version: 66.04
glider: 118
mission: 21
dive: 67
start: 8 3 109 23 30 48
data:
$ID,118
$MISSION,21
$DIVE,67
$D_SURF,4
$D_FLARE,3
$D_TGT,330
$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,110
$T_MISSION,145
$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,-87349.359
$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,47
$R_STBD_OVSHOOT,46
$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
$GPS1,231110,2153.833,-15945.179,46,3.0,65,9.8
$_CALLS,2
$_XMS_NAKs,16
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-58.7
$GPS2,232956,2153.958,-15945.562,16,1.6,16,9.8
$SPEED_LIMITS,0.100,0.311
$TGT_NAME,TB
$TGT_LATLONG,2153.300,-15940.300
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.305,-0.062
$KALMAN_X,-114647.3,-731.6,-607.9,109795.9,-1819.9
$KALMAN_Y,47539.6,-305.3,-203.3,-50983.9,382.5
$MHEAD_RNG_PITCHd_Wd,