version: 66.04
glider: 116
mission: 22
dive: 65
start: 8 3 109 16 29 13
data:
$ID,116
$MISSION,22
$DIVE,65
$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,-58784.098
$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,52
$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
$GPS1,162038,2154.550,-15943.103,12,1.5,13,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-69.0
$GPS2,162820,2154.587,-15943.154,16,1.5,16,9.8
$SPEED_LIMITS,0.100,0.278
$TGT_NAME,BobNE
$TGT_LATLONG,2154.185,-15941.805
$TGT_RADIUS,400.000
$KALMAN_CONTROL,0.253,-0.115
$KALMAN_X,-91442.5,1003.4,-366.9,88764.9,-1311.9
$KALMAN_Y,19700.5,-511.1,23.4,-21939.0,606.2
$MHEAD_RNG_PITCHd_Wd,104.7,2436,-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,-170.3,0.0,0.0,0,93,0.00,0.00,-73.72,0.000,2,0.000,0.000,122,2638,3390
$GC,96,-1.55,-170.3,3.9,-9.4,11,125,15.75,2.45,-3.62,0.000,4,0.179,0.044,2750,1238,3633
$GC,164,-1.55,-170.3,27.1,-17.4,19,172,0.00,2.42,0.00,0.000,6,0.000,0.034,2751,2624,3634
$GC,362,-1.55,-170.3,61.2,-14.5,38,366,0.00,2.30,0.00,0.000,4,0.000,0.061,2751,3891,3634
$GC,439,-1.55,-170.3,74.1,-15.4,44,447,0.00,2.15,0.00,0.000,6,0.000,0.028,2751,2622,3633
$GC,765,-1.55,-170.3,118.7,-12.0,75,769,0.00,2.33,0.00,0.000,4,0.000,0.062,2750,3891,3634
$GC,841,-1.55,-170.3,128.6,-13.2,81,849,0.00,2.12,0.00,0.000,6,0.000,0.028,2751,2629,3634
$GC,1167,-1.55,-170.3,169.7,-10.9,112,1171,0.00,2.35,0.00,0.000,4,0.000,0.034,2751,1241,3635
$GC,1230,-1.55,-170.3,177.1,-12.1,117,1234,0.00,2.40,0.00,0.000,6,0.000,0.035,2751,2633,3635
$GC,1554,-1.55,-170.3,213.2,-11.0,147,1555,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2633,3635
$GC,1873,-1.55,-170.3,247.5,-10.5,177,1874,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2633,3635
$STATE,2095,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2095,begin apogee
$GC,2100,-0.42,0.0,271.1,10.9,198,2319,1.15,0.00,211.02,0.630,6,0.077,0.000,2999,2533,2936
$STATE,2320,end apogee,CONTROL_FINISHED_OK
$STATE,2321,begin climb
$GC,2323,1.55,170.3,280.5,0.0,220,2549,1.92,2.53,211.12,0.618,4,0.048,0.042,3432,1140,2241
$GC,2665,1.56,179.3,262.9,9.6,249,2682,0.00,2.45,12.02,0.552,6,0.000,0.038,3432,2533,2205
$GC,3002,1.60,212.7,231.8,8.7,280,3051,0.00,2.50,42.83,0.607,4,0.000,0.070,3431,3892,2068
$GC,3090,1.60,212.7,223.6,10.5,287,3098,0.00,2.38,0.00,0.000,6,0.000,0.033,3431,2529,2066
$GC,3416,1.64,246.4,194.1,8.7,318,3459,0.00,0.00,41.33,0.607,6,0.000,0.000,3431,2526,1932
$GC,3775,1.66,259.3,162.6,9.5,352,3796,0.08,0.00,16.23,0.574,6,0.067,0.000,3462,2526,1878
$GC,4113,1.70,296.6,128.1,8.5,384,4165,0.00,2.55,47.05,0.585,4,0.000,0.064,3462,3887,1726
$GC,4281,1.70,296.6,108.8,12.2,398,4285,0.00,2.33,0.00,0.000,6,0.000,0.031,3463,2515,1724
$GC,4606,1.74,323.7,75.6,8.9,428,4647,0.00,0.00,34.00,0.549,6,0.000,0.000,3463,2514,1616
$GC,4966,1.74,326.4,44.2,9.9,462,4968,0.00,0.00,0.00,0.000,6,0.000,0.000,3463,2514,1613
$GC,5156,1.75,332.4,25.4,9.8,480,5170,0.00,0.00,11.65,0.486,6,0.000,0.000,3463,2514,1580
$GC,5365,1.75,332.4,4.2,11.5,513,5371,0.00,0.00,0.00,0.000,6,0.000,0.000,3463,2514,1579
$STATE,5376,end climb,SURFACE_DEPTH_REACHED
$STATE,5376,begin surface coast
$FINISH,-0.1,1.022953
$STATE,5410,end surface coast,CONTROL_FINISHED_OK
$STATE,5410,begin surface
$SM_CCo,5434,31.77,0.487,0,0,1304,400.08
$SM_GC,0.85,0.00,0.00,31.77,0.000,0.000,0.487,123,2642,1304,-13.67,0.40,400.08
$IRIDIUM_FIX,2145.77,-15943.76,281098,141449
$TT8_MAMPS,0.062127
$HUMID,1841
$INTERNAL_PRESSURE,11.475
$TCM_TEMP,24.30
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.8,19.873
$10V_AH,9.8,6.621
$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,33.275,33.625,627.250,31.775,0.000,29.942,28.296,272.290,0.000,0.000,57.288,16.608,974.213,2714.834,647.208,921.989,676.293,33.346,1216.250,0.000,887.974,0.000,0.000,0.000
$DEVICE_MAMPS,178.711,69.797,629.707,487.045,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,340.881,0.000,0.000,0.000,0.000,0.000,80.161,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,15838,521
$CAP_FILE_SIZE,190691,0
$CFSIZE,260034560,249966592
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030809,180154,2154.455,-15943.170,60,1.7,61,9.8