version: 66.04
glider: 118
mission: 21
dive: 16
start: 7 29 109 20 22 56
data:
$ID,118
$MISSION,21
$DIVE,16
$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,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,-86050.406
$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,46
$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
$GPS1,200928,2152.712,-15944.116,10,99.0,29,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-60.5
$GPS2,202206,2152.788,-15944.420,38,1.1,38,9.8
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,T2
$TGT_LATLONG,2150.420,-15941.560
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.221,-0.137
$KALMAN_X,-9473.0,-961.6,-540.1,6751.1,-1204.3
$KALMAN_Y,9260.7,-166.2,-78.9,-15132.6,786.8
$MHEAD_RNG_PITCHd_Wd,112.0,6588,-18.3,-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,-2.00,-146.0,0.0,0.0,0,104,0.00,0.00,-76.35,0.000,2,0.000,0.000,422,2385,3416
$GC,111,-2.00,-146.0,4.1,-8.4,11,133,10.90,2.40,-1.75,0.000,4,0.125,0.054,2529,1012,3536
$GC,170,-2.00,-146.0,26.7,-22.0,17,177,0.00,2.30,0.00,0.000,6,0.000,0.023,2529,2417,3537
$GC,371,-2.00,-146.0,63.9,-16.0,36,377,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2417,3537
$GC,699,-2.00,-146.0,112.0,-15.3,67,703,0.00,2.45,0.00,0.000,4,0.000,0.040,2529,3799,3538
$GC,794,-2.00,-146.0,125.9,-13.9,74,802,0.00,2.40,0.00,0.000,6,0.000,0.024,2529,2405,3538
$GC,1123,-2.00,-146.0,171.5,-13.0,105,1127,0.00,2.40,0.00,0.000,4,0.000,0.045,2529,1006,3538
$GC,1187,-2.00,-146.0,179.2,-12.5,109,1194,0.00,2.30,0.00,0.000,6,0.000,0.023,2529,2411,3538
$GC,1515,-2.00,-146.0,222.5,-13.8,140,1520,0.00,2.47,0.00,0.000,4,0.000,0.044,2529,3789,3538
$GC,1586,-2.00,-146.0,232.7,-13.9,145,1593,0.00,2.42,0.00,0.000,6,0.000,0.026,2529,2396,3538
$STATE,1648,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1648,begin apogee
$GC,1661,-0.50,0.0,240.6,12.8,151,1780,1.50,0.00,110.12,0.594,6,0.064,0.000,2858,2564,2937
$STATE,1786,end apogee,CONTROL_FINISHED_OK
$STATE,1786,begin climb
$GC,1792,2.00,146.0,246.7,0.0,163,1913,2.38,2.55,108.55,0.589,4,0.037,0.045,3419,1141,2341
$GC,1949,2.02,157.0,239.8,9.5,175,1969,0.00,2.38,10.25,0.508,6,0.000,0.028,3419,2541,2295
$GC,2290,2.05,179.6,205.3,9.0,207,2315,0.00,2.53,17.83,0.542,4,0.000,0.051,3419,3933,2203
$GC,2538,2.07,202.1,183.1,9.0,228,2563,0.00,2.42,18.15,0.536,6,0.000,0.027,3419,2544,2112
$GC,2889,2.07,202.1,147.0,11.2,260,2893,0.00,2.45,0.00,0.000,4,0.000,0.048,3420,1155,2108
$GC,3039,2.07,202.1,129.7,10.8,272,3046,0.00,2.35,0.00,0.000,6,0.000,0.028,3419,2554,2108
$GC,3367,2.14,254.4,102.6,7.6,303,3415,0.00,2.55,39.67,0.522,4,0.000,0.049,3419,3935,1898
$GC,3601,2.14,254.4,78.7,10.7,322,3608,0.00,2.40,0.00,0.000,6,0.000,0.025,3419,2545,1894
$GC,3929,2.25,349.1,52.2,5.6,353,4014,0.17,0.00,74.35,0.485,6,0.040,0.000,3474,2546,1511
$GC,4211,2.25,349.1,22.6,12.7,378,4215,0.00,2.53,0.00,0.000,4,0.000,0.044,3474,3931,1505
$GC,4268,2.25,349.1,12.9,16.1,385,4275,0.00,2.38,0.00,0.000,6,0.000,0.025,3474,2552,1505
$STATE,4322,end climb,SURFACE_DEPTH_REACHED
$STATE,4322,begin surface coast
$FINISH,0.5,1.022883
$STATE,4354,end surface coast,CONTROL_FINISHED_OK
$STATE,4354,begin surface
$SM_CCo,4448,0.00,0.000,0,0,1500,352.50
$SM_GC,1.10,13.10,0.00,0.00,0.023,0.000,0.000,418,2390,1500,-11.65,-0.28,352.50
$IRIDIUM_FIX,2143.45,-15943.76,231098,181822
$TT8_MAMPS,0.059059
$HUMID,1790
$INTERNAL_PRESSURE,10.1308
$TCM_TEMP,24.20
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,24.1,18.372
$10V_AH,10.1,23.452
$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,28.050,44.175,378.925,0.000,0.000,28.665,26.319,406.610,0.000,0.000,260.245,38.401,788.397,2000.681,420.072,801.920,1189.594,33.344,906.181,0.000,742.460,0.000,0.000,0.000
$DEVICE_MAMPS,125.021,53.690,593.658,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,268.675,0.000,0.000,0.000,0.000,0.000,68.251,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,12757,399
$CAP_FILE_SIZE,156076,0
$CFSIZE,-70647808,-82771968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290709,213812,2152.771,-15944.627,8,1.9,24,9.8