version: 66.04
glider: 118
mission: 21
dive: 24
start: 7 30 109 9 38 28
data:
$ID,118
$MISSION,21
$DIVE,24
$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,-86280.055
$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,29
$R_STBD_OVSHOOT,29
$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
$GPS1,092225,2152.664,-15946.087,63,1.5,81,9.8
$_CALLS,1
$_XMS_NAKs,30
$_XMS_TOUTs,0
$_SM_DEPTHo,0.40
$_SM_ANGLEo,-60.1
$GPS2,093738,2152.695,-15946.256,36,1.3,36,9.8
$SPEED_LIMITS,0.173,0.326
$TGT_NAME,T2
$TGT_LATLONG,2150.420,-15941.560
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.290,-0.148
$KALMAN_X,-24143.5,-122.5,-505.7,17375.2,-1096.6
$KALMAN_Y,13100.3,80.9,-67.1,-19398.6,545.6
$MHEAD_RNG_PITCHd_Wd,107.3,9107,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,25,-1.69,-243.3,0.0,0.0,0,98,0.00,0.00,-70.15,0.000,2,0.000,0.000,421,2406,3417
$GC,104,-1.69,-243.3,3.8,-9.0,10,126,11.40,0.00,-7.15,0.000,6,0.129,0.000,2599,2406,3933
$GC,195,-1.69,-243.3,31.8,-19.1,20,201,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2406,3933
$GC,396,-1.69,-243.3,67.8,-17.2,39,402,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2406,3933
$GC,724,-1.69,-243.3,118.8,-14.6,70,729,0.00,2.50,0.00,0.000,4,0.000,0.041,2600,3808,3934
$GC,797,-1.69,-243.3,129.3,-13.5,75,804,0.00,2.45,0.00,0.000,6,0.000,0.023,2600,2383,3934
$GC,1125,-1.69,-243.3,172.5,-12.3,106,1129,0.00,2.55,0.00,0.000,4,0.000,0.041,2599,3804,3934
$GC,1218,-1.69,-243.3,184.7,-12.9,113,1225,0.00,2.42,0.00,0.000,6,0.000,0.025,2600,2398,3935
$GC,1546,-1.69,-243.3,224.6,-10.3,144,1550,0.00,2.55,0.00,0.000,4,0.000,0.044,2599,3806,3935
$GC,1612,-1.69,-243.3,231.9,-10.5,149,1616,0.00,2.45,0.00,0.000,6,0.000,0.026,2599,2388,3934
$GC,1941,-1.69,-243.3,267.0,-11.2,179,1945,0.00,2.58,0.00,0.000,4,0.000,0.046,2599,3801,3934
$GC,2011,-1.69,-243.3,275.3,-11.1,184,2019,0.00,2.45,0.00,0.000,6,0.000,0.027,2600,2394,3934
$GC,2339,-1.69,-243.3,310.7,-11.0,215,2344,0.00,2.58,0.00,0.000,4,0.000,0.048,2600,3799,3931
$GC,2404,-1.69,-243.3,317.3,-10.8,219,2411,0.00,2.45,0.00,0.000,6,0.000,0.028,2599,2401,3931
$GC,2733,-1.69,-243.3,350.2,-9.4,250,2737,0.00,2.58,0.00,0.000,4,0.000,0.051,2600,3802,3929
$GC,2803,-1.69,-243.3,357.0,-10.0,255,2810,0.00,2.47,0.00,0.000,6,0.000,0.030,2600,2395,3928
$GC,3131,-1.69,-243.3,389.2,-10.0,286,3135,0.00,2.60,0.00,0.000,4,0.000,0.053,2599,3801,3926
$GC,3283,-1.69,-243.3,405.2,-10.2,298,3290,0.00,2.47,0.00,0.000,6,0.000,0.031,2600,2400,3924
$GC,3611,-1.69,-243.3,438.0,-10.2,329,3617,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2400,3921
$STATE,3732,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3732,begin apogee
$GC,3745,-0.50,0.0,450.5,9.8,341,3937,1.15,0.00,184.88,0.792,6,0.059,0.000,2856,2571,2937
