version: 66.04
glider: 118
mission: 21
dive: 26
start: 7 30 109 15 14 12
data:
$ID,118
$MISSION,21
$DIVE,26
$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,-86344.406
$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,31
$R_STBD_OVSHOOT,39
$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
$GPS1,144337,2152.412,-15945.671,11,1.8,28,9.8
$_CALLS,4
$_XMS_NAKs,9
$_XMS_TOUTs,1
$_SM_DEPTHo,0.25
$_SM_ANGLEo,-62.1
$GPS2,151322,2152.362,-15946.188,12,2.1,31,9.8
$SPEED_LIMITS,0.173,0.326
$TGT_NAME,T2
$TGT_LATLONG,2150.420,-15941.560
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.322,-0.049
$KALMAN_X,-30573.2,429.9,166.9,22709.8,-2945.4
$KALMAN_Y,14810.2,-311.9,238.2,-21639.6,457.4
$MHEAD_RNG_PITCHd_Wd,88.8,8731,-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,19,begin dive
$GC,25,-1.69,-243.3,0.0,0.0,0,98,0.00,0.00,-70.10,0.000,2,0.000,0.000,418,2401,3521
$GC,104,-1.69,-243.3,4.1,-10.8,10,126,11.40,0.00,-5.53,0.000,6,0.129,0.000,2595,2401,3932
$GC,199,-1.69,-243.3,34.5,-19.2,20,206,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2401,3932
$GC,400,-1.69,-243.3,69.7,-15.5,39,404,0.00,2.42,0.00,0.000,4,0.000,0.043,2595,989,3932
$GC,432,-1.69,-243.3,75.2,-17.6,41,437,0.00,2.33,0.00,0.000,6,0.000,0.022,2595,2409,3932
$GC,761,-1.69,-243.3,123.5,-12.9,71,765,0.00,2.47,0.00,0.000,4,0.000,0.042,2595,3798,3933
$GC,833,-1.69,-243.3,133.5,-12.9,76,840,0.00,2.42,0.00,0.000,6,0.000,0.024,2595,2390,3933
$GC,1161,-1.69,-243.3,174.5,-12.3,107,1168,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2390,3933
$GC,1490,-1.69,-243.3,217.4,-13.3,138,1494,0.00,2.55,0.00,0.000,4,0.000,0.044,2595,3798,3933
$GC,1536,-1.69,-243.3,223.8,-12.4,141,1544,0.00,2.42,0.00,0.000,6,0.000,0.025,2595,2400,3932
$GC,1865,-1.69,-243.3,261.0,-11.2,172,1869,0.00,2.55,0.00,0.000,4,0.000,0.048,2596,3798,3932
$GC,1931,-1.69,-243.3,268.6,-11.7,177,1936,0.00,2.45,0.00,0.000,6,0.000,0.028,2595,2392,3931
$GC,2260,-1.69,-243.3,305.9,-11.5,207,2264,0.00,2.58,0.00,0.000,4,0.000,0.049,2596,3797,3929
$GC,2341,-1.69,-243.3,315.2,-11.1,213,2348,0.00,2.45,0.00,0.000,6,0.000,0.028,2595,2400,3928
$GC,2670,-1.69,-243.3,349.3,-9.8,244,2676,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2400,3926
$GC,2998,-1.69,-243.3,380.3,-9.7,275,3002,0.00,2.58,0.00,0.000,4,0.000,0.052,2595,3792,3924
$GC,3137,-1.69,-243.3,394.7,-11.1,286,3142,0.00,2.45,0.00,0.000,6,0.000,0.031,2595,2404,3923
$GC,3466,-1.69,-243.3,429.9,-9.5,316,3470,0.00,2.58,0.00,0.000,4,0.000,0.054,2595,3792,3919
$GC,3536,-1.69,-243.3,436.9,-9.6,321,3544,0.00,2.47,0.00,0.000,6,0.000,0.031,2595,2395,3918
$STATE,3683,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3684,begin apogee
$GC,3696,-0.50,0.0,450.5,9.5,335,3888,1.17,0.00,184.98,0.784,6,0.060,0.000,2855,2551,2937
$STATE,3894,end apogee,CONTROL_FINISHED_OK
