version: 66.04
glider: 118
mission: 21
dive: 28
start: 7 30 109 20 39 16
data:
$ID,118
$MISSION,21
$DIVE,28
$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,-86395.656
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,428
$PITCH_MAX,3730
$C_PITCH,2950
$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,2500
$C_ROLL_CLIMB,2700
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,17
$R_PORT_OVSHOOT,49
$R_STBD_OVSHOOT,37
$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
$GPS1,202019,2152.647,-15945.784,37,2.0,49,9.8
$_CALLS,3
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,0.23
$_SM_ANGLEo,-59.3
$GPS2,203825,2152.688,-15946.119,11,1.3,16,9.8
$SPEED_LIMITS,0.173,0.326
$TGT_NAME,T2
$TGT_LATLONG,2150.420,-15941.560
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.292,-0.145
$KALMAN_X,-34883.2,-356.2,-244.6,28329.2,-1855.6
$KALMAN_Y,16745.8,178.4,-46.8,-23172.9,895.8
$MHEAD_RNG_PITCHd_Wd,106.7,8892,-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,-243.3,0.0,0.0,0,100,0.00,0.00,-76.68,0.000,2,0.000,0.000,420,2380,3409
$GC,106,-1.69,-243.3,3.7,-8.8,11,128,11.18,0.00,-7.28,0.000,6,0.124,0.000,2578,2380,3932
$GC,197,-1.69,-243.3,31.5,-19.5,21,203,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2380,3932
$GC,398,-1.69,-243.3,66.7,-15.5,40,404,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2380,3932
$GC,726,-1.69,-243.3,117.4,-14.6,71,731,0.00,2.72,0.00,0.000,4,0.000,0.042,2578,3904,3933
$GC,820,-1.69,-243.3,130.1,-13.1,78,828,0.00,2.40,0.00,0.000,6,0.000,0.023,2578,2497,3933
$GC,1149,-1.69,-243.3,173.8,-13.3,109,1155,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2497,3933
$GC,1477,-1.69,-243.3,215.5,-12.2,140,1483,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2497,3933
$GC,1805,-1.69,-243.3,254.9,-11.9,171,1810,0.00,2.55,0.00,0.000,4,0.000,0.048,2577,3892,3933
$GC,1872,-1.69,-243.3,262.4,-10.5,176,1876,0.00,2.40,0.00,0.000,6,0.000,0.026,2578,2500,3933
$GC,2200,-1.69,-243.3,298.7,-11.2,206,2205,0.00,2.55,0.00,0.000,4,0.000,0.051,2578,3890,3930
$GC,2244,-1.69,-243.3,303.6,-11.5,209,2248,0.00,2.42,0.00,0.000,6,0.000,0.028,2578,2493,3931
$GC,2572,-1.69,-243.3,339.7,-10.9,239,2578,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2494,3928
$GC,2900,-1.69,-243.3,375.7,-10.1,270,2905,0.00,2.60,0.00,0.000,4,0.000,0.054,2578,3892,3925
$GC,2978,-1.69,-243.3,384.3,-11.6,276,2983,0.00,2.45,0.00,0.000,6,0.000,0.030,2578,2492,3925
$GC,3307,-1.69,-243.3,420.0,-11.5,306,3311,0.00,2.45,0.00,0.000,4,0.000,0.054,2577,1098,3922
$GC,3373,-1.69,-243.3,427.2,-10.4,311,3378,0.00,2.38,0.00,0.000,6,0.000,0.031,2578,2498,3922
$STATE,3595,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3595,begin apogee
$GC,3607,-0.50,0.0,450.3,10.5,331,3800,1.17,0.00,186.02,0.782,6,0.062,0.000,2836,2715,2937
$STATE,3806,end apogee,CONTROL_FINISHED_OK
$STATE,3806,begin climb