$STATE,3943,end apogee,CONTROL_FINISHED_OK
$STATE,3943,begin climb
$GC,3949,1.69,243.3,460.6,0.0,360,4144,2.10,0.00,187.82,0.776,6,0.040,0.000,3348,2571,1945
$GC,4469,1.69,243.3,414.9,11.4,408,4473,0.00,2.53,0.00,0.000,4,0.000,0.058,3348,3924,1939
$GC,4734,1.69,243.3,384.2,10.2,430,4742,0.00,2.47,0.00,0.000,6,0.000,0.033,3347,2540,1936
$GC,5063,1.69,243.3,352.9,10.5,461,5067,0.00,2.60,0.00,0.000,4,0.000,0.056,3347,3921,1935
$GC,5260,1.69,243.3,330.3,12.4,477,5264,0.00,2.45,0.00,0.000,6,0.000,0.032,3347,2540,1934
$GC,5588,1.69,243.3,293.3,11.4,507,5593,0.00,2.60,0.00,0.000,4,0.000,0.055,3347,3931,1932
$GC,5678,1.69,243.3,283.4,11.2,514,5682,0.00,2.45,0.00,0.000,6,0.000,0.031,3347,2543,1932
$GC,6006,1.69,243.3,250.2,10.2,544,6012,0.00,0.00,0.00,0.000,6,0.000,0.000,3347,2543,1931
$GC,6335,1.72,265.1,219.3,9.4,575,6359,0.00,2.60,16.20,0.634,4,0.000,0.053,3348,3919,1856
$GC,6506,1.77,308.1,202.9,8.8,589,6550,0.00,2.42,36.30,0.641,6,0.000,0.028,3348,2539,1681
$GC,6873,1.78,316.2,169.2,9.8,623,6886,0.00,2.58,7.45,0.517,4,0.000,0.050,3348,3921,1647
$GC,7033,1.78,316.2,151.6,11.0,636,7041,0.00,2.40,0.00,0.000,6,0.000,0.027,3348,2545,1646
$GC,7362,1.78,316.6,116.4,10.0,667,7366,0.00,2.53,0.00,0.000,4,0.000,0.048,3347,3925,1645
$GC,7493,1.78,316.6,102.8,10.6,677,7500,0.00,2.40,0.00,0.000,6,0.000,0.025,3347,2541,1645
$GC,7821,1.80,331.2,69.9,9.6,708,7839,0.00,0.00,13.70,0.485,6,0.000,0.000,3348,2541,1586
$GC,8160,1.88,400.7,39.9,8.1,740,8229,0.15,2.58,57.92,0.482,4,0.038,0.044,3401,3925,1302
$GC,8426,1.88,400.7,8.2,12.3,769,8434,0.10,2.40,0.00,0.000,6,0.085,0.024,3380,2539,1298
$STATE,8466,end climb,SURFACE_DEPTH_REACHED
$STATE,8466,begin surface coast
$FINISH,-0.1,1.015278
$STATE,8504,end surface coast,CONTROL_FINISHED_OK
$STATE,8504,begin surface
$SM_CCo,8598,0.00,0.000,0,0,1292,403.76
$SM_GC,0.40,12.65,0.00,0.00,0.021,0.000,0.000,421,2378,1292,-11.64,-0.59,403.76
$IRIDIUM_FIX,2145.77,-15948.11,241098,060638
$TT8_MAMPS,0.066729
$HUMID,1800
$INTERNAL_PRESSURE,10.0429
$TCM_TEMP,24.00
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.9,19.415
$10V_AH,10.1,24.033
$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,27.550,70.625,504.275,0.000,0.000,25.746,37.220,547.632,0.000,0.000,61.987,36.407,1519.960,4186.719,545.378,1458.687,1783.564,33.349,1351.674,0.000,1390.015,0.000,0.000,0.000
$DEVICE_MAMPS,128.856,58.292,791.544,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,534.526,0.000,0.000,0.000,0.000,0.000,224.653,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,25262,781
$CAP_FILE_SIZE,285768,0
$CFSIZE,-70647808,-85000192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300709,120307,2152.355,-15945.841,37,1.0,37,9.8