version: 66.04
glider: 116
mission: 22
dive: 64
start: 8 3 109 14 50 7
data:
$ID,116
$MISSION,22
$DIVE,64
$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,-58766.859
$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,45
$R_STBD_OVSHOOT,23
$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
$GPS1,144104,2154.459,-15943.144,8,2.4,28,9.8
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-67.6
$GPS2,144914,2154.506,-15943.245,15,1.1,15,9.8
$SPEED_LIMITS,0.100,0.278
$TGT_NAME,BobNE
$TGT_LATLONG,2154.185,-15941.805
$TGT_RADIUS,400.000
$KALMAN_CONTROL,0.270,-0.067
$KALMAN_X,-90478.6,958.5,25.9,87308.4,-1273.3
$KALMAN_Y,19207.9,-381.9,-125.0,-21585.5,316.5
$MHEAD_RNG_PITCHd_Wd,94.1,2545,-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,-74.00,0.000,2,0.000,0.000,124,2631,3368
$GC,96,-1.55,-170.3,3.4,-7.3,11,119,15.75,0.00,-4.07,0.000,6,0.179,0.000,2749,2632,3634
$GC,184,-1.55,-170.3,29.2,-19.4,22,185,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2632,3635
$GC,375,-1.55,-170.3,63.8,-15.8,40,379,0.00,2.38,0.00,0.000,4,0.000,0.031,2750,1234,3637
$GC,431,-1.55,-170.3,71.8,-14.1,44,438,0.00,2.40,0.00,0.000,6,0.000,0.034,2750,2628,3637
$GC,755,-1.55,-170.3,115.9,-14.1,75,759,0.00,2.30,0.00,0.000,4,0.000,0.064,2750,3892,3639
$GC,839,-1.55,-170.3,128.7,-14.1,82,843,0.00,2.12,0.00,0.000,6,0.000,0.028,2750,2612,3639
$GC,1170,-1.55,-170.3,169.1,-11.5,113,1174,0.00,2.35,0.00,0.000,4,0.000,0.064,2750,3890,3640
$GC,1225,-1.55,-170.3,176.7,-13.6,117,1232,0.00,2.10,0.00,0.000,6,0.000,0.028,2750,2625,3640
$GC,1550,-1.55,-170.3,212.7,-9.5,148,1551,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2625,3640
$GC,1868,-1.55,-170.3,244.0,-10.1,178,1869,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2625,3640
$STATE,2100,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2100,begin apogee
$GC,2105,-0.42,0.0,270.1,12.1,200,2325,1.20,0.00,211.52,0.635,6,0.077,0.000,3003,2535,2936
$STATE,2326,end apogee,CONTROL_FINISHED_OK
$STATE,2327,begin climb
$GC,2328,1.55,170.3,281.7,0.0,222,2555,1.92,2.58,210.12,0.622,4,0.046,0.044,3436,1131,2241
$GC,2613,1.55,170.3,265.9,11.2,246,2617,0.00,2.47,0.00,0.000,6,0.000,0.038,3436,2536,2239
$GC,2937,1.55,170.3,229.8,10.7,276,2942,0.00,2.50,0.00,0.000,4,0.000,0.068,3435,3883,2237
$GC,3025,1.55,170.3,220.2,10.2,283,3033,0.00,2.35,0.00,0.000,6,0.000,0.034,3436,2529,2236
$GC,3351,1.60,215.5,189.9,8.2,314,3413,0.00,2.55,54.80,0.611,4,0.000,0.042,3436,1129,2057
$GC,3485,1.67,271.0,178.9,7.8,325,3564,0.05,2.50,68.30,0.602,6,0.090,0.038,3455,2545,1831
$GC,3881,1.67,271.0,138.6,10.9,362,3885,0.00,2.47,0.00,0.000,4,0.000,0.066,3455,3890,1825
$GC,3908,1.67,271.0,135.4,12.0,364,3912,0.00,2.30,0.00,0.000,6,0.000,0.034,3457,2528,1825
$GC,4239,1.68,276.1,100.8,9.8,395,4252,0.00,2.50,5.68,0.461,4,0.000,0.062,3457,3888,1810
$GC,4320,1.68,276.1,92.6,10.3,402,4324,0.00,2.30,0.00,0.000,6,0.000,0.031,3457,2528,1810
$GC,4645,1.72,309.4,64.1,8.7,432,4693,0.00,2.42,42.85,0.554,4,0.000,0.037,3457,1139,1673
$GC,4744,1.75,335.5,56.9,9.0,440,4788,0.00,2.42,33.12,0.534,6,0.000,0.034,3457,2535,1568
$GC,5106,1.75,335.5,22.1,10.7,474,5110,0.00,2.45,0.00,0.000,4,0.000,0.060,3457,3885,1565
$GC,5184,1.75,335.5,13.3,10.7,485,5191,0.00,2.28,0.00,0.000,6,0.000,0.029,3457,2524,1563
$GC,5260,1.85,417.9,7.4,6.7,498,5303,0.00,0.00,39.38,0.499,2,0.000,0.000,3457,2524,1408
$STATE,5303,end climb,SURFACE_DEPTH_REACHED
$STATE,5303,begin surface coast
$FINISH,0.3,1.022866
$STATE,5348,end surface coast,CONTROL_FINISHED_OK
$STATE,5348,begin surface
$SM_CCo,5372,11.48,0.453,0,0,1304,400.08
$SM_GC,0.64,0.00,0.00,11.48,0.000,0.000,0.453,123,2637,1304,-13.67,0.25,400.08
$IRIDIUM_FIX,2145.77,-15928.27,281098,131343
$TT8_MAMPS,0.062127
$HUMID,1821
$INTERNAL_PRESSURE,11.4653
$TCM_TEMP,24.20
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.9,19.726
$10V_AH,10.1,6.562
$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,33.525,48.075,665.775,11.475,0.000,25.394,24.171,308.203,0.000,0.000,88.727,15.729,959.215,2632.834,649.050,938.505,699.062,33.341,1247.957,0.000,901.962,0.000,0.000,0.000
$DEVICE_MAMPS,178.711,68.263,635.076,453.297,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,334.440,0.000,0.000,0.000,0.000,0.000,90.239,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,15897,512
$CAP_FILE_SIZE,191664,0
$CFSIZE,260034560,250060800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030809,162038,2154.550,-15943.103,12,1.5,13,9.8