version: 66.04
glider: 116
mission: 22
dive: 66
start: 8 3 109 18 9 41
data:
$ID,116
$MISSION,22
$DIVE,66
$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,225
$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,-58817.102
$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,29
$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
$GPS1,180154,2154.455,-15943.170,60,1.7,61,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-69.2
$GPS2,180849,2154.466,-15943.250,15,1.7,32,9.8
$SPEED_LIMITS,0.100,0.310
$TGT_NAME,BobNE
$TGT_LATLONG,2154.185,-15941.805
$TGT_RADIUS,400.000
$KALMAN_CONTROL,0.290,-0.111
$KALMAN_X,-92483.8,713.5,-562.8,90129.3,-1011.1
$KALMAN_Y,19878.4,-495.4,235.4,-22564.1,480.9
$MHEAD_RNG_PITCHd_Wd,101.1,2538,-13.9,-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,13,begin dive
$GC,15,-1.43,-219.0,0.0,0.0,0,93,0.00,0.00,-74.22,0.000,2,0.000,0.000,123,2643,3445
$GC,95,-1.43,-219.0,4.4,-10.3,11,123,15.90,0.00,-5.60,0.000,6,0.179,0.000,2779,2643,3832
$GC,194,-1.43,-219.0,33.5,-18.6,22,195,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2643,3832
$GC,384,-1.43,-219.0,66.8,-17.7,40,386,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2643,3832
$GC,704,-1.43,-219.0,114.9,-13.3,70,705,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2643,3834
$GC,1021,-1.43,-219.0,153.6,-13.5,100,1025,0.00,2.25,0.00,0.000,4,0.000,0.064,2780,3881,3835
$GC,1065,-1.43,-219.0,159.5,-13.1,103,1073,0.00,2.12,0.00,0.000,6,0.000,0.027,2780,2612,3836
$GC,1391,-1.43,-219.0,199.4,-12.2,134,1392,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2612,3835
$GC,1709,-1.43,-219.0,232.7,-9.4,164,1710,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2612,3834
$GC,2027,-1.43,-219.0,261.0,-10.2,194,2031,0.00,2.35,0.00,0.000,4,0.000,0.070,2779,3880,3833
$STATE,2114,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2114,begin apogee
$GC,2121,-0.42,0.0,270.6,11.0,201,2400,1.02,0.00,270.83,0.628,6,0.072,0.000,3002,2540,2936
$STATE,2401,end apogee,CONTROL_FINISHED_OK
$STATE,2402,begin climb
$GC,2404,1.43,219.0,283.0,0.0,229,2690,1.80,2.53,271.23,0.614,4,0.047,0.044,3408,1133,2043
$GC,2848,1.43,219.0,249.5,10.2,267,2852,0.00,2.45,0.00,0.000,6,0.000,0.038,3408,2523,2039
$GC,3172,1.49,272.5,219.1,8.3,297,3246,0.00,2.62,66.35,0.605,4,0.000,0.068,3407,3887,1825
$GC,3326,1.50,281.4,205.5,9.7,310,3343,0.00,2.33,12.18,0.548,6,0.000,0.033,3408,2525,1788
$GC,3662,1.57,336.0,175.7,8.3,341,3739,0.12,2.42,69.60,0.597,4,0.053,0.041,3445,1146,1566
$GC,3767,1.57,336.0,164.7,11.8,350,3772,0.00,2.45,0.00,0.000,6,0.000,0.038,3445,2537,1564
$GC,4092,1.57,336.0,124.0,12.6,380,4096,0.00,2.47,0.00,0.000,4,0.000,0.064,3445,3895,1560
$GC,4195,1.57,336.0,109.9,13.1,389,4199,0.00,2.33,0.00,0.000,6,0.000,0.031,3445,2520,1560
$GC,4519,1.58,341.2,75.1,9.8,419,4530,0.00,0.00,6.22,0.456,6,0.000,0.000,3445,2519,1544
$GC,4849,1.61,364.7,45.3,9.3,450,4881,0.00,0.00,30.17,0.528,6,0.000,0.000,3445,2518,1449
$GC,5068,1.61,365.3,23.2,10.0,471,5073,0.00,2.50,0.00,0.000,4,0.000,0.059,3445,3890,1448
$GC,5120,1.61,365.3,17.7,11.1,476,5128,0.00,2.30,0.00,0.000,6,0.000,0.028,3445,2516,1448
$GC,5197,1.61,365.3,10.0,10.3,489,5203,0.00,0.00,0.00,0.000,6,0.000,0.000,3445,2513,1447
$STATE,5258,end climb,SURFACE_DEPTH_REACHED
$STATE,5258,begin surface coast
$FINISH,-0.0,1.011219
$STATE,5304,end surface coast,CONTROL_FINISHED_OK
$STATE,5304,begin surface
$SM_CCo,5329,16.65,0.472,0,0,1305,400.08
$SM_GC,1.06,0.00,0.00,16.65,0.000,0.000,0.472,122,2637,1305,-13.67,0.25,400.08
$IRIDIUM_FIX,2145.77,-15940.77,281098,161626
$TT8_MAMPS,0.059826
$HUMID,1846
$INTERNAL_PRESSURE,11.4848
$TCM_TEMP,24.30
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.8,20.026
$10V_AH,10.0,6.678
$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,33.250,33.650,726.575,16.650,0.000,23.919,25.067,225.505,0.000,0.000,37.891,32.375,932.078,2600.074,689.931,932.437,611.046,33.343,1277.859,0.000,882.613,0.000,0.000,0.000
$DEVICE_MAMPS,179.478,69.797,628.173,471.705,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,331.378,0.000,0.000,0.000,0.000,0.000,72.628,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,15900,508
$CAP_FILE_SIZE,185707,0
$CFSIZE,260034560,249880576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030809,193949,2154.462,-15943.213,10,1.7,28,9.8