version: 66.04
glider: 118
mission: 21
dive: 53
start: 8 2 109 16 42 20
data:
$ID,118
$MISSION,21
$DIVE,53
$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,-86948.586
$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,20
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,3050
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,17
$R_PORT_OVSHOOT,39
$R_STBD_OVSHOOT,37
$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
$GPS1,162936,2152.876,-15941.223,14,1.9,24,9.8
$_CALLS,1
$_XMS_NAKs,14
$_XMS_TOUTs,0
$_SM_DEPTHo,0.55
$_SM_ANGLEo,-58.4
$GPS2,164125,2152.972,-15941.471,10,2.0,15,9.8
$SPEED_LIMITS,0.083,0.245
$TGT_NAME,TB
$TGT_LATLONG,2153.300,-15940.300
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.242,-0.038
$KALMAN_X,-83768.8,703.0,183.6,83716.6,-2385.9
$KALMAN_Y,39255.2,-762.6,68.5,-44333.7,1302.3
$MHEAD_RNG_PITCHd_Wd,89.2,2102,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,20,-1.73,-146.0,0.0,0.0,0,106,0.00,0.00,-83.22,0.000,2,0.000,0.000,418,2514,3495
$GC,112,-1.73,-146.0,4.4,-7.3,12,129,11.12,1.15,-0.57,0.000,4,0.124,0.064,2567,1789,3535
$GC,270,-1.73,-146.0,43.7,-16.7,27,274,0.00,1.08,0.00,0.000,6,0.000,0.021,2567,2532,3536
$GC,476,-1.73,-146.0,73.1,-13.5,46,479,0.00,0.93,0.00,0.000,4,0.000,0.029,2567,3176,3536
$GC,552,-1.73,-146.0,85.6,-15.6,52,559,0.00,1.02,0.00,0.000,6,0.000,0.026,2567,2486,3537
$GC,880,-1.73,-146.0,134.8,-14.0,83,884,0.00,1.02,0.00,0.000,4,0.000,0.029,2567,3173,3538
$GC,1103,-1.73,-146.0,163.2,-12.5,102,1106,0.00,1.00,0.00,0.000,6,0.000,0.027,2566,2498,3538
$GC,1437,-1.73,-146.0,205.4,-11.6,133,1440,0.00,1.00,0.00,0.000,4,0.000,0.031,2567,3171,3538
$GC,1628,-1.73,-146.0,227.0,-11.7,149,1635,0.00,1.00,0.00,0.000,6,0.000,0.028,2566,2500,3538
$GC,1957,-1.73,-146.0,266.1,-10.9,180,1960,0.00,1.00,0.00,0.000,4,0.000,0.033,2567,3167,3538
$GC,2103,-1.73,-146.0,280.7,-10.1,192,2110,0.00,1.00,0.00,0.000,6,0.000,0.031,2567,2501,3537
$STATE,2288,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2288,begin apogee
$GC,2301,-0.50,0.0,300.7,11.2,210,2421,1.20,0.00,111.35,0.632,6,0.064,0.000,2831,3025,2936
$STATE,2427,end apogee,CONTROL_FINISHED_OK
$STATE,2427,begin climb
$GC,2432,1.73,146.0,307.0,0.0,222,2554,2.15,1.62,110.12,0.628,4,0.040,0.047,3333,3717,2340
$GC,2612,1.83,228.4,302.4,5.2,236,2687,0.00,1.50,63.47,0.619,6,0.000,0.025,3334,3040,2003
$GC,3015,1.83,228.4,265.0,10.7,273,3022,0.00,0.00,0.00,0.000,6,0.000,0.000,3333,3040,1999
$GC,3344,1.84,229.2,232.8,8.3,304,3347,0.00,1.60,0.00,0.000,4,0.000,0.048,3333,3716,1997
$GC,3359,1.84,233.0,231.5,8.2,305,3372,0.00,1.50,3.80,0.375,6,0.000,0.026,3333,3048,1986
$GC,3693,1.85,240.0,203.0,8.1,336,3706,0.00,1.60,6.68,0.482,4,0.000,0.047,3333,3714,1958
$GC,3801,1.85,240.0,193.2,9.3,345,3805,0.00,1.48,0.00,0.000,6,0.000,0.025,3333,3039,1957
$GC,4135,1.85,240.0,164.3,8.9,376,4139,0.00,1.58,0.00,0.000,4,0.000,0.045,3332,3717,1955
$GC,4403,1.89,274.8,141.6,7.0,399,4439,0.08,1.45,28.02,0.543,6,0.033,0.025,3373,3048,1816
$GC,4764,1.89,274.8,107.2,9.7,432,4771,0.00,0.00,0.00,0.000,6,0.000,0.000,3373,3048,1811
$GC,5093,1.89,274.8,78.1,8.5,463,5096,0.00,1.00,0.00,0.000,4,0.000,0.034,3373,2370,1811
$GC,5142,1.89,274.8,74.0,8.8,467,5145,0.00,1.00,0.00,0.000,6,0.000,0.028,3373,3049,1810
$GC,5476,1.92,297.3,47.7,7.5,498,5500,0.00,1.55,18.33,0.452,4,0.000,0.041,3373,3712,1723
$GC,5573,1.94,317.5,40.2,7.6,506,5598,0.00,1.42,17.15,0.439,6,0.000,0.021,3373,3040,1641
$GC,5791,1.94,317.5,21.2,9.2,526,5795,0.00,1.52,0.00,0.000,4,0.000,0.041,3373,3709,1638
$GC,5950,1.94,317.5,6.7,9.3,551,5957,0.00,1.38,0.00,0.000,6,0.000,0.021,3373,3046,1638
$STATE,5972,end climb,SURFACE_DEPTH_REACHED
$STATE,5972,begin surface coast
$FINISH,0.3,1.010035
$STATE,6026,end surface coast,CONTROL_FINISHED_OK
$STATE,6026,begin surface
$SM_CCo,6059,61.78,0.420,0,0,1102,450.13
$SM_GC,0.85,0.00,0.00,61.78,0.000,0.000,0.420,419,2521,1102,-11.63,0.59,450.13
$IRIDIUM_FIX,2143.45,-15941.58,271098,141439
$TT8_MAMPS,0.058292
$HUMID,1726
$INTERNAL_PRESSURE,10.082
$TCM_TEMP,24.70
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,24.1,24.466
$10V_AH,10.1,27.201
$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,27.100,31.975,358.925,61.775,0.000,32.713,25.796,382.701,0.000,0.000,113.801,16.078,1121.339,2843.474,458.925,1075.585,1330.807,33.371,1080.269,0.000,1036.917,0.000,0.000,0.000
$DEVICE_MAMPS,124.254,63.661,632.008,420.316,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,380.187,0.000,0.000,0.000,0.000,0.000,93.605,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,15863,563
$CAP_FILE_SIZE,209278,0
$CFSIZE,-70647808,-93650944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,24,0,0
$GPS,020809,182622,2153.231,-15941.671,56,1.6,71,9.8