version: 66.04
glider: 116
mission: 22
dive: 60
start: 8 3 109 4 15 31
data:
$ID,116
$MISSION,22
$DIVE,60
$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,-58705.891
$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,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
$GPS1,040632,2154.404,-15942.224,12,1.8,13,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-69.5
$GPS2,041437,2154.493,-15942.340,9,1.3,14,9.8
$SPEED_LIMITS,0.100,0.278
$TGT_NAME,BobNE
$TGT_LATLONG,2154.185,-15941.805
$TGT_RADIUS,400.000
$KALMAN_CONTROL,0.243,-0.136
$KALMAN_X,-83808.5,-1378.1,152.0,84393.7,-958.0
$KALMAN_Y,17234.7,522.7,-46.6,-20611.2,513.2
$MHEAD_RNG_PITCHd_Wd,109.4,1081,-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,14,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,-74.07,0.000,2,0.000,0.000,123,2644,3393
$GC,95,-1.55,-170.3,3.8,-8.4,11,118,15.75,0.00,-3.60,0.000,6,0.179,0.000,2750,2643,3634
$GC,189,-1.55,-170.3,31.1,-18.7,22,190,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2643,3636
$GC,380,-1.55,-170.3,64.4,-16.3,40,384,0.00,2.25,0.00,0.000,4,0.000,0.059,2750,3889,3637
$GC,447,-1.55,-170.3,76.6,-17.7,45,454,0.00,2.10,0.00,0.000,6,0.000,0.028,2750,2622,3637
$GC,771,-1.55,-170.3,125.0,-14.2,76,772,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2621,3638
$GC,1091,-1.55,-170.3,168.6,-12.0,106,1095,0.00,2.35,0.00,0.000,4,0.000,0.035,2750,1235,3640
$GC,1133,-1.55,-170.3,174.1,-11.8,109,1141,0.00,2.42,0.00,0.000,6,0.000,0.036,2750,2623,3640
$GC,1459,-1.55,-170.3,207.3,-10.0,140,1463,0.00,2.33,0.00,0.000,4,0.000,0.070,2750,3887,3640
$GC,1501,-1.55,-170.3,212.4,-11.5,143,1510,0.00,2.12,0.00,0.000,6,0.000,0.029,2750,2632,3640
$GC,1827,-1.55,-170.3,249.0,-12.5,174,1829,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2632,3640
$STATE,2007,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2007,begin apogee
$GC,2012,-0.42,0.0,271.0,12.0,191,2232,1.17,0.00,212.70,0.628,6,0.079,0.000,3002,2527,2936
$STATE,2233,end apogee,CONTROL_FINISHED_OK
$STATE,2233,begin climb
$GC,2235,1.55,170.3,282.3,0.0,213,2462,1.92,2.53,211.48,0.617,4,0.047,0.044,3435,1136,2240
$GC,2633,1.56,179.9,256.2,9.6,247,2651,0.00,2.45,12.82,0.561,6,0.000,0.038,3435,2531,2202
$GC,2970,1.63,233.7,225.9,7.9,278,3044,0.00,2.62,66.90,0.615,4,0.000,0.069,3435,3891,1982
$GC,3134,1.63,233.7,211.7,10.0,292,3138,0.00,2.35,0.00,0.000,6,0.000,0.034,3435,2524,1980
$GC,3459,1.64,246.0,180.5,9.5,322,3483,0.00,2.60,14.65,0.577,4,0.000,0.066,3435,3888,1933
$GC,3511,1.64,246.0,175.2,10.5,326,3518,0.00,2.35,0.00,0.000,6,0.000,0.034,3435,2518,1933
$GC,3836,1.64,246.0,143.2,10.4,357,3840,0.00,2.53,0.00,0.000,4,0.000,0.064,3435,3891,1931
$GC,3893,1.68,277.3,137.6,8.8,362,3943,0.05,2.33,38.75,0.597,6,0.091,0.032,3458,2520,1805
$GC,4259,1.68,277.3,99.8,12.6,396,4263,0.00,2.40,0.00,0.000,4,0.000,0.040,3458,1136,1801
$GC,4310,1.68,277.3,93.5,11.8,400,4315,0.00,2.42,0.00,0.000,6,0.000,0.035,3458,2533,1801
$GC,4635,1.69,285.0,63.3,9.7,430,4651,0.00,2.50,9.57,0.508,4,0.000,0.061,3457,3878,1774
$GC,4736,1.69,285.0,53.3,10.5,439,4741,0.00,2.28,0.00,0.000,6,0.000,0.030,3458,2520,1774
$GC,5061,1.69,285.0,23.0,10.6,469,5065,0.00,2.50,0.00,0.000,4,0.000,0.059,3458,3892,1773
$GC,5076,1.72,306.0,21.6,9.2,470,5110,0.00,2.30,27.17,0.519,6,0.000,0.029,3458,2532,1688
$GC,5178,1.75,330.6,11.4,9.0,486,5212,0.00,0.00,27.73,0.505,6,0.000,0.000,3458,2532,1588
$STATE,5249,end climb,SURFACE_DEPTH_REACHED
$STATE,5249,begin surface coast
$FINISH,0.3,1.022882
$STATE,5289,end surface coast,CONTROL_FINISHED_OK
$STATE,5290,begin surface
$SM_CCo,5314,32.65,0.489,0,0,1305,400.08
$SM_GC,1.02,0.00,0.00,32.65,0.000,0.000,0.489,124,2643,1305,-13.66,0.42,400.08
$IRIDIUM_FIX,2143.45,-15940.77,281098,020217
$TT8_MAMPS,0.058292
$HUMID,1858
$INTERNAL_PRESSURE,11.4946
$TCM_TEMP,24.40
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.8,18.949
$10V_AH,10.0,6.187
$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,33.550,48.075,621.775,32.650,0.000,22.594,26.953,299.026,0.000,0.000,77.077,14.798,954.564,2625.950,637.266,935.552,686.354,33.351,1224.906,0.000,891.544,0.000,0.000,0.000
$DEVICE_MAMPS,179.478,69.797,628.173,488.579,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,329.913,0.000,0.000,0.000,0.000,0.000,76.984,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,15864,505
$CAP_FILE_SIZE,190569,0
$CFSIZE,260034560,250601472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030809,054555,2154.269,-15942.198,41,1.3,42,9.8