$GC,3811,1.69,243.3,460.6,0.0,350,4011,2.12,2.38,188.52,0.768,4,0.042,0.060,3325,3922,1944
$GC,4188,1.69,244.3,437.0,10.0,381,4192,0.00,2.20,0.00,0.000,6,0.000,0.032,3325,2694,1941
$GC,4516,1.69,244.3,405.6,10.2,411,4520,0.00,2.47,0.00,0.000,4,0.000,0.052,3325,1300,1936
$GC,4597,1.69,244.3,396.9,10.5,417,4604,0.00,2.40,0.00,0.000,6,0.000,0.033,3325,2697,1936
$GC,4926,1.74,288.2,365.0,8.8,448,4964,0.00,0.00,36.00,0.729,6,0.000,0.000,3325,2696,1762
$GC,5289,1.78,316.9,333.5,9.2,482,5324,0.00,2.42,24.60,0.702,4,0.000,0.060,3325,3935,1644
$GC,5375,1.78,316.9,324.3,10.7,489,5380,0.00,2.20,0.00,0.000,6,0.000,0.031,3325,2698,1643
$GC,5704,1.78,316.9,286.2,12.1,519,5708,0.00,2.45,0.00,0.000,4,0.000,0.049,3325,1305,1639
$GC,5762,1.78,316.9,279.3,12.9,523,5767,0.00,2.40,0.00,0.000,6,0.000,0.032,3325,2705,1639
$GC,6091,1.78,316.9,241.3,11.0,553,6095,0.00,2.47,0.00,0.000,4,0.000,0.048,3325,1304,1638
$GC,6126,1.78,316.9,237.2,11.5,555,6133,0.00,2.40,0.00,0.000,6,0.000,0.032,3325,2707,1638
$GC,6454,1.86,379.2,204.7,8.3,586,6520,0.12,2.33,52.75,0.642,4,0.048,0.056,3365,3932,1390
$GC,6619,1.86,379.2,185.2,13.5,599,6626,0.00,2.17,0.00,0.000,6,0.000,0.028,3365,2695,1386
$GC,6947,1.86,379.2,142.5,13.4,630,6951,0.00,2.42,0.00,0.000,4,0.000,0.045,3366,1301,1384
$GC,7018,1.86,379.2,132.4,14.2,635,7025,0.00,2.38,0.00,0.000,6,0.000,0.028,3366,2705,1383
$GC,7346,1.86,379.2,92.4,12.1,666,7352,0.00,0.00,0.00,0.000,6,0.000,0.000,3366,2705,1383
$GC,7675,1.90,418.5,56.6,8.9,697,7712,0.00,2.33,32.38,0.500,4,0.000,0.049,3365,3929,1230
$GC,7825,1.90,418.5,41.5,11.1,709,7832,0.00,2.15,0.00,0.000,6,0.000,0.024,3365,2682,1227
$GC,8031,1.90,418.5,19.8,11.0,728,8037,0.00,0.00,0.00,0.000,6,0.000,0.000,3365,2682,1227
$GC,8116,1.90,418.5,9.9,11.7,741,8123,0.00,2.30,0.00,0.000,4,0.000,0.047,3365,3936,1227
$STATE,8161,end climb,SURFACE_DEPTH_REACHED
$STATE,8161,begin surface coast
$FINISH,2.3,1.022926
$STATE,8166,end surface coast,CONTROL_FINISHED_OK
$STATE,8166,begin surface
$SM_CCo,8262,0.00,0.000,0,0,1222,420.69
$SM_GC,0.49,12.60,0.00,0.00,0.023,0.000,0.000,424,2485,1222,-11.55,-0.42,420.69
$IRIDIUM_FIX,2143.45,-15943.76,241098,202027
$TT8_MAMPS,0.087438
$HUMID,1794
$INTERNAL_PRESSURE,10.0331
$TCM_TEMP,24.00
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.9,20.110
$10V_AH,10.1,24.507
$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,27.200,67.675,520.275,0.000,0.000,84.066,165.529,509.703,0.000,0.000,67.011,16.809,1442.187,4141.098,551.016,1321.463,1876.935,33.340,1326.209,0.000,1281.359,0.000,0.000,0.000
$DEVICE_MAMPS,124.254,59.826,782.340,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,513.038,0.000,0.000,0.000,0.000,0.000,119.582,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,22139,749
$CAP_FILE_SIZE,274960,0
$CFSIZE,-70647808,-86179840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300709,225807,2152.345,-15945.541,25,1.2,25,9.8