version: 66.04
glider: 118
mission: 21
dive: 36
start: 7 31 109 22 33 47
data:
$ID,118
$MISSION,21
$DIVE,36
$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,-86533.086
$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,72
$R_STBD_OVSHOOT,30
$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
$GPS1,220407,2153.415,-15941.652,34,1.6,34,9.8
$_CALLS,5
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.26
$_SM_ANGLEo,-59.1
$GPS2,223256,2153.599,-15942.200,16,1.6,16,9.8
$SPEED_LIMITS,0.100,0.326
$TGT_NAME,TB
$TGT_LATLONG,2153.300,-15940.300
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.311,-0.096
$KALMAN_X,-54161.0,-684.6,66.3,54360.6,-1978.1
$KALMAN_Y,24227.4,118.0,210.1,-29169.3,727.7
$MHEAD_RNG_PITCHd_Wd,97.4,3313,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,24,-1.69,-243.3,0.0,0.0,0,104,0.00,0.00,-76.57,0.000,2,0.000,0.000,418,2466,3277
$GC,110,-1.69,-243.3,3.1,-7.3,11,140,11.20,2.60,-9.85,0.000,4,0.126,0.053,2575,3901,3931
$GC,171,-1.69,-243.3,22.5,-21.1,18,176,0.00,2.38,0.00,0.000,6,0.000,0.022,2576,2515,3931
$GC,372,-1.69,-243.3,61.5,-16.8,36,378,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2516,3931
$GC,700,-1.69,-243.3,116.8,-15.5,67,705,0.00,2.53,0.00,0.000,4,0.000,0.044,2576,3905,3932
$GC,760,-1.69,-243.3,125.6,-15.5,71,764,0.00,2.40,0.00,0.000,6,0.000,0.022,2576,2499,3932
$GC,1088,-1.69,-243.3,169.7,-12.0,101,1094,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2498,3932
$GC,1416,-1.69,-243.3,212.5,-12.7,132,1421,0.00,2.55,0.00,0.000,4,0.000,0.047,2576,3900,3931
$GC,1460,-1.69,-243.3,218.2,-13.2,135,1464,0.00,2.40,0.00,0.000,6,0.000,0.025,2576,2502,3932
$GC,1788,-1.69,-243.3,259.0,-13.2,165,1792,0.00,2.58,0.00,0.000,4,0.000,0.049,2576,3903,3931
$GC,1852,-1.69,-243.3,266.9,-13.4,169,1859,0.00,2.42,0.00,0.000,6,0.000,0.025,2576,2504,3931
$GC,2180,-1.69,-243.3,304.9,-11.0,200,2185,0.00,2.42,0.00,0.000,4,0.000,0.049,2576,1099,3929
$GC,2245,-1.69,-243.3,312.2,-11.6,204,2252,0.00,2.35,0.00,0.000,6,0.000,0.028,2576,2514,3928
$GC,2573,-1.69,-243.3,347.9,-10.7,235,2577,0.00,2.55,0.00,0.000,4,0.000,0.054,2576,3897,3925
$GC,2651,-1.69,-243.3,356.6,-11.7,241,2655,0.00,2.45,0.00,0.000,6,0.000,0.028,2576,2497,3925
$GC,2979,-1.69,-243.3,391.2,-10.4,271,2983,0.00,2.60,0.00,0.000,4,0.000,0.054,2576,3891,3922
$GC,3025,-1.69,-243.3,396.5,-10.8,274,3033,0.00,2.45,0.00,0.000,6,0.000,0.029,2576,2502,3921
$GC,3354,-1.69,-243.3,431.8,-11.4,305,3360,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2504,3918
$STATE,3517,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3518,begin apogee
$GC,3530,-0.50,0.0,450.4,11.1,321,3723,1.20,0.00,185.27,0.779,6,0.062,0.000,2839,2708,2937
$STATE,3729,end apogee,CONTROL_FINISHED_OK
$STATE,3729,begin climb
$GC,3734,1.69,243.3,460.0,0.0,340,3933,2.10,2.40,188.32,0.764,4,0.044,0.058,3326,3919,1945
$GC,4196,1.69,243.3,422.1,10.1,378,4200,0.00,2.20,0.00,0.000,6,0.000,0.031,3325,2698,1939
$GC,4524,1.71,263.1,389.6,9.5,408,4546,0.00,0.00,16.17,0.691,6,0.000,0.000,3325,2698,1863
$GC,4868,1.71,263.1,354.8,10.0,440,4874,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,2698,1859
$GC,5196,1.71,263.1,323.7,10.5,471,5203,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,2698,1857
$GC,5525,1.71,263.1,288.8,10.8,502,5529,0.00,2.33,0.00,0.000,4,0.000,0.056,3325,3922,1856
$GC,5608,1.71,263.1,279.0,11.2,508,5616,0.00,2.20,0.00,0.000,6,0.000,0.029,3325,2684,1856
$GC,5937,1.71,263.1,244.1,10.5,539,5943,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,2685,1855
$GC,6265,1.77,307.1,214.3,8.8,570,6306,0.00,2.40,35.60,0.646,4,0.000,0.053,3325,3929,1684
$GC,6334,1.79,325.7,208.1,9.5,575,6359,0.00,2.20,16.60,0.605,6,0.000,0.028,3325,2699,1609
$GC,6679,1.79,325.7,174.6,10.5,607,6686,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,2699,1604
$GC,7008,1.80,330.3,140.3,9.9,638,7021,0.00,2.33,4.30,0.409,4,0.000,0.051,3327,3925,1590
$GC,7072,1.80,332.0,133.9,10.0,643,7076,0.00,2.17,0.00,0.000,6,0.000,0.026,3325,2684,1590
$GC,7407,1.85,375.0,104.9,8.8,674,7453,0.12,0.00,38.53,0.546,6,0.044,0.000,3370,2684,1407
$GC,7776,1.85,375.0,67.3,11.8,709,7782,0.00,0.00,0.00,0.000,6,0.000,0.000,3370,2684,1403
$GC,8104,1.85,375.0,34.4,10.4,740,8108,0.00,2.30,0.00,0.000,4,0.000,0.047,3370,3923,1403
$GC,8218,1.86,385.0,22.8,9.7,749,8232,0.00,2.12,9.00,0.413,6,0.000,0.023,3370,2696,1367
$STATE,8398,end climb,SURFACE_DEPTH_REACHED
$STATE,8398,begin surface coast
$FINISH,0.1,1.023068
$STATE,8444,end surface coast,CONTROL_FINISHED_OK
$STATE,8444,begin surface
$SM_CCo,8477,31.02,0.426,0,0,1102,450.13
$SM_GC,0.59,0.00,0.00,31.02,0.000,0.000,0.426,423,2467,1102,-11.62,-0.93,450.13
$IRIDIUM_FIX,2143.45,-15940.77,251098,222244
$TT8_MAMPS,0.082836
$HUMID,1777
$INTERNAL_PRESSURE,10.0136
$TCM_TEMP,24.00
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.9,21.789
$10V_AH,10.1,25.416
$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,27.275,57.950,493.800,31.025,0.000,140.950,143.604,988.434,0.000,0.000,66.553,16.832,1505.604,4315.145,564.527,1357.954,2485.891,33.356,1339.211,0.000,1305.420,0.000,0.000,0.000
$DEVICE_MAMPS,125.788,57.525,778.505,425.685,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,535.816,0.000,0.000,0.000,0.000,0.000,124.783,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,25282,783
$CAP_FILE_SIZE,294782,0
$CFSIZE,-70647808,-88539136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010809,005658,2153.692,-15941.262,13,99.0,32,9.8