version: 66.04
glider: 118
mission: 21
dive: 8
start: 7 29 109 7 48 21
data:
$ID,118
$MISSION,21
$DIVE,8
$D_SURF,4
$D_FLARE,3
$D_TGT,240
$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,80
$T_MISSION,90
$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,250
$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,-85849.016
$T_RSLEEP,3
$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,2550
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,17
$R_PORT_OVSHOOT,41
$R_STBD_OVSHOOT,32
$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
$GPS1,073605,2154.954,-15941.970,14,2.6,33,9.8
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-47.9
$GPS2,074726,2154.995,-15942.020,13,1.0,13,9.8
$SPEED_LIMITS,0.173,0.326
$TGT_NAME,T2
$TGT_LATLONG,2150.420,-15941.560
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.060,-0.320
$KALMAN_X,-370.6,-11.2,-206.0,472.1,-158.5
$KALMAN_Y,2811.9,764.6,-51.3,-5554.6,157.5
$MHEAD_RNG_PITCHd_Wd,159.6,8510,-13.9,-10.000
$D_GRID,240
$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,14,begin dive
$GC,20,-1.69,-243.3,0.0,0.0,0,99,0.00,0.00,-76.47,0.000,2,0.000,0.000,420,2383,3234
$GC,105,-1.69,-243.3,3.2,-6.0,11,135,11.25,2.33,-10.45,0.000,4,0.125,0.057,2596,1009,3930
$GC,269,-1.69,-243.3,41.3,-16.8,27,273,0.00,2.30,0.00,0.000,6,0.000,0.023,2596,2412,3931
$GC,469,-1.69,-243.3,73.1,-14.2,45,473,0.00,2.47,0.00,0.000,4,0.000,0.041,2596,3805,3932
$GC,532,-1.69,-243.3,81.8,-14.2,49,540,0.00,2.42,0.00,0.000,6,0.000,0.025,2596,2404,3931
$GC,867,-1.69,-243.3,126.0,-13.3,80,871,0.00,2.53,0.00,0.000,4,0.000,0.040,2596,3808,3932
$GC,891,-1.69,-243.3,130.5,-13.7,81,898,0.00,2.45,0.00,0.000,6,0.000,0.025,2596,2394,3932
$GC,1219,-1.69,-243.3,173.7,-12.1,112,1223,0.00,2.53,0.00,0.000,4,0.000,0.042,2596,3795,3932
$GC,1251,-1.69,-243.3,177.8,-13.3,114,1255,0.00,2.42,0.00,0.000,6,0.000,0.025,2596,2401,3932
$GC,1579,-1.69,-243.3,221.9,-12.5,144,1583,0.00,2.55,0.00,0.000,4,0.000,0.044,2596,3803,3932
$GC,1610,-1.69,-243.3,225.8,-12.1,146,1615,0.00,2.45,0.00,0.000,6,0.000,0.027,2598,2398,3932
$STATE,1731,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1731,begin apogee
$GC,1744,-0.50,0.0,240.3,11.6,157,1935,1.17,0.00,180.68,0.595,6,0.058,0.000,2858,2570,2937
$STATE,1941,end apogee,CONTROL_FINISHED_OK
$STATE,1941,begin climb
$GC,1947,1.69,243.3,250.2,0.0,176,2137,2.08,2.45,180.35,0.593,4,0.038,0.048,3349,3915,1945
$GC,2400,1.69,243.3,211.3,12.3,213,2408,0.00,2.42,0.00,0.000,6,0.000,0.028,3349,2534,1941
$GC,2729,1.69,243.3,176.5,10.5,244,2733,0.00,2.55,0.00,0.000,4,0.000,0.048,3349,3919,1940
$GC,2903,1.69,243.3,156.9,11.2,258,2910,0.00,2.40,0.00,0.000,6,0.000,0.028,3349,2543,1938
$GC,3231,1.72,267.4,127.2,9.3,289,3256,0.00,2.55,18.75,0.518,4,0.000,0.046,3349,3916,1845
$GC,3438,1.75,290.6,108.9,9.4,306,3463,0.00,2.40,19.10,0.505,6,0.000,0.027,3349,2535,1751
$GC,3790,1.90,418.0,81.6,6.5,338,3900,0.15,2.58,101.62,0.502,4,0.039,0.044,3403,3920,1231
$GC,4021,1.90,418.0,52.6,13.4,357,4025,0.00,2.40,0.00,0.000,6,0.000,0.026,3402,2547,1227
$GC,4359,1.90,418.0,8.5,13.0,394,4366,0.00,2.50,0.00,0.000,4,0.000,0.044,3402,3921,1225
$STATE,4392,end climb,SURFACE_DEPTH_REACHED
$STATE,4392,begin surface coast
$FINISH,0.6,1.022922
$STATE,4409,end surface coast,CONTROL_FINISHED_OK
$STATE,4409,begin surface
$SM_CCo,4505,0.00,0.000,0,0,1221,420.69
$SM_GC,0.94,12.75,0.00,0.00,0.021,0.000,0.000,416,2401,1221,-11.66,0.06,420.69
$IRIDIUM_FIX,2148.09,-15940.77,231098,060647
$TT8_MAMPS,0.063661
$HUMID,1831
$INTERNAL_PRESSURE,10.1113
$TCM_TEMP,24.20
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,24.1,17.080
$10V_AH,10.1,22.871
$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,27.400,49.750,500.500,0.000,0.000,30.272,32.876,373.751,0.000,0.000,257.048,18.336,781.093,1975.595,489.343,809.473,1129.417,33.327,1014.960,0.000,773.939,0.000,0.000,0.000
$DEVICE_MAMPS,125.021,56.758,595.192,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,270.350,0.000,0.000,0.000,0.000,0.000,74.190,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,12725,402
$CAP_FILE_SIZE,155960,0
$CFSIZE,-70647808,-80609280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,290709,090437,2154.522,-15942.042,10,1.5,27,9.8