version: 66.04
glider: 118
mission: 21
dive: 15
start: 7 29 109 18 50 27
data:
$ID,118
$MISSION,21
$DIVE,15
$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,-86011.375
$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,28
$R_STBD_OVSHOOT,49
$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
$GPS1,183743,2152.693,-15943.690,9,1.5,14,9.8
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-60.8
$GPS2,184937,2152.707,-15943.959,14,1.5,31,9.8
$SPEED_LIMITS,0.173,0.326
$TGT_NAME,T2
$TGT_LATLONG,2150.420,-15941.560
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.291,-0.146
$KALMAN_X,-7627.7,-860.1,-338.4,5398.3,-1188.5
$KALMAN_Y,8393.4,-230.4,9.5,-14446.3,488.0
$MHEAD_RNG_PITCHd_Wd,106.9,5913,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,20,-1.69,-243.3,0.0,0.0,0,93,0.00,0.00,-69.97,0.000,2,0.000,0.000,421,2400,3215
$GC,99,-1.69,-243.3,3.0,-5.6,10,128,11.23,2.50,-11.00,0.000,4,0.123,0.051,2596,3794,3931
$GC,155,-1.69,-243.3,20.4,-21.1,17,162,0.00,2.45,0.00,0.000,6,0.000,0.024,2596,2389,3931
$GC,355,-1.69,-243.3,55.1,-14.9,36,362,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2389,3932
$GC,690,-1.69,-243.3,101.0,-13.8,67,694,0.00,2.53,0.00,0.000,4,0.000,0.040,2596,3794,3932
$GC,760,-1.69,-243.3,111.0,-13.3,72,764,0.00,2.42,0.00,0.000,6,0.000,0.024,2596,2391,3932
$GC,1088,-1.69,-243.3,153.5,-12.5,102,1092,0.00,2.53,0.00,0.000,4,0.000,0.041,2596,3795,3933
$GC,1147,-1.69,-243.3,160.4,-11.9,106,1151,0.00,2.40,0.00,0.000,6,0.000,0.025,2596,2402,3933
$GC,1480,-1.69,-243.3,198.3,-11.1,137,1484,0.00,2.50,0.00,0.000,4,0.000,0.042,2596,3782,3933
$GC,1541,-1.69,-243.3,204.6,-11.8,141,1545,0.00,2.40,0.00,0.000,6,0.000,0.026,2596,2401,3932
$STATE,1826,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1826,begin apogee
$GC,1838,-0.50,0.0,240.4,12.4,167,2030,1.20,0.00,181.02,0.597,6,0.059,0.000,2856,2556,2937
$STATE,2036,end apogee,CONTROL_FINISHED_OK
$STATE,2036,begin climb
$GC,2042,1.69,243.3,251.2,0.0,186,2233,2.08,2.53,181.07,0.594,4,0.038,0.046,3347,1147,1944
$GC,2482,1.69,243.3,213.9,12.3,222,2489,0.00,2.35,0.00,0.000,6,0.000,0.028,3347,2537,1939
$GC,2810,1.69,243.3,179.1,10.1,253,2814,0.00,2.55,0.00,0.000,4,0.000,0.051,3347,3936,1937
$GC,2927,1.72,265.6,167.2,9.4,262,2950,0.00,2.45,17.40,0.532,6,0.000,0.027,3347,2534,1854
$GC,3286,1.81,343.8,136.8,7.8,295,3357,0.00,0.00,62.50,0.545,6,0.000,0.000,3347,2534,1535
$GC,3675,1.81,343.8,94.8,10.5,331,3679,0.00,2.55,0.00,0.000,4,0.000,0.046,3347,3929,1528
$GC,3897,1.81,343.8,69.5,11.8,349,3904,0.00,2.40,0.00,0.000,6,0.000,0.025,3347,2546,1527
$GC,4225,1.90,411.1,40.9,8.1,380,4291,0.15,2.58,54.03,0.471,4,0.038,0.044,3401,3939,1260
$GC,4340,1.90,411.1,27.8,13.4,389,4345,0.00,2.40,0.00,0.000,6,0.000,0.025,3401,2547,1257
$STATE,4534,end climb,SURFACE_DEPTH_REACHED
$STATE,4534,begin surface coast
$FINISH,0.1,1.010945
$STATE,4573,end surface coast,CONTROL_FINISHED_OK
$STATE,4573,begin surface
$SM_CCo,4667,0.00,0.000,0,0,1252,413.33
$SM_GC,1.00,12.80,0.00,0.00,0.025,0.000,0.000,421,2392,1252,-11.64,-0.23,413.33
$IRIDIUM_FIX,2145.77,-15945.93,231098,171749
$TT8_MAMPS,0.059059
$HUMID,1798
$INTERNAL_PRESSURE,10.1015
$TCM_TEMP,24.20
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.8,18.213
$10V_AH,10.1,23.395
$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,27.450,40.000,496.025,0.000,0.000,29.761,25.861,394.197,0.000,0.000,307.870,31.887,811.741,2092.222,479.367,826.267,1165.171,33.347,997.247,0.000,773.484,0.000,0.000,0.000
$DEVICE_MAMPS,123.487,50.622,597.493,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,283.488,0.000,0.000,0.000,0.000,0.000,71.430,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,12726,421
$CAP_FILE_SIZE,159991,0
$CFSIZE,-70647808,-82444288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290709,200928,2152.712,-15944.116,10,99.0,29,9.8