version: 66.04
glider: 116
mission: 22
dive: 58
start: 8 3 109 0 56 37
data:
$ID,116
$MISSION,22
$DIVE,58
$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,-58673.969
$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,48
$R_STBD_OVSHOOT,25
$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
$GPS1,004654,2154.442,-15942.344,39,1.4,40,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-66.9
$GPS2,005544,2154.527,-15942.512,14,1.4,14,9.8
$SPEED_LIMITS,0.100,0.278
$TGT_NAME,BobNE
$TGT_LATLONG,2154.185,-15941.805
$TGT_RADIUS,400.000
$KALMAN_CONTROL,0.251,-0.120
$KALMAN_X,-82159.4,-803.7,369.9,81661.8,-835.1
$KALMAN_Y,16447.1,235.6,-97.7,-19423.5,379.5
$MHEAD_RNG_PITCHd_Wd,105.9,1370,-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,-74.45,0.000,2,0.000,0.000,123,2618,3380
$GC,97,-1.55,-170.3,3.5,-8.2,11,126,15.73,2.40,-3.83,0.000,4,0.179,0.044,2747,1238,3635
$GC,165,-1.55,-170.3,26.1,-19.2,19,173,0.00,2.45,0.00,0.000,6,0.000,0.037,2748,2630,3636
$GC,364,-1.55,-170.3,60.7,-19.5,38,365,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2630,3637
$GC,683,-1.55,-170.3,107.7,-13.5,68,684,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2630,3639
$GC,1001,-1.55,-170.3,150.2,-11.3,98,1002,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2630,3640
$GC,1319,-1.55,-170.3,185.7,-11.6,128,1323,0.00,2.33,0.00,0.000,4,0.000,0.070,2747,3895,3641
$GC,1376,-1.55,-170.3,192.7,-12.6,133,1379,0.00,2.12,0.00,0.000,6,0.000,0.029,2747,2623,3641
$GC,1706,-1.55,-170.3,227.8,-10.8,164,1710,0.00,2.38,0.00,0.000,4,0.000,0.038,2747,1235,3642
$GC,1757,-1.55,-170.3,233.2,-10.5,168,1761,0.00,2.42,0.00,0.000,6,0.000,0.038,2747,2633,3641
$STATE,2069,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2069,begin apogee
$GC,2074,-0.42,0.0,270.0,12.4,197,2295,1.17,0.00,212.40,0.633,6,0.075,0.000,3000,2534,2935
$STATE,2296,end apogee,CONTROL_FINISHED_OK
$STATE,2296,begin climb
$GC,2298,1.55,170.3,280.9,0.0,219,2524,1.92,2.58,210.27,0.621,4,0.048,0.042,3433,1126,2241
$GC,2731,1.55,170.3,247.6,10.6,256,2739,0.00,2.50,0.00,0.000,6,0.000,0.038,3433,2525,2238
$GC,3057,1.59,205.7,218.0,8.6,287,3106,0.00,2.62,43.15,0.614,4,0.000,0.069,3432,3887,2097
$GC,3141,1.64,245.7,211.0,8.4,294,3202,0.00,2.35,50.50,0.607,6,0.000,0.034,3433,2519,1933
$GC,3520,1.67,269.2,173.8,9.1,329,3557,0.08,2.55,29.00,0.597,4,0.067,0.066,3462,3882,1838
$GC,3602,1.67,269.2,164.9,10.6,336,3606,0.00,2.33,0.00,0.000,6,0.000,0.033,3462,2524,1837
$GC,3928,1.67,269.2,127.1,10.7,366,3929,0.00,0.00,0.00,0.000,6,0.000,0.000,3462,2522,1833
$GC,4245,1.67,269.2,93.2,12.2,396,4249,0.00,2.40,0.00,0.000,4,0.000,0.039,3463,1135,1832
$GC,4300,1.67,269.2,86.7,12.6,400,4307,0.00,2.42,0.00,0.000,6,0.000,0.036,3463,2531,1831
$GC,4625,1.77,350.4,57.8,6.8,431,4732,0.00,2.53,98.78,0.551,4,0.000,0.061,3462,3891,1506
$GC,4812,1.79,366.2,42.3,9.4,447,4837,0.00,2.33,20.17,0.512,6,0.000,0.029,3463,2512,1443
$GC,5025,1.79,366.2,20.4,10.5,467,5029,0.00,2.53,0.00,0.000,4,0.000,0.059,3462,3890,1441
$GC,5076,1.79,366.2,14.8,10.7,475,5083,0.00,2.30,0.00,0.000,6,0.000,0.028,3463,2518,1441
$GC,5153,1.84,403.4,7.3,8.5,488,5196,0.00,0.62,38.85,0.499,3,0.000,0.031,3463,2134,1290
$STATE,5197,end climb,SURFACE_DEPTH_REACHED
$STATE,5197,begin surface coast
$FINISH,-0.1,1.022899
$STATE,5247,end surface coast,CONTROL_FINISHED_OK
$STATE,5247,begin surface
$SM_CCo,5331,0.00,0.000,0,0,1285,404.99
$SM_GC,0.83,14.50,0.00,0.00,0.033,0.000,0.000,124,2635,1285,-13.59,0.20,404.99
$IRIDIUM_FIX,2148.09,-15942.95,271098,232331
$TT8_MAMPS,0.073632
$HUMID,1851
$INTERNAL_PRESSURE,11.4848
$TCM_TEMP,24.20
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.5,18.645
$10V_AH,10.1,6.068
$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,33.400,45.200,703.125,0.000,0.000,26.228,25.969,334.578,0.000,0.000,66.794,14.626,929.661,2617.075,661.475,928.415,728.823,33.343,1255.238,0.000,885.538,0.000,0.000,0.000
$DEVICE_MAMPS,179.478,69.797,632.775,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,328.198,0.000,0.000,0.000,0.000,0.000,81.762,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,15807,503
$CAP_FILE_SIZE,188248,0
$CFSIZE,260034560,250798080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030809,022634,2154.417,-15942.319,13,2.6,33,9.8