version: 66.04
glider: 118
mission: 21
dive: 59
start: 8 3 109 4 11 29
data:
$ID,118
$MISSION,21
$DIVE,59
$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,125
$T_ABORT,1440
$T_TURN,300
$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,175
$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,-87117.797
$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,11
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,3050
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,17
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,43
$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
$GPS1,035119,2153.871,-15944.146,13,1.9,18,9.8
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-63.2
$GPS2,041039,2154.047,-15944.426,13,1.7,26,9.8
$SPEED_LIMITS,0.100,0.279
$TGT_NAME,BobSW
$TGT_LATLONG,2153.790,-15942.207
$TGT_RADIUS,400.000
$KALMAN_CONTROL,0.251,-0.122
$KALMAN_X,-95603.1,-1280.5,255.7,92390.4,-1158.6
$KALMAN_Y,43173.7,736.0,145.6,-47832.4,633.4
$MHEAD_RNG_PITCHd_Wd,106.1,3843,-16.8,-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,-1.89,-170.3,0.0,0.0,0,97,0.00,0.00,-69.90,0.000,2,0.000,0.000,419,2511,3275
$GC,103,-1.89,-170.3,3.6,-7.3,10,125,10.98,0.00,-5.47,0.000,6,0.127,0.000,2530,2512,3636
$GC,197,-1.89,-170.3,29.7,-19.9,21,204,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2512,3636
$GC,276,-1.89,-170.3,43.2,-17.9,28,279,0.00,0.52,0.00,0.000,4,0.000,0.030,2530,2899,3637
$GC,625,-1.89,-170.3,102.2,-14.2,58,632,0.00,0.60,0.00,0.000,6,0.000,0.031,2530,2485,3637
$GC,698,-1.89,-170.3,112.6,-14.4,65,702,0.00,0.57,0.00,0.000,4,0.000,0.030,2530,2898,3638
$GC,900,-1.89,-170.3,142.5,-15.8,82,907,0.00,0.57,0.00,0.000,6,0.000,0.032,2530,2501,3638
$GC,978,-1.89,-170.3,153.9,-15.6,89,985,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2501,3638
$GC,1056,-1.89,-170.3,166.2,-16.0,96,1063,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2501,3638
$GC,1136,-1.89,-170.3,178.1,-16.0,103,1142,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2501,3638
$GC,1214,-1.89,-170.3,189.7,-14.2,110,1218,0.00,0.57,0.00,0.000,4,0.000,0.033,2530,2906,3638
$GC,1501,-1.89,-170.3,230.8,-14.4,134,1508,0.00,0.60,0.00,0.000,6,0.000,0.034,2530,2497,3638
$GC,1579,-1.89,-170.3,240.8,-13.1,141,1583,0.00,0.55,0.00,0.000,4,0.000,0.041,2530,2118,3638
$GC,1652,-1.89,-170.3,251.0,-12.9,147,1655,0.00,0.55,0.00,0.000,6,0.000,0.026,2531,2534,3638
$GC,1731,-1.89,-170.3,260.8,-12.3,154,1737,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2535,3638
$GC,1810,-1.89,-170.3,269.5,-11.8,161,1817,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2535,3638
$STATE,1825,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1825,begin apogee
$GC,1838,-0.50,0.0,272.4,11.4,163,1976,1.38,0.00,128.23,0.606,6,0.067,0.000,2831,3027,2936
$STATE,1977,end apogee,CONTROL_FINISHED_OK
$STATE,1977,begin climb
