version: 66.04
glider: 118
mission: 21
dive: 65
start: 8 3 109 20 27 30
data:
$ID,118
$MISSION,21
$DIVE,65
$D_SURF,4
$D_FLARE,3
$D_TGT,90
$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,60
$T_MISSION,75
$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,225
$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,-87289.641
$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,10
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,3050
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,17
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,47
$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
$GPS1,201328,2153.788,-15943.856,9,99.0,28,9.8
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-60.9
$GPS2,202636,2153.818,-15944.117,25,1.7,31,9.8
$SPEED_LIMITS,0.050,0.238
$TGT_NAME,R0
$TGT_LATLONG,2156.300,-15942.500
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.163,0.173
$KALMAN_X,-111408.1,215.2,-152.0,107635.9,-1316.5
$KALMAN_Y,47761.0,-630.4,-0.3,-51335.4,261.9
$MHEAD_RNG_PITCHd_Wd,33.5,5372,-6.1,-5.000
$D_GRID,90
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,20,-0.88,-219.0,0.0,0.0,0,100,0.00,0.00,-77.05,0.000,2,0.000,0.000,418,2510,3255
$GC,107,-0.88,-219.0,3.5,-2.9,11,136,12.05,0.50,-8.70,0.000,4,0.123,0.089,2748,2864,3833
$GC,487,-0.88,-219.0,49.0,-9.2,48,490,0.00,0.55,0.00,0.000,6,0.000,0.033,2748,2486,3834
$GC,566,-0.88,-219.0,56.5,-9.4,55,569,0.00,0.52,0.00,0.000,4,0.000,0.030,2749,2863,3834
$GC,915,-0.88,-219.0,82.4,-7.5,85,921,0.00,0.52,0.00,0.000,6,0.000,0.032,2748,2500,3835
$GC,993,-0.88,-219.0,87.8,-7.3,92,996,0.00,0.50,0.00,0.000,4,0.000,0.031,2748,2865,3835
$STATE,1014,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1014,begin apogee
$GC,1026,-0.50,0.0,90.1,7.7,94,1191,0.35,0.00,160.20,0.470,6,0.052,0.000,2833,3061,2937
$STATE,1192,end apogee,CONTROL_FINISHED_OK
$STATE,1192,begin climb
$GC,1198,0.88,219.0,99.7,0.0,110,1364,1.33,0.55,158.90,0.471,4,0.044,0.026,3138,2684,2043
$GC,1549,0.88,219.0,93.5,5.4,138,1556,0.00,0.52,0.00,0.000,6,0.000,0.031,3138,3050,2042
$GC,1622,0.88,219.0,89.6,5.1,145,1626,0.00,0.47,0.00,0.000,4,0.000,0.037,3138,3378,2042
$GC,1706,0.98,295.3,85.9,3.8,152,1773,0.00,0.47,58.05,0.453,6,0.000,0.025,3138,3017,1731
$GC,1853,0.98,295.3,78.5,5.9,164,1859,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,3017,1728
$GC,1931,0.98,295.3,73.5,6.2,171,1934,0.00,0.55,0.00,0.000,4,0.000,0.035,3138,3380,1727
$GC,1969,0.98,295.3,70.5,7.2,174,1972,0.00,0.43,0.00,0.000,6,0.000,0.027,3138,3061,1727
$GC,2048,0.98,295.3,65.7,6.0,181,2051,0.00,0.45,0.00,0.000,4,0.000,0.028,3138,2713,1728
$GC,2343,0.98,295.3,50.7,5.9,206,2346,0.00,0.47,0.00,0.000,6,0.000,0.031,3138,3050,1726
$GC,2422,0.98,295.3,45.7,6.3,213,2425,0.00,0.47,0.00,0.000,4,0.000,0.037,3138,3378,1726
$GC,2490,0.98,295.3,42.1,5.7,218,2497,0.00,0.45,0.00,0.000,6,0.000,0.025,3138,3046,1726
$GC,2564,0.98,295.3,37.6,6.2,225,2567,0.00,0.43,0.00,0.000,4,0.000,0.028,3138,2709,1726
$GC,2925,0.98,295.3,18.8,5.0,257,2931,0.00,0.47,0.00,0.000,6,0.000,0.032,3138,3048,1725
$GC,3011,1.00,312.7,14.8,4.7,270,3033,0.12,0.45,13.80,0.386,4,0.046,0.025,3182,2715,1660
$GC,3090,1.00,312.7,10.4,5.3,281,3097,0.00,0.47,0.00,0.000,6,0.000,0.031,3182,3051,1659
$GC,3176,1.00,312.7,5.7,5.1,294,3183,0.00,0.50,0.00,0.000,4,0.000,0.038,3182,3381,1659
$STATE,3199,end climb,SURFACE_DEPTH_REACHED
$STATE,3199,begin surface coast
$FINISH,0.5,1.022893
$STATE,3284,end surface coast,CONTROL_FINISHED_OK
$STATE,3284,begin surface
$SM_CCo,3322,40.33,0.395,0,0,1305,400.08
$SM_GC,1.23,0.00,0.00,40.33,0.000,0.000,0.395,422,2533,1305,-11.61,0.93,400.08
$IRIDIUM_FIX,2145.77,-15945.93,281098,181859
$TT8_MAMPS,0.064428
$HUMID,1655
$INTERNAL_PRESSURE,10.1699
$TCM_TEMP,25.10
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,24.2,26.417
$10V_AH,10.2,28.287
$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,25.550,11.325,390.950,40.325,0.000,30.603,25.615,461.129,0.000,0.000,43.161,31.594,655.463,1139.654,441.578,768.764,1147.465,33.339,921.857,0.000,713.003,0.000,0.000,0.000
$DEVICE_MAMPS,122.720,88.972,470.938,395.005,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,207.507,0.000,0.000,0.000,0.000,0.000,51.497,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,9583,312
$CAP_FILE_SIZE,132489,0
$CFSIZE,-70647808,-97124352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,030809,212447,2153.619,-15944.748,24,2.0,24,9.8