$STATE,3894,begin climb
$GC,3900,1.69,243.3,460.2,0.0,354,4098,2.10,2.58,188.12,0.769,4,0.041,0.054,3349,1148,1944
$GC,4221,1.69,243.3,439.1,11.3,380,4226,0.00,2.40,0.00,0.000,6,0.000,0.032,3349,2539,1940
$GC,4550,1.70,254.8,406.2,9.7,410,4566,0.00,2.70,9.23,0.647,4,0.000,0.058,3349,3946,1898
$GC,4776,1.70,254.8,379.8,12.0,429,4784,0.00,2.50,0.00,0.000,6,0.000,0.032,3348,2541,1896
$GC,5105,1.70,254.8,345.4,10.4,460,5109,0.00,2.62,0.00,0.000,4,0.000,0.057,3348,3939,1894
$GC,5232,1.70,254.8,331.4,11.7,470,5236,0.00,2.47,0.00,0.000,6,0.000,0.031,3348,2542,1894
$GC,5561,1.73,276.7,298.3,9.4,500,5586,0.00,2.65,18.50,0.681,4,0.000,0.055,3349,3935,1809
$GC,5740,1.73,276.7,278.3,11.3,515,5744,0.00,2.42,0.00,0.000,6,0.000,0.030,3349,2549,1806
$GC,6068,1.73,276.7,241.2,11.8,545,6073,0.00,2.58,0.00,0.000,4,0.000,0.054,3349,3933,1804
$GC,6228,1.73,276.7,221.4,11.7,558,6232,0.00,2.42,0.00,0.000,6,0.000,0.029,3349,2539,1804
$GC,6557,1.78,314.7,189.9,8.9,588,6591,0.00,0.00,31.73,0.626,6,0.000,0.000,3348,2539,1654
$GC,6918,1.78,314.7,152.1,11.4,621,6924,0.00,0.00,0.00,0.000,6,0.000,0.000,3349,2539,1649
$GC,7246,1.79,328.5,119.6,9.6,652,7264,0.00,2.60,12.35,0.522,4,0.000,0.048,3348,3941,1596
$GC,7498,1.79,328.5,91.2,11.1,673,7502,0.00,2.42,0.00,0.000,6,0.000,0.025,3349,2537,1594
$GC,7826,1.79,328.5,58.7,10.6,703,7830,0.00,2.55,0.00,0.000,4,0.000,0.045,3349,3938,1593
$GC,7940,1.83,360.5,47.4,9.1,712,7976,0.00,2.40,27.40,0.484,6,0.000,0.025,3349,2540,1466
$GC,8169,1.83,360.5,24.8,10.6,733,8174,0.00,2.55,0.00,0.000,4,0.000,0.045,3349,3935,1462
$GC,8244,1.83,360.5,17.3,10.8,740,8251,0.00,2.40,0.00,0.000,6,0.000,0.024,3349,2539,1462
$GC,8331,1.85,376.3,9.1,9.6,753,8351,0.10,0.00,14.25,0.426,6,0.048,0.000,3390,2540,1401
$STATE,8372,end climb,SURFACE_DEPTH_REACHED
$STATE,8372,begin surface coast
$FINISH,-0.2,1.007436
$STATE,8410,end surface coast,CONTROL_FINISHED_OK
$STATE,8410,begin surface
$SM_CCo,8504,0.00,0.000,0,0,1395,378.25
$SM_GC,0.54,12.65,0.00,0.00,0.020,0.000,0.000,419,2393,1395,-11.64,-0.20,378.25
$IRIDIUM_FIX,2145.77,-15942.95,241098,151527
$TT8_MAMPS,0.078234
$HUMID,1775
$INTERNAL_PRESSURE,10.0527
$TCM_TEMP,24.10
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.9,19.771
$10V_AH,10.1,24.316
$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,27.425,75.450,486.550,0.000,0.000,111.364,187.442,944.472,0.000,0.000,66.645,32.357,1503.263,4241.675,511.400,1454.847,2561.486,33.349,1325.568,0.000,1384.072,0.000,0.000,0.000
$DEVICE_MAMPS,128.856,58.292,783.874,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,522.858,0.000,0.000,0.000,0.000,0.000,195.433,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,25268,765
$CAP_FILE_SIZE,292260,0
$CFSIZE,-70647808,-85655552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,300709,173722,2152.778,-15945.689,22,3.1,41,9.8