version: 66.04
glider: 118
mission: 21
dive: 23
start: 7 30 109 6 55 9
data:
$ID,118
$MISSION,21
$DIVE,23
$D_SURF,4
$D_FLARE,3
$D_TGT,450
$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,150
$T_MISSION,175
$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,350
$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,-86243.023
$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,48
$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
$GPS1,064425,2152.705,-15946.651,13,1.4,13,9.8
$_CALLS,1
$_XMS_NAKs,15
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-62.0
$GPS2,065419,2152.741,-15946.826,15,1.2,15,9.8
$SPEED_LIMITS,0.173,0.326
$TGT_NAME,T2
$TGT_LATLONG,2150.420,-15941.560
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.319,-0.068
$KALMAN_X,-22225.2,-441.8,-204.8,14507.9,-2535.9
$KALMAN_Y,12428.9,333.3,-174.9,-18788.7,451.6
$MHEAD_RNG_PITCHd_Wd,92.2,10023,-13.9,-10.000
$D_GRID,450
$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,-243.3,0.0,0.0,0,86,0.00,0.00,-63.30,0.000,2,0.000,0.000,414,2386,3218
$GC,92,-1.69,-243.3,3.3,-7.2,9,120,11.27,0.00,-10.62,0.000,6,0.125,0.000,2596,2386,3932
$GC,202,-1.69,-243.3,30.8,-18.6,21,209,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2385,3932
$GC,403,-1.69,-243.3,65.9,-15.1,40,408,0.00,2.50,0.00,0.000,4,0.000,0.038,2596,3806,3932
$GC,478,-1.69,-243.3,77.2,-15.9,45,485,0.00,2.40,0.00,0.000,6,0.000,0.023,2596,2408,3932
$GC,812,-1.69,-243.3,125.1,-14.4,76,819,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2408,3933
$GC,1141,-1.69,-243.3,172.8,-13.5,107,1145,0.00,2.50,0.00,0.000,4,0.000,0.041,2597,3803,3934
$GC,1241,-1.69,-243.3,185.0,-11.5,115,1245,0.00,2.42,0.00,0.000,6,0.000,0.025,2597,2393,3934
$GC,1569,-1.69,-243.3,225.0,-11.4,145,1574,0.00,2.55,0.00,0.000,4,0.000,0.043,2597,3807,3934
$GC,1640,-1.69,-243.3,233.1,-10.3,150,1647,0.00,2.42,0.00,0.000,6,0.000,0.026,2597,2403,3934
$GC,1968,-1.69,-243.3,265.2,-10.1,181,1975,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2403,3933
$GC,2297,-1.69,-243.3,300.9,-11.5,212,2301,0.00,2.55,0.00,0.000,4,0.000,0.048,2597,3797,3932
$GC,2367,-1.69,-243.3,309.5,-11.7,217,2374,0.00,2.45,0.00,0.000,6,0.000,0.029,2596,2399,3930
$GC,2695,-1.69,-243.3,345.3,-10.5,248,2699,0.00,2.58,0.00,0.000,4,0.000,0.050,2596,3799,3928
$GC,2788,-1.69,-243.3,355.3,-10.9,255,2795,0.00,2.47,0.00,0.000,6,0.000,0.030,2596,2393,3927
$GC,3116,-1.69,-243.3,389.2,-10.4,286,3120,0.00,2.60,0.00,0.000,4,0.000,0.051,2597,3801,3926
$GC,3227,-1.69,-243.3,401.0,-10.5,295,3231,0.00,2.47,0.00,0.000,6,0.000,0.032,2596,2390,3924
$GC,3555,-1.69,-243.3,434.5,-10.2,325,3560,0.00,2.60,0.00,0.000,4,0.000,0.053,2596,3798,3922
$GC,3603,-1.69,-243.3,439.5,-9.8,328,3610,0.00,2.47,0.00,0.000,6,0.000,0.032,2596,2400,3921
$STATE,3713,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3713,begin apogee
$GC,3726,-0.50,0.0,450.8,10.2,339,3918,1.17,0.00,184.52,0.792,6,0.058,0.000,2856,2555,2937
