version: 66.04
glider: 118
mission: 21
dive: 37
start: 8 1 109 1 13 26
data:
$ID,118
$MISSION,21
$DIVE,37
$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,-86565.781
$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,76
$R_STBD_OVSHOOT,38
$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
$GPS1,005658,2153.692,-15941.262,13,99.0,32,9.8
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,0.35
$_SM_ANGLEo,-59.9
$GPS2,011236,2153.772,-15941.457,15,1.5,31,9.8
$SPEED_LIMITS,0.100,0.326
$TGT_NAME,TB
$TGT_LATLONG,2153.300,-15940.300
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.301,-0.126
$KALMAN_X,-55520.1,-1087.2,280.1,57175.2,-1568.7
$KALMAN_Y,25258.5,314.2,156.4,-30023.0,636.1
$MHEAD_RNG_PITCHd_Wd,102.9,2172,-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,-243.3,0.0,0.0,0,110,0.00,0.00,-83.12,0.000,2,0.000,0.000,423,2466,3526
$GC,117,-1.69,-243.3,4.8,-12.2,12,140,11.20,2.60,-5.38,0.000,4,0.127,0.052,2578,3895,3932
$GC,190,-1.69,-243.3,31.9,-20.9,19,197,0.00,2.38,0.00,0.000,6,0.000,0.022,2578,2524,3932
$GC,390,-1.69,-243.3,69.7,-16.5,38,397,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2523,3932
$GC,719,-1.69,-243.3,120.8,-14.7,69,723,0.00,2.50,0.00,0.000,4,0.000,0.044,2578,3892,3933
$GC,765,-1.69,-243.3,128.4,-16.0,72,773,0.00,2.40,0.00,0.000,6,0.000,0.023,2578,2499,3933
$GC,1094,-1.69,-243.3,178.2,-15.0,103,1100,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2499,3933
$GC,1422,-1.69,-243.3,225.3,-13.3,134,1426,0.00,2.55,0.00,0.000,4,0.000,0.046,2578,3891,3933
$GC,1465,-1.69,-243.3,230.8,-12.9,137,1469,0.00,2.42,0.00,0.000,6,0.000,0.025,2578,2495,3933
$GC,1793,-1.69,-243.3,270.4,-11.7,167,1797,0.00,2.58,0.00,0.000,4,0.000,0.048,2578,3891,3933
$GC,1863,-1.69,-243.3,279.2,-12.0,172,1870,0.00,2.42,0.00,0.000,6,0.000,0.025,2578,2503,3932
$GC,2191,-1.69,-243.3,316.5,-11.2,203,2198,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2503,3931
$GC,2520,-1.69,-243.3,354.3,-11.8,234,2524,0.00,2.60,0.00,0.000,4,0.000,0.053,2578,3891,3928
$GC,2584,-1.69,-243.3,361.3,-11.9,238,2591,0.00,2.45,0.00,0.000,6,0.000,0.028,2578,2504,3928
$GC,2912,-1.69,-243.3,397.4,-11.1,269,2918,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2504,3925
$GC,3240,-1.69,-243.3,433.3,-10.6,300,3245,0.00,2.62,0.00,0.000,4,0.000,0.056,2578,3895,3923
$GC,3300,-1.69,-243.3,439.0,-10.0,304,3304,0.00,2.47,0.00,0.000,6,0.000,0.031,2578,2502,3922
$STATE,3400,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3400,begin apogee
$GC,3412,-0.50,0.0,450.1,9.7,313,3605,1.17,0.00,186.07,0.776,6,0.061,0.000,2837,2707,2937
$STATE,3611,end apogee,CONTROL_FINISHED_OK
$STATE,3611,begin climb
$GC,3616,1.69,243.3,457.3,0.0,332,3815,2.10,2.40,188.20,0.762,4,0.042,0.058,3323,3922,1945
