version: 66.04
glider: 118
mission: 21
dive: 9
start: 7 29 109 9 16 29
data:
$ID,118
$MISSION,21
$DIVE,9
$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,-85867.711
$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,26
$R_STBD_OVSHOOT,50
$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
$GPS1,090437,2154.522,-15942.042,10,1.5,27,9.8
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-59.5
$GPS2,091538,2154.557,-15942.101,11,1.7,17,9.8
$SPEED_LIMITS,0.173,0.326
$TGT_NAME,T2
$TGT_LATLONG,2150.420,-15941.560
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.054,-0.321
$KALMAN_X,-742.5,-11.9,-234.1,739.1,-110.5
$KALMAN_Y,3825.2,487.0,-107.7,-7047.8,325.5
$MHEAD_RNG_PITCHd_Wd,160.7,7718,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,25,-1.69,-243.3,0.0,0.0,0,104,0.00,0.00,-76.45,0.000,2,0.000,0.000,416,2394,3343
$GC,111,-1.69,-243.3,3.5,-7.0,11,140,11.30,2.47,-8.52,0.000,4,0.126,0.058,2596,973,3932
$GC,205,-1.69,-243.3,32.5,-19.4,21,210,0.00,2.33,0.00,0.000,6,0.000,0.022,2596,2392,3933
$GC,406,-1.69,-243.3,67.9,-16.2,39,413,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2392,3932
$GC,741,-1.69,-243.3,116.6,-15.7,70,745,0.00,2.50,0.00,0.000,4,0.000,0.041,2596,3797,3933
$GC,813,-1.69,-243.3,128.4,-14.2,75,820,0.00,2.47,0.00,0.000,6,0.000,0.025,2595,2385,3933
$GC,1141,-1.69,-243.3,170.4,-11.8,106,1145,0.00,2.55,0.00,0.000,4,0.000,0.042,2596,3797,3933
$GC,1184,-1.69,-243.3,175.7,-13.0,109,1188,0.00,2.42,0.00,0.000,6,0.000,0.025,2595,2398,3933
$GC,1512,-1.69,-243.3,214.3,-11.5,139,1516,0.00,2.53,0.00,0.000,4,0.000,0.044,2596,3794,3933
$GC,1605,-1.69,-243.3,224.9,-11.3,146,1612,0.00,2.42,0.00,0.000,6,0.000,0.027,2596,2402,3933
$STATE,1757,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1757,begin apogee
$GC,1770,-0.50,0.0,240.8,10.0,161,1961,1.17,0.00,180.88,0.597,6,0.058,0.000,2857,2571,2937
$STATE,1967,end apogee,CONTROL_FINISHED_OK
$STATE,1967,begin climb
$GC,1973,1.69,243.3,249.4,0.0,180,2164,2.08,2.55,180.62,0.594,4,0.038,0.048,3350,1150,1944
$GC,2415,1.69,243.3,214.5,11.8,216,2420,0.00,2.35,0.00,0.000,6,0.000,0.028,3350,2538,1940
$GC,2744,1.69,244.1,179.0,10.0,246,2750,0.00,0.00,0.00,0.000,6,0.000,0.000,3350,2538,1937
$GC,3073,1.73,277.1,147.9,9.1,277,3109,0.00,2.62,26.08,0.543,4,0.000,0.051,3350,3925,1806
$GC,3335,1.73,277.1,120.4,11.1,299,3343,0.00,2.45,0.00,0.000,6,0.000,0.027,3350,2540,1803
$GC,3664,1.74,284.1,90.4,9.8,330,3675,0.00,2.55,6.25,0.419,4,0.000,0.046,3349,3934,1779
$GC,3725,1.74,284.1,83.4,12.1,335,3733,0.00,2.42,0.00,0.000,6,0.000,0.026,3350,2542,1779
$GC,4054,1.86,381.2,53.3,7.3,366,4141,0.10,2.53,78.35,0.486,4,0.049,0.044,3389,3937,1381
$GC,4338,1.86,381.2,22.4,14.2,389,4345,0.00,2.42,0.00,0.000,6,0.000,0.024,3389,2534,1375
$STATE,4490,end climb,SURFACE_DEPTH_REACHED
$STATE,4490,begin surface coast
$FINISH,0.0,1.021159
$STATE,4533,end surface coast,CONTROL_FINISHED_OK
$STATE,4533,begin surface
$SM_CCo,4632,0.00,0.000,0,0,1370,384.39
$SM_GC,1.09,12.77,0.00,0.00,0.025,0.000,0.000,418,2394,1370,-11.66,-0.20,384.39
$IRIDIUM_FIX,2148.09,-15940.77,231098,070750
$TT8_MAMPS,0.062894
$HUMID,1807
$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,24.1,17.251
$10V_AH,10.1,22.936
$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,27.425,40.075,472.175,0.000,0.000,31.326,36.501,349.521,0.000,0.000,254.503,18.067,815.140,2047.892,471.204,829.157,1125.641,33.331,998.678,0.000,792.380,0.000,0.000,0.000
$DEVICE_MAMPS,125.788,57.525,597.493,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,283.451,0.000,0.000,0.000,0.000,0.000,95.367,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,12747,421
$CAP_FILE_SIZE,159629,0
$CFSIZE,-70647808,-80871424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290709,103458,2153.962,-15942.236,13,5.4,32,9.8