$GC,1983,1.89,170.3,276.3,0.0,176,2122,2.30,0.70,126.78,0.602,4,0.040,0.040,3367,3403,2242
$GC,2314,1.94,208.7,252.1,8.5,203,2349,0.00,0.62,29.92,0.572,6,0.000,0.027,3367,3029,2085
$GC,2424,1.95,217.8,242.3,9.6,213,2434,0.00,0.00,8.32,0.492,6,0.000,0.000,3367,3029,2049
$GC,2497,1.98,241.2,235.6,9.1,220,2524,0.00,0.00,19.30,0.553,6,0.000,0.000,3367,3029,1953
$GC,2590,1.98,241.2,226.3,10.1,229,2594,0.00,0.47,0.00,0.000,4,0.000,0.032,3367,2684,1950
$GC,2793,1.98,241.2,206.3,10.1,246,2797,0.00,0.55,0.00,0.000,6,0.000,0.035,3367,3054,1948
$GC,2872,1.98,241.2,197.9,10.5,253,2879,0.00,0.00,0.00,0.000,6,0.000,0.000,3368,3054,1948
$GC,2951,1.98,241.2,190.2,10.3,260,2954,0.00,0.62,0.00,0.000,4,0.000,0.041,3367,3400,1948
$GC,3308,1.98,241.2,153.7,10.2,290,3315,0.00,0.57,0.00,0.000,6,0.000,0.027,3367,3044,1945
$GC,3382,1.99,251.5,146.5,9.6,297,3394,0.00,0.62,8.02,0.468,4,0.000,0.036,3367,3405,1911
$GC,3510,2.02,273.4,135.2,9.1,307,3533,0.00,0.57,18.58,0.515,6,0.000,0.025,3367,3055,1822
$GC,3607,2.03,282.9,125.7,9.6,316,3618,0.00,0.00,8.85,0.463,6,0.000,0.000,3367,3054,1783
$GC,3681,2.04,287.0,118.5,9.8,323,3694,0.10,0.52,4.47,0.370,4,0.048,0.030,3408,2684,1767
$GC,3782,2.04,287.0,107.0,11.0,331,3789,0.00,0.55,0.00,0.000,6,0.000,0.033,3408,3058,1766
$GC,3855,2.04,287.0,98.8,11.4,338,3859,0.00,0.57,0.00,0.000,4,0.000,0.038,3408,3395,1765
$GC,4003,2.06,306.4,83.6,9.2,350,4024,0.00,0.52,16.80,0.476,6,0.000,0.026,3408,3046,1687
$GC,4089,2.09,329.5,75.9,9.1,358,4114,0.00,0.52,19.95,0.474,4,0.000,0.029,3408,2682,1591
$GC,4234,2.12,353.2,62.1,9.1,370,4259,0.00,0.55,19.95,0.462,6,0.000,0.032,3408,3058,1496
$GC,4324,2.12,353.2,52.5,11.4,378,4328,0.00,0.60,0.00,0.000,4,0.000,0.037,3408,3398,1493
$GC,4682,2.12,353.2,12.2,11.8,414,4689,0.00,0.55,0.00,0.000,6,0.000,0.025,3408,3043,1492
$STATE,4763,end climb,SURFACE_DEPTH_REACHED
$STATE,4763,begin surface coast
$FINISH,0.5,1.023006
$STATE,4808,end surface coast,CONTROL_FINISHED_OK
$STATE,4808,begin surface
$SM_CCo,4842,21.62,0.410,0,0,1306,400.08
$SM_GC,1.48,0.00,0.00,21.62,0.000,0.000,0.410,414,2523,1306,-11.65,0.65,400.08
$IRIDIUM_FIX,2145.77,-15945.93,281098,040401
$TT8_MAMPS,0.068263
$HUMID,1766
$INTERNAL_PRESSURE,10.1113
$TCM_TEMP,24.50
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,24.1,25.264
$10V_AH,10.1,27.650
$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,27.500,15.200,409.175,21.625,0.000,84.970,91.745,639.392,0.000,0.000,70.730,26.383,921.527,1934.576,473.585,1036.730,1655.905,33.343,1087.539,0.000,982.046,0.000,0.000,0.000
$DEVICE_MAMPS,127.322,41.418,605.930,409.578,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,291.988,0.000,0.000,0.000,0.000,0.000,80.948,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,12709,434
$CAP_FILE_SIZE,188882,0
$CFSIZE,-70647808,-95158272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,030809,053401,2153.902,-15944.387,38,1.9,38,9.8