version: 66.04
glider: 118
mission: 21
dive: 52
start: 8 2 109 14 45 0
data:
$ID,118
$MISSION,21
$DIVE,52
$D_SURF,4
$D_FLARE,3
$D_TGT,300
$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,120
$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,150
$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,-86931.875
$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,2500
$C_ROLL_CLIMB,3050
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,17
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,39
$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
$GPS1,141827,2152.856,-15940.387,55,2.6,75,9.8
$_CALLS,2
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,0.09
$_SM_ANGLEo,-58.7
$GPS2,144411,2153.004,-15940.978,14,1.7,29,9.8
$SPEED_LIMITS,0.083,0.245
$TGT_NAME,TB
$TGT_LATLONG,2153.300,-15940.300
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.183,-0.162
$KALMAN_X,-81893.5,920.4,242.8,82411.3,-1712.6
$KALMAN_Y,38289.4,-661.6,-178.2,-43168.2,980.6
$MHEAD_RNG_PITCHd_Wd,121.8,1287,-15.5,-8.333
$D_GRID,300
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,25,-1.73,-146.0,0.0,0.0,0,135,0.00,0.00,-102.00,0.000,6,0.000,0.000,416,2515,3535
$GC,141,-1.73,-146.0,4.5,-9.2,15,157,11.23,2.25,0.00,0.000,4,0.127,0.041,2563,1085,3536
$GC,200,-1.73,-146.0,29.6,-18.3,21,207,0.00,2.10,0.00,0.000,6,0.000,0.021,2563,2527,3536
$GC,400,-1.73,-146.0,60.2,-14.6,40,407,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2526,3536
$GC,729,-1.73,-146.0,111.4,-16.0,71,733,0.00,2.72,0.00,0.000,4,0.000,0.043,2564,3881,3536
$GC,819,-1.73,-146.0,123.3,-12.8,78,824,0.00,2.75,0.00,0.000,6,0.000,0.025,2564,2490,3536
$GC,1147,-1.73,-146.0,161.4,-10.4,108,1151,0.00,2.15,0.00,0.000,4,0.000,0.047,2563,1095,3537
$GC,1205,-1.73,-146.0,168.0,-12.6,112,1212,0.00,2.05,0.00,0.000,6,0.000,0.022,2564,2506,3537
$GC,1533,-1.73,-146.0,212.9,-13.3,143,1538,0.00,2.85,0.00,0.000,4,0.000,0.045,2564,3882,3537
$GC,1672,-1.73,-146.0,230.0,-11.6,154,1677,0.00,2.75,0.00,0.000,6,0.000,0.027,2564,2492,3537
$GC,2000,-1.73,-146.0,264.6,-10.9,184,2005,0.00,2.85,0.00,0.000,4,0.000,0.046,2564,3869,3534
$GC,2047,-1.73,-146.0,270.2,-11.5,187,2054,0.00,2.75,0.00,0.000,6,0.000,0.028,2564,2500,3534
$STATE,2306,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2306,begin apogee
$GC,2319,-0.50,0.0,301.1,11.1,212,2438,1.23,0.00,110.80,0.634,6,0.066,0.000,2831,3037,2937
$STATE,2444,end apogee,CONTROL_FINISHED_OK
$STATE,2444,begin climb
$GC,2450,1.73,146.0,306.5,0.0,224,2572,2.15,2.22,110.35,0.629,4,0.040,0.041,3332,1649,2340
$GC,2615,1.75,160.0,299.9,7.8,237,2632,0.00,2.15,12.23,0.558,6,0.000,0.029,3332,3052,2284
$GC,2955,1.84,230.1,276.7,5.6,268,3018,0.00,0.00,54.08,0.617,6,0.000,0.000,3332,3052,1999
$GC,3335,1.84,230.1,246.5,9.3,304,3339,0.00,2.12,0.00,0.000,4,0.000,0.055,3332,3931,1992
$GC,3408,1.84,230.1,239.5,9.6,310,3412,0.00,2.00,0.00,0.000,6,0.000,0.028,3332,3026,1992
$GC,3742,1.84,230.1,211.3,9.0,341,3746,0.00,2.17,0.00,0.000,4,0.000,0.052,3332,3931,1989
$GC,3883,1.84,230.1,197.9,9.2,352,3890,0.00,2.00,0.00,0.000,6,0.000,0.028,3332,3036,1988
$GC,4211,1.84,230.1,168.4,9.6,383,4217,0.00,0.00,0.00,0.000,6,0.000,0.000,3332,3036,1987
$GC,4539,1.90,282.4,143.0,6.3,414,4587,0.12,0.00,39.95,0.553,6,0.044,0.000,3376,3036,1784
$GC,4910,1.90,282.4,109.7,10.1,449,4913,0.00,2.15,0.00,0.000,4,0.000,0.048,3376,3930,1779
$GC,5031,1.90,282.4,96.8,10.5,459,5038,0.00,1.95,0.00,0.000,6,0.000,0.025,3376,3033,1779
$GC,5359,1.90,282.4,65.5,9.2,490,5363,0.00,2.12,0.00,0.000,4,0.000,0.047,3377,3933,1779
$GC,5530,1.93,306.6,51.1,7.4,504,5554,0.00,1.92,19.35,0.459,6,0.000,0.024,3376,3041,1687
$GC,5749,1.93,306.6,31.7,9.0,524,5753,0.00,2.10,0.00,0.000,4,0.000,0.038,3376,1661,1683
$GC,5814,1.93,308.1,26.5,8.3,529,5818,0.00,2.10,0.00,0.000,6,0.000,0.026,3376,3066,1682
$GC,6031,1.93,308.1,6.4,9.9,559,6037,0.00,0.00,0.00,0.000,6,0.000,0.000,3376,3067,1682
$STATE,6053,end climb,SURFACE_DEPTH_REACHED
$STATE,6053,begin surface coast
$FINISH,0.2,1.022885
$STATE,6096,end surface coast,CONTROL_FINISHED_OK
$STATE,6096,begin surface
$SM_CCo,6135,66.93,0.423,0,0,1101,450.13
$SM_GC,0.60,0.00,0.00,66.93,0.000,0.000,0.423,418,2515,1101,-11.63,0.42,450.13
$IRIDIUM_FIX,2143.45,-15941.58,271098,141431
$TT8_MAMPS,0.070564
$HUMID,1711
$INTERNAL_PRESSURE,10.0527
$TCM_TEMP,24.40
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,24.1,24.341
$10V_AH,10.1,27.129
$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,27.400,51.900,346.750,66.925,0.000,58.064,60.289,1040.165,0.000,0.000,57.356,30.005,1118.246,2952.184,486.633,1043.464,2125.283,33.350,1083.549,0.000,990.358,0.000,0.000,0.000
$DEVICE_MAMPS,127.322,55.224,633.542,422.617,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,385.511,0.000,0.000,0.000,0.000,0.000,96.513,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,18992,570
$CAP_FILE_SIZE,226155,0
$CFSIZE,-70647808,-93388800
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,57,0,0
$GPS,020809,162936,2152.876,-15941.223,14,1.9,24,9.8