version: 66.04
glider: 118
mission: 21
dive: 27
start: 7 30 109 17 57 56
data:
$ID,118
$MISSION,21
$DIVE,27
$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,-86378.219
$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,49
$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
$GPS1,173722,2152.778,-15945.689,22,3.1,41,9.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.30
$_SM_ANGLEo,-62.1
$GPS2,175706,2152.823,-15946.150,17,1.1,33,9.8
$SPEED_LIMITS,0.173,0.326
$TGT_NAME,T2
$TGT_LATLONG,2150.420,-15941.560
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.302,-0.122
$KALMAN_X,-32723.1,111.0,-209.7,25609.7,-2479.0
$KALMAN_Y,16104.7,-148.4,67.2,-22077.1,959.0
$MHEAD_RNG_PITCHd_Wd,102.1,9061,-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,-69.88,0.000,2,0.000,0.000,419,2385,3383
$GC,104,-1.69,-243.3,3.2,-7.7,10,126,11.38,0.00,-7.85,0.000,6,0.128,0.000,2596,2385,3931
$GC,201,-1.69,-243.3,30.8,-18.6,21,207,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2385,3932
$GC,402,-1.69,-243.3,63.0,-14.8,40,408,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2385,3933
$GC,730,-1.69,-243.3,116.1,-14.3,71,734,0.00,2.55,0.00,0.000,4,0.000,0.041,2596,3813,3933
$GC,821,-1.69,-243.3,129.3,-14.9,78,825,0.00,2.42,0.00,0.000,6,0.000,0.024,2596,2402,3934
$GC,1149,-1.69,-243.3,170.7,-11.1,108,1153,0.00,2.53,0.00,0.000,4,0.000,0.042,2596,3802,3934
$GC,1184,-1.69,-243.3,175.0,-11.2,110,1192,0.00,2.42,0.00,0.000,6,0.000,0.024,2596,2397,3933
$GC,1513,-1.69,-243.3,215.5,-13.6,141,1519,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2397,3933
$GC,1841,-1.69,-243.3,254.0,-11.2,172,1845,0.00,2.58,0.00,0.000,4,0.000,0.046,2596,3808,3932
$GC,1957,-1.69,-243.3,267.2,-11.0,181,1965,0.00,2.45,0.00,0.000,6,0.000,0.027,2596,2402,3932
$GC,2286,-1.69,-243.3,302.6,-11.3,212,2290,0.00,2.58,0.00,0.000,4,0.000,0.049,2596,3808,3930
$GC,2367,-1.69,-243.3,312.6,-12.1,218,2374,0.00,2.47,0.00,0.000,6,0.000,0.028,2596,2396,3930
$GC,2695,-1.69,-243.3,350.2,-11.3,249,2702,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2396,3928
$GC,3024,-1.69,-243.3,386.4,-11.1,280,3028,0.00,2.60,0.00,0.000,4,0.000,0.052,2596,3802,3925
$GC,3194,-1.69,-243.3,406.5,-11.2,294,3198,0.00,2.47,0.00,0.000,6,0.000,0.031,2596,2400,3924
$GC,3522,-1.69,-243.3,443.1,-10.8,324,3529,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2400,3922
$STATE,3595,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3595,begin apogee
$GC,3608,-0.50,0.0,450.9,10.5,331,3800,1.17,0.00,185.57,0.780,6,0.060,0.000,2858,2574,2937
$STATE,3806,end apogee,CONTROL_FINISHED_OK
$STATE,3807,begin climb
$GC,3812,1.69,243.3,462.6,0.0,350,4011,2.10,2.67,188.48,0.768,4,0.040,0.054,3352,1149,1944
