version: 66.04
glider: 118
mission: 21
dive: 35
start: 7 31 109 19 45 59
data:
$ID,118
$MISSION,21
$DIVE,35
$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,750
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,250
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$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,450
$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,-86515.625
$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,47
$R_STBD_OVSHOOT,36
$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
$GPS1,193106,2153.329,-15942.114,14,1.2,30,9.8
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,0.38
$_SM_ANGLEo,-58.1
$GPS2,194508,2153.376,-15942.317,10,1.7,10,9.8
$SPEED_LIMITS,0.100,0.326
$TGT_NAME,TB
$TGT_LATLONG,2153.300,-15940.300
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.311,-0.097
$KALMAN_X,-52011.5,42.0,-222.0,51566.3,-2024.9
$KALMAN_Y,23250.5,-91.0,120.7,-28306.4,837.9
$MHEAD_RNG_PITCHd_Wd,97.4,3470,-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,-243.3,0.0,0.0,0,106,0.00,0.00,-83.15,0.000,2,0.000,0.000,420,2492,3517
$GC,112,-1.69,-243.3,4.7,-12.1,12,135,11.25,2.55,-5.53,0.000,4,0.128,0.053,2576,3902,3932
$GC,195,-1.69,-243.3,33.4,-19.4,20,202,0.00,2.40,0.00,0.000,6,0.000,0.022,2576,2503,3933
$GC,396,-1.69,-243.3,66.4,-15.2,39,402,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2503,3933
$GC,730,-1.69,-243.3,119.4,-15.5,70,737,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2503,3933
$GC,1059,-1.69,-243.3,170.3,-14.7,101,1065,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2503,3934
$GC,1387,-1.69,-243.3,212.7,-12.9,132,1391,0.00,2.55,0.00,0.000,4,0.000,0.047,2576,3902,3934
$GC,1469,-1.69,-243.3,222.8,-11.7,138,1476,0.00,2.42,0.00,0.000,6,0.000,0.025,2576,2490,3934
$GC,1797,-1.69,-243.3,258.4,-10.9,169,1804,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2491,3934
$GC,2126,-1.69,-243.3,297.3,-12.3,200,2130,0.00,2.40,0.00,0.000,4,0.000,0.050,2576,1106,3932
$GC,2168,-1.69,-243.3,302.8,-13.0,203,2173,0.00,2.33,0.00,0.000,6,0.000,0.027,2575,2500,3932
$GC,2497,-1.69,-243.3,346.0,-14.0,233,2501,0.00,2.55,0.00,0.000,4,0.000,0.055,2576,3895,3930
$GC,2601,-1.69,-243.3,360.0,-12.4,241,2608,0.00,2.42,0.00,0.000,6,0.000,0.028,2576,2508,3929
$GC,2929,-1.69,-243.3,400.6,-12.2,272,2935,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2509,3926
$GC,3257,-1.69,-243.3,436.8,-11.1,303,3264,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2509,3924
$STATE,3368,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3368,begin apogee
$GC,3380,-0.50,0.0,450.1,11.6,314,3573,1.20,0.00,186.40,0.779,6,0.062,0.000,2838,2712,2937
$STATE,3579,end apogee,CONTROL_FINISHED_OK
$STATE,3579,begin climb
$GC,3585,1.69,243.3,462.2,0.0,333,3783,2.10,2.40,188.77,0.768,4,0.041,0.058,3325,3931,1945
$GC,3969,1.69,243.3,437.2,11.5,364,3976,0.00,2.22,0.00,0.000,6,0.000,0.031,3325,2688,1940
$GC,4297,1.69,243.3,401.9,11.1,395,4303,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,2689,1937
$GC,4625,1.69,243.3,365.3,11.1,426,4632,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,2689,1935
$GC,4954,1.74,283.0,333.2,8.9,457,4991,0.00,2.45,31.60,0.707,4,0.000,0.057,3325,3925,1782
$GC,5093,1.74,283.0,318.4,11.3,468,5101,0.00,2.20,0.00,0.000,6,0.000,0.030,3325,2691,1779
$GC,5422,1.74,283.0,285.1,10.0,499,5428,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,2692,1777
$GC,5750,1.77,306.1,254.7,9.4,530,5776,0.00,2.47,19.05,0.648,4,0.000,0.049,3325,1301,1688
$GC,5841,1.77,306.1,245.7,10.3,537,5848,0.00,2.38,0.00,0.000,6,0.000,0.031,3325,2694,1686
$GC,6169,1.77,306.1,213.4,11.1,568,6173,0.00,2.33,0.00,0.000,4,0.000,0.058,3325,3938,1685
$GC,6234,1.77,306.1,206.6,11.7,572,6241,0.00,2.20,0.00,0.000,6,0.000,0.028,3325,2683,1685
$GC,6562,1.79,325.9,169.8,9.5,603,6587,0.00,2.38,17.42,0.586,4,0.000,0.052,3324,3933,1606
$GC,6675,1.79,325.9,157.5,10.1,612,6682,0.00,2.17,0.00,0.000,6,0.000,0.026,3325,2695,1605
$GC,7004,1.84,369.4,130.2,8.8,643,7044,0.12,0.00,37.30,0.566,6,0.045,0.000,3368,2694,1430
$GC,7366,1.84,369.4,86.6,13.0,677,7370,0.00,2.30,0.00,0.000,4,0.000,0.048,3368,3938,1424
$GC,7454,1.84,369.4,74.1,13.3,684,7461,0.00,2.17,0.00,0.000,6,0.000,0.024,3368,2685,1424
$GC,7782,1.84,369.4,35.0,10.4,715,7789,0.00,0.00,0.00,0.000,6,0.000,0.000,3368,2686,1424
$GC,7992,1.84,369.4,13.6,10.0,739,7998,0.00,0.00,0.00,0.000,6,0.000,0.000,3367,2686,1424
$GC,8078,1.85,370.6,5.5,10.0,752,8084,0.00,0.00,0.00,0.000,6,0.000,0.000,3368,2686,1424
$STATE,8089,end climb,SURFACE_DEPTH_REACHED
$STATE,8089,begin surface coast
$FINISH,-0.1,0.999304
$STATE,8132,end surface coast,CONTROL_FINISHED_OK
$STATE,8132,begin surface
$SM_CCo,8166,38.25,0.439,0,0,1102,450.13
$SM_GC,0.71,0.00,0.00,38.25,0.000,0.000,0.439,418,2466,1102,-11.64,-0.96,450.13
$IRIDIUM_FIX,2143.45,-15941.58,251098,171735
$TT8_MAMPS,0.081302
$HUMID,1791
$INTERNAL_PRESSURE,9.99408
$TCM_TEMP,23.70
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.9,21.595
$10V_AH,10.1,25.313
$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,27.300,47.925,480.550,38.250,0.000,28.875,35.063,470.380,0.000,0.000,77.624,10.802,1441.419,4029.391,574.876,1308.461,1683.407,33.345,1328.822,0.000,1263.383,0.000,0.000,0.000
$DEVICE_MAMPS,128.089,57.525,778.505,439.491,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,520.908,0.000,0.000,0.000,0.000,0.000,110.416,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,25233,761
$CAP_FILE_SIZE,271685,0
$CFSIZE,-70647808,-88276992
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310709,220407,2153.415,-15941.652,34,1.6,34,9.8