$DEVICE_MAMPS,173.342,64.428,631.241,441.792,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,342.043,0.000,0.000,0.000,0.000,0.000,86.317,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,15865,523
$CAP_FILE_SIZE,195567,0
$CFSIZE,260034560,251006976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020809,230537,2154.595,-15942.516,8,1.3,14,9.8