version: 66.04
glider: 118
mission: 21
dive: 4
start: 7 29 109 2 12 51
data:
$ID,118
$MISSION,21
$DIVE,4
$D_SURF,4
$D_FLARE,3
$D_TGT,180
$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,60
$T_MISSION,75
$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,500
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51726
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-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,300
$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,-85712.055
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,428
$PITCH_MAX,3730
$C_PITCH,2970
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,10
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,311
$ROLL_MAX,3943
$ROLL_DEG,40
$C_ROLL_DIVE,2400
$C_ROLL_CLIMB,2450
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,17
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,45
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,582
$VBD_MAX,3956
$C_VBD,2937
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-8.3219604
$PRESSURE_SLOPE,0.000115925
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,150
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.4
$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,0.0043077655
$SEABIRD_T_H,0.00063814409
$SEABIRD_T_I,2.4031482e-05
$SEABIRD_T_J,2.4698193e-06
$SEABIRD_C_G,-9.9826059
$SEABIRD_C_H,1.1260695
$SEABIRD_C_I,-0.0021108589
$SEABIRD_C_J,0.00021799213
$GPS1,020452,2156.452,-15941.773,7,2.5,26,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-59.5
$GPS2,021202,2156.452,-15941.779,15,1.6,15,9.8
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,T0
$TGT_LATLONG,2154.000,-15942.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.031,-0.258
$KALMAN_X,119.0,106.6,7.5,57.6,58.4
$KALMAN_Y,860.0,715.7,517.9,-1426.2,300.6
$MHEAD_RNG_PITCHd_Wd,176.9,4556,-18.3,-10.000
$D_GRID,180
$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,24,-2.00,-146.0,0.0,0.0,0,97,0.00,0.00,-69.97,0.000,2,0.000,0.000,420,2384,3263
$GC,104,-2.00,-146.0,3.7,-6.9,10,126,10.82,2.33,-4.30,0.000,4,0.123,0.056,2530,999,3535
$GC,352,-2.00,-146.0,58.7,-18.4,34,360,0.00,2.28,0.00,0.000,6,0.000,0.023,2530,2401,3535
$GC,680,-2.00,-146.0,116.1,-17.0,65,685,0.00,2.45,0.00,0.000,4,0.000,0.040,2530,3795,3536
$GC,744,-2.00,-146.0,125.7,-15.2,69,751,0.00,2.42,0.00,0.000,6,0.000,0.025,2531,2397,3536
$GC,1072,-2.00,-146.0,172.7,-14.0,100,1076,0.00,2.53,0.00,0.000,4,0.000,0.041,2530,3798,3536
$STATE,1113,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1113,begin apogee
$GC,1127,-0.50,0.0,180.0,15.0,103,1240,1.50,0.00,107.53,0.532,6,0.067,0.000,2859,2448,2936
$STATE,1246,end apogee,CONTROL_FINISHED_OK
$STATE,1246,begin climb
$GC,1251,2.00,146.0,186.7,0.0,114,1370,2.38,2.58,106.82,0.533,4,0.039,0.041,3418,3845,2341
$GC,1485,2.07,199.5,181.3,7.5,134,1532,0.00,2.45,40.60,0.518,6,0.000,0.025,3418,2444,2123
$GC,1865,2.07,199.5,144.1,10.6,169,1869,0.00,2.55,0.00,0.000,4,0.000,0.043,3418,3844,2121
$GC,2050,2.07,199.5,125.7,10.1,184,2058,0.00,2.50,0.00,0.000,6,0.000,0.026,3418,2445,2120
$GC,2379,2.07,199.5,93.3,10.4,215,2383,0.00,2.55,0.00,0.000,4,0.000,0.042,3418,3851,2119
$GC,2646,2.09,213.1,67.2,9.4,237,2665,0.00,2.45,10.73,0.423,6,0.000,0.026,3418,2442,2068
$GC,2986,2.21,316.0,50.5,5.3,269,3073,0.15,2.55,77.68,0.459,4,0.041,0.041,3468,3839,1647
$GC,3338,2.21,316.0,10.1,13.8,304,3345,0.00,2.42,0.00,0.000,6,0.000,0.026,3468,2447,1642
$STATE,3386,end climb,SURFACE_DEPTH_REACHED
$STATE,3386,begin surface coast
$FINISH,0.3,1.019662
$STATE,3427,end surface coast,CONTROL_FINISHED_OK
$STATE,3427,begin surface
$SM_CCo,3521,0.00,0.000,0,0,1635,319.38
$SM_GC,1.14,13.00,0.00,0.00,0.025,0.000,0.000,422,2386,1635,-11.64,-0.40,319.38
$IRIDIUM_FIX,2148.09,-15940.77,231098,020222
$TT8_MAMPS,0.067496
$HUMID,1777
$INTERNAL_PRESSURE,10.2285
$TCM_TEMP,24.80
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,24.2,16.304
$10V_AH,10.1,22.640
$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,27.850,34.500,343.350,0.000,0.000,0.000,0.000,0.000,0.000,0.000,218.200,15.889,635.898,1508.531,364.142,651.760,431.803,32.326,775.850,0.000,638.985,0.000,0.000,0.000
$DEVICE_MAMPS,123.487,106.613,533.065,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,212.443,0.000,0.000,0.000,0.000,0.000,43.314,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,9608,318
$CAP_FILE_SIZE,138635,0
$CFSIZE,-70647808,-79691776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,290709,031226,2156.153,-15941.792,10,1.5,10,9.8