version: 66.04
glider: 118
mission: 21
dive: 45
start: 8 1 109 22 40 21
data:
$ID,118
$MISSION,21
$DIVE,45
$D_SURF,4
$D_FLARE,3
$D_TGT,270
$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,90
$T_MISSION,120
$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,400
$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,-86763.57
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,428
$PITCH_MAX,3730
$C_PITCH,2946
$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,2560
$C_ROLL_CLIMB,2720
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,17
$R_PORT_OVSHOOT,50
$R_STBD_OVSHOOT,35
$ROLL_AD_RATE,325
$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
$GPS1,222254,2154.365,-15942.252,30,1.8,46,9.8
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-61.0
$GPS2,223931,2154.424,-15942.555,16,1.7,33,9.8
$SPEED_LIMITS,0.100,0.326
$TGT_NAME,TB
$TGT_LATLONG,2153.300,-15940.300
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.286,-0.157
$KALMAN_X,-69447.2,-917.3,-238.9,69576.5,-820.9
$KALMAN_Y,31102.4,141.5,355.7,-34686.1,458.6
$MHEAD_RNG_PITCHd_Wd,108.9,4399,-13.9,-10.000
$D_GRID,270
$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,-76.40,0.000,2,0.000,0.000,416,2531,3309
$GC,110,-1.69,-243.3,3.8,-7.9,11,139,11.15,2.20,-9.30,0.000,4,0.124,0.054,2576,1164,3932
$GC,170,-1.69,-243.3,22.3,-18.8,18,174,0.00,2.17,0.00,0.000,6,0.000,0.022,2575,2577,3932
$GC,371,-1.69,-243.3,56.9,-16.4,36,378,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2577,3933
$GC,706,-1.69,-243.3,101.6,-13.6,67,710,0.00,2.62,0.00,0.000,4,0.000,0.044,2575,3922,3933
$GC,752,-1.69,-243.3,109.1,-13.2,70,760,0.00,2.55,0.00,0.000,6,0.000,0.023,2575,2565,3934
$GC,1080,-1.69,-243.3,153.5,-13.7,101,1087,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2565,3934
$GC,1409,-1.69,-243.3,195.1,-11.7,132,1415,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2566,3934
$GC,1737,-1.69,-243.3,235.9,-12.8,163,1742,0.00,2.70,0.00,0.000,4,0.000,0.048,2575,3922,3934
$GC,1827,-1.69,-243.3,247.1,-11.9,170,1831,0.00,2.60,0.00,0.000,6,0.000,0.027,2576,2563,3933
$STATE,2022,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2022,begin apogee
$GC,2035,-0.50,0.0,270.2,11.5,188,2226,1.15,0.00,182.88,0.613,6,0.060,0.000,2831,2748,2937
$STATE,2232,end apogee,CONTROL_FINISHED_OK
$STATE,2232,begin climb
$GC,2238,1.69,243.3,279.2,0.0,207,2434,2.10,2.47,182.35,0.611,4,0.040,0.051,3320,3905,1944
$GC,2616,1.69,243.3,253.4,10.1,238,2620,0.00,2.38,0.00,0.000,6,0.000,0.028,3320,2700,1940
$GC,2945,1.74,283.9,221.6,8.9,268,2982,0.00,2.60,32.03,0.577,4,0.000,0.051,3321,3909,1779
$GC,3156,1.74,283.9,198.4,11.6,285,3163,0.00,2.35,0.00,0.000,6,0.000,0.028,3321,2721,1774
$GC,3484,1.79,326.0,168.2,8.8,316,3524,0.00,2.50,33.90,0.557,4,0.000,0.050,3321,3900,1606
$GC,3640,1.80,332.1,153.4,9.8,329,3653,0.00,2.33,5.82,0.433,6,0.000,0.028,3321,2720,1583
$GC,3974,1.83,357.4,121.9,9.3,360,4002,0.10,2.50,21.80,0.517,4,0.049,0.048,3360,3901,1480
$GC,4121,1.83,357.4,105.8,11.0,372,4128,0.00,2.33,0.00,0.000,6,0.000,0.025,3360,2715,1477
$GC,4449,1.83,357.4,68.7,12.2,403,4453,0.00,2.42,0.00,0.000,4,0.000,0.045,3360,3904,1475
$GC,4579,1.83,357.4,53.3,12.8,413,4584,0.00,2.30,0.00,0.000,6,0.000,0.025,3360,2716,1475
$GC,4908,1.89,406.5,20.0,8.6,443,4959,0.00,2.45,40.47,0.449,4,0.000,0.042,3360,3904,1278
$GC,5052,1.89,406.5,5.2,12.4,463,5059,0.00,2.30,0.00,0.000,6,0.000,0.024,3360,2720,1276
$STATE,5063,end climb,SURFACE_DEPTH_REACHED
$STATE,5063,begin surface coast
$FINISH,0.3,1.023106
$STATE,5101,end surface coast,CONTROL_FINISHED_OK
$STATE,5101,begin surface
$SM_CCo,5194,0.00,0.000,0,0,1272,408.42
$SM_GC,1.22,12.50,0.00,0.00,0.020,0.000,0.000,418,2549,1272,-11.53,-0.31,408.42
$IRIDIUM_FIX,2145.77,-15940.77,261098,222206
$TT8_MAMPS,0.060593
$HUMID,1763
$INTERNAL_PRESSURE,10.0917
$TCM_TEMP,24.10
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,24.1,23.268
$10V_AH,10.1,26.267
$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,27.000,44.275,499.250,0.000,0.000,57.471,59.727,552.461,0.000,0.000,71.947,34.056,899.183,2410.662,499.650,907.403,1467.111,33.340,1057.561,0.000,849.893,0.000,0.000,0.000
$DEVICE_MAMPS,124.254,53.690,612.833,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,317.705,0.000,0.000,0.000,0.000,0.000,113.897,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,15862,471
$CAP_FILE_SIZE,180603,0
$CFSIZE,-70647808,-91160576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,24,0,0
$GPS,020809,000806,2154.265,-15942.178,27,1.7,27,9.8