$STATE,3924,end apogee,CONTROL_FINISHED_OK
$STATE,3924,begin climb
$GC,3930,1.69,243.3,460.8,0.0,358,4128,2.10,2.60,187.73,0.773,4,0.041,0.055,3348,1147,1944
$GC,4370,1.69,243.3,427.0,10.1,394,4377,0.00,2.40,0.00,0.000,6,0.000,0.032,3348,2542,1939
$GC,4698,1.69,247.2,393.9,9.9,425,4702,0.00,2.60,0.00,0.000,4,0.000,0.058,3348,3938,1938
$GC,4809,1.69,247.2,381.6,11.8,434,4814,0.00,2.45,0.00,0.000,6,0.000,0.032,3348,2545,1936
$GC,5138,1.69,247.2,346.1,10.9,464,5142,0.00,2.60,0.00,0.000,4,0.000,0.057,3348,3938,1934
$GC,5323,1.69,247.2,324.9,11.8,479,5331,0.00,2.45,0.00,0.000,6,0.000,0.031,3348,2546,1933
$GC,5651,1.69,247.2,289.6,10.7,510,5658,0.00,0.00,0.00,0.000,6,0.000,0.000,3348,2546,1932
$GC,5980,1.69,248.1,256.3,10.0,541,5984,0.00,2.58,0.00,0.000,4,0.000,0.054,3348,3932,1931
$GC,6247,1.69,248.1,227.6,10.9,563,6254,0.00,2.42,0.00,0.000,6,0.000,0.030,3348,2547,1931
$GC,6576,1.72,265.6,195.9,9.5,594,6600,0.00,2.60,16.75,0.618,4,0.000,0.051,3348,3934,1853
$GC,6666,1.74,281.9,186.9,9.6,601,6686,0.00,2.42,14.75,0.600,6,0.000,0.028,3348,2548,1787
$GC,7006,1.79,323.3,158.7,8.9,633,7046,0.00,2.60,34.58,0.601,4,0.000,0.049,3348,3935,1617
$GC,7219,1.79,323.3,136.1,11.8,651,7223,0.00,2.42,0.00,0.000,6,0.000,0.027,3348,2547,1614
$GC,7547,1.79,323.3,100.0,10.9,681,7551,0.00,2.55,0.00,0.000,4,0.000,0.047,3348,3942,1613
$GC,7619,1.79,323.3,93.2,10.7,686,7623,0.00,2.42,0.00,0.000,6,0.000,0.025,3348,2541,1613
$GC,7947,1.79,326.9,61.2,9.9,716,7959,0.00,2.58,3.78,0.332,4,0.000,0.045,3348,3931,1603
$GC,8014,1.79,326.9,54.2,10.2,721,8021,0.00,2.40,0.00,0.000,6,0.000,0.025,3348,2536,1603
$GC,8342,1.84,362.6,26.2,9.0,752,8379,0.00,2.58,30.92,0.463,4,0.000,0.044,3348,3933,1457
$GC,8472,1.84,362.6,13.9,11.1,767,8479,0.00,2.38,0.00,0.000,6,0.000,0.024,3348,2550,1454
$GC,8559,1.89,405.4,5.9,8.8,780,8574,0.15,0.00,12.88,0.415,2,0.038,0.000,3402,2550,1400
$STATE,8575,end climb,SURFACE_DEPTH_REACHED
$STATE,8575,begin surface coast
$FINISH,0.1,1.022968
$STATE,8617,end surface coast,CONTROL_FINISHED_OK
$STATE,8617,begin surface
$SM_CCo,8711,0.00,0.000,0,0,1391,378.99
$SM_GC,0.65,12.80,0.00,0.00,0.024,0.000,0.000,421,2413,1391,-11.64,0.37,378.99
$IRIDIUM_FIX,2143.45,-15953.28,241098,050505
$TT8_MAMPS,0.058292
$HUMID,1816
$INTERNAL_PRESSURE,10.0722
$TCM_TEMP,24.20
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.9,19.259
$10V_AH,10.1,23.907
$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,27.500,80.525,485.900,0.000,0.000,31.985,31.436,308.000,0.000,0.000,60.231,15.083,1546.584,4244.542,523.363,1470.453,1514.740,33.341,1358.594,0.000,1429.927,0.000,0.000,0.000
$DEVICE_MAMPS,125.021,58.292,792.311,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,539.616,0.000,0.000,0.000,0.000,0.000,151.441,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,25277,789
$CAP_FILE_SIZE,285372,0
$CFSIZE,-70647808,-84672512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,300709,092225,2152.664,-15946.087,63,1.5,81,9.8