version: 66.04
glider: 118
mission: 21
dive: 22
start: 7 30 109 5 24 54
data:
$ID,118
$MISSION,21
$DIVE,22
$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,-86227.305
$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,43
$R_STBD_OVSHOOT,34
$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
$GPS1,051440,2152.558,-15946.306,21,2.4,40,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-62.4
$GPS2,052404,2152.628,-15946.547,14,2.5,33,9.8
$SPEED_LIMITS,0.173,0.326
$TGT_NAME,T2
$TGT_LATLONG,2150.420,-15941.560
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.326,-0.013
$KALMAN_X,-20325.3,-626.5,91.6,12977.2,-1452.7
$KALMAN_Y,11906.2,473.5,-48.0,-18742.6,7.8
$MHEAD_RNG_PITCHd_Wd,82.4,9500,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,25,-1.69,-243.3,0.0,0.0,0,91,0.00,0.00,-63.60,0.000,2,0.000,0.000,418,2384,3595
$GC,97,-1.69,-243.3,5.6,-13.3,9,118,11.27,0.00,-4.40,0.000,6,0.125,0.000,2599,2385,3932
$GC,184,-1.69,-243.3,34.9,-19.4,18,189,0.00,2.50,0.00,0.000,4,0.000,0.038,2599,3801,3933
$GC,220,-1.69,-243.3,42.1,-19.1,20,228,0.00,2.40,0.00,0.000,6,0.000,0.024,2599,2408,3933
$GC,421,-1.69,-243.3,71.9,-14.6,39,425,0.00,2.47,0.00,0.000,4,0.000,0.038,2599,3799,3933
$GC,492,-1.69,-243.3,80.9,-14.1,44,497,0.00,2.40,0.00,0.000,6,0.000,0.024,2599,2400,3934
$GC,827,-1.69,-243.3,125.0,-13.8,74,833,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2400,3934
$GC,1155,-1.69,-243.3,168.8,-12.6,105,1159,0.00,2.53,0.00,0.000,4,0.000,0.041,2599,3808,3934
$GC,1295,-1.69,-243.3,185.4,-11.3,116,1303,0.00,2.42,0.00,0.000,6,0.000,0.025,2599,2400,3934
$GC,1624,-1.69,-243.3,219.6,-10.0,147,1630,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2401,3934
$STATE,1819,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1819,begin apogee
$GC,1832,-0.50,0.0,240.4,10.5,166,2024,1.15,0.00,181.75,0.594,6,0.058,0.000,2857,2570,2936
$STATE,2030,end apogee,CONTROL_FINISHED_OK
$STATE,2030,begin climb
$GC,2036,1.69,243.3,249.4,0.0,185,2232,2.08,2.60,181.48,0.592,4,0.038,0.046,3346,1151,1943
$GC,2452,1.69,243.3,223.4,10.0,219,2456,0.00,2.35,0.00,0.000,6,0.000,0.028,3346,2541,1940
$GC,2781,1.69,246.6,188.8,9.9,249,2785,0.00,2.53,0.00,0.000,4,0.000,0.051,3346,3928,1938
$GC,3046,1.78,316.4,165.4,8.1,271,3117,0.00,2.40,57.25,0.558,6,0.000,0.027,3346,2543,1646
$GC,3435,1.78,316.4,126.6,11.0,307,3440,0.00,2.55,0.00,0.000,4,0.000,0.046,3346,3939,1641
$GC,3610,1.78,316.4,106.5,11.8,321,3617,0.00,2.40,0.00,0.000,6,0.000,0.026,3346,2550,1640
$GC,3939,1.84,363.1,73.7,8.7,352,3992,0.10,2.58,37.92,0.494,4,0.049,0.044,3385,3928,1455
$GC,4022,1.84,363.1,64.7,12.3,358,4029,0.00,2.40,0.00,0.000,6,0.000,0.025,3385,2546,1453
$GC,4350,1.84,363.1,29.4,10.4,389,4355,0.00,2.53,0.00,0.000,4,0.000,0.044,3385,3940,1450
$GC,4543,1.84,363.1,8.1,11.3,413,4550,0.00,2.40,0.00,0.000,6,0.000,0.024,3385,2536,1449
$STATE,4582,end climb,SURFACE_DEPTH_REACHED
$STATE,4582,begin surface coast
$FINISH,0.2,1.023115
$STATE,4620,end surface coast,CONTROL_FINISHED_OK
$STATE,4620,begin surface
$SM_CCo,4714,0.00,0.000,0,0,1445,365.99
$SM_GC,0.93,12.57,0.00,0.00,0.020,0.000,0.000,414,2386,1445,-11.66,-0.40,365.99
$IRIDIUM_FIX,2143.45,-15948.92,241098,040438
$TT8_MAMPS,0.059826
$HUMID,1798
$INTERNAL_PRESSURE,10.121
$TCM_TEMP,24.20
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,24.1,19.122
$10V_AH,10.1,23.807
$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,27.175,39.925,458.400,0.000,0.000,28.924,44.127,254.092,0.000,0.000,34.637,34.131,826.169,2117.249,456.860,851.367,1021.361,33.348,984.249,0.000,801.784,0.000,0.000,0.000
$DEVICE_MAMPS,125.021,50.622,594.425,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,286.218,0.000,0.000,0.000,0.000,0.000,64.939,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,12736,425
$CAP_FILE_SIZE,158650,0
$CFSIZE,-70647808,-84279296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300709,064425,2152.705,-15946.651,13,1.4,13,9.8