$GC,4275,1.69,243.3,427.1,11.9,388,4282,0.00,2.40,0.00,0.000,6,0.000,0.032,3350,2543,1938
$GC,4603,1.69,243.3,388.7,11.5,419,4608,0.00,2.53,0.00,0.000,4,0.000,0.054,3351,1145,1936
$GC,4647,1.69,243.3,383.8,11.7,422,4651,0.00,2.42,0.00,0.000,6,0.000,0.033,3350,2559,1936
$GC,4975,1.69,243.3,347.2,12.0,452,4979,0.00,2.55,0.00,0.000,4,0.000,0.060,3350,3925,1934
$GC,5149,1.69,243.3,327.3,10.7,466,5157,0.00,2.45,0.00,0.000,6,0.000,0.031,3350,2533,1933
$GC,5478,1.69,243.3,293.3,10.5,497,5482,0.00,2.60,0.00,0.000,4,0.000,0.054,3351,3926,1932
$GC,5570,1.69,243.3,282.8,11.0,504,5578,0.00,2.42,0.00,0.000,6,0.000,0.030,3350,2543,1931
$GC,5898,1.69,243.3,247.8,10.3,535,5903,0.00,2.58,0.00,0.000,4,0.000,0.054,3350,3932,1930
$GC,5969,1.69,243.3,240.1,10.8,540,5976,0.00,2.42,0.00,0.000,6,0.000,0.029,3350,2544,1930
$GC,6297,1.69,243.3,208.2,10.4,571,6301,0.00,2.58,0.00,0.000,4,0.000,0.051,3350,3936,1929
$GC,6471,1.69,243.3,188.1,11.3,585,6478,0.00,2.42,0.00,0.000,6,0.000,0.028,3350,2540,1929
$GC,6800,1.71,259.5,155.4,9.6,616,6817,0.00,0.00,11.52,0.555,6,0.000,0.000,3350,2540,1877
$GC,7138,1.77,306.3,122.7,8.7,648,7186,0.00,2.60,38.75,0.568,4,0.000,0.048,3350,3932,1687
$GC,7390,1.83,359.4,99.5,8.5,669,7441,0.00,2.40,44.85,0.539,6,0.000,0.025,3350,2543,1470
$GC,7775,1.83,359.4,61.4,10.4,704,7779,0.00,2.55,0.00,0.000,4,0.000,0.045,3350,3936,1463
$GC,7904,1.83,359.4,47.9,11.2,714,7908,0.00,2.40,0.00,0.000,6,0.000,0.025,3350,2544,1463
$GC,8116,1.91,420.1,29.7,8.3,733,8181,0.15,2.47,49.72,0.471,4,0.038,0.044,3403,1156,1222
$GC,8200,1.91,420.1,19.5,12.7,739,8208,0.00,2.35,0.00,0.000,6,0.000,0.025,3403,2560,1221
$STATE,8324,end climb,SURFACE_DEPTH_REACHED
$STATE,8324,begin surface coast
$FINISH,-0.1,1.022911
$STATE,8352,end surface coast,CONTROL_FINISHED_OK
$STATE,8352,begin surface
$SM_CCo,8450,0.00,0.000,0,0,1213,422.90
$SM_GC,0.40,12.93,0.00,0.00,0.027,0.000,0.000,420,2381,1213,-11.66,-0.54,422.90
$IRIDIUM_FIX,2143.45,-15948.92,241098,171730
$TT8_MAMPS,0.062127
$HUMID,1792
$INTERNAL_PRESSURE,10.0234
$TCM_TEMP,23.80
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.9,19.942
$10V_AH,10.1,24.413
$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,27.725,70.475,518.900,0.000,0.000,86.471,88.602,641.133,0.000,0.000,79.099,33.183,1485.817,4165.150,544.110,1446.411,1975.702,33.343,1361.591,0.000,1384.381,0.000,0.000,0.000
$DEVICE_MAMPS,128.089,59.826,780.039,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,522.340,0.000,0.000,0.000,0.000,0.000,118.680,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,25262,764
$CAP_FILE_SIZE,283832,0
$CFSIZE,-70647808,-85917696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300709,202019,2152.647,-15945.784,37,2.0,49,9.8