$GC,3977,1.69,243.3,430.6,11.6,361,3981,0.00,2.22,0.00,0.000,6,0.000,0.030,3323,2693,1941
$GC,4306,1.71,259.1,396.5,9.6,391,4323,0.00,0.00,12.93,0.671,6,0.000,0.000,3323,2693,1880
$GC,4644,1.72,266.3,362.6,9.8,423,4653,0.00,0.00,6.95,0.591,6,0.000,0.000,3323,2693,1851
$GC,4973,1.72,272.0,328.1,9.8,454,4981,0.00,0.00,6.05,0.562,6,0.000,0.000,3323,2693,1828
$GC,5301,1.72,272.0,295.3,11.3,485,5306,0.00,2.35,0.00,0.000,4,0.000,0.056,3323,3923,1825
$GC,5337,1.72,272.0,291.0,11.4,487,5345,0.00,2.20,0.00,0.000,6,0.000,0.030,3323,2697,1825
$GC,5666,1.78,320.4,260.0,8.7,518,5714,0.00,2.33,40.70,0.674,4,0.000,0.054,3323,3918,1629
$GC,5799,1.78,320.4,246.9,11.2,528,5807,0.00,2.20,0.00,0.000,6,0.000,0.028,3323,2695,1626
$GC,6127,1.78,320.4,209.9,10.5,559,6132,0.00,2.35,0.00,0.000,4,0.000,0.052,3323,3929,1623
$GC,6217,1.78,320.4,199.6,12.1,566,6221,0.00,2.20,0.00,0.000,6,0.000,0.027,3323,2690,1623
$GC,6545,1.79,326.1,166.6,9.8,596,6553,0.00,0.00,4.97,0.446,6,0.000,0.000,3323,2690,1607
$GC,6874,1.85,378.2,137.2,8.6,627,6922,0.12,0.00,44.83,0.565,6,0.044,0.000,3366,2690,1395
$GC,7245,1.87,394.7,99.3,9.5,662,7269,0.00,2.38,14.50,0.495,4,0.000,0.047,3367,3921,1326
$GC,7335,1.87,394.7,90.0,10.7,669,7342,0.00,2.17,0.00,0.000,6,0.000,0.024,3367,2688,1324
$GC,7663,1.87,394.7,56.8,10.9,700,7667,0.00,2.33,0.00,0.000,4,0.000,0.041,3367,1313,1323
$GC,7763,1.87,394.7,46.4,10.1,708,7767,0.00,2.28,0.00,0.000,6,0.000,0.024,3367,2706,1323
$GC,7976,1.89,408.0,26.7,9.6,727,7993,0.00,2.28,12.15,0.422,4,0.000,0.048,3367,3926,1271
$GC,8109,1.89,408.0,10.4,12.1,744,8117,0.00,2.15,0.00,0.000,6,0.000,0.022,3367,2688,1271
$STATE,8163,end climb,SURFACE_DEPTH_REACHED
$STATE,8164,begin surface coast
$FINISH,0.0,1.009962
$STATE,8201,end surface coast,CONTROL_FINISHED_OK
$STATE,8201,begin surface
$SM_CCo,8235,19.83,0.408,0,0,1102,450.13
$SM_GC,0.37,0.00,0.00,19.83,0.000,0.000,0.408,419,2485,1102,-11.64,-0.42,450.13
$IRIDIUM_FIX,2145.77,-15943.76,251098,222203
$TT8_MAMPS,0.06903
$HUMID,1752
$INTERNAL_PRESSURE,10.0331
$TCM_TEMP,24.40
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.9,21.948
$10V_AH,10.1,25.507
$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,27.200,62.450,517.350,19.825,0.000,35.950,33.953,531.404,0.000,0.000,59.879,32.066,1457.601,4050.583,566.927,1335.166,1771.578,33.348,1329.505,0.000,1268.469,0.000,0.000,0.000
$DEVICE_MAMPS,126.555,58.292,776.204,408.044,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,518.567,0.000,0.000,0.000,0.000,0.000,112.268,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,25308,759
$CAP_FILE_SIZE,276240,0
$CFSIZE,-70647808,-88866816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,010809,033202,2153.429,-15940.628,11,1.5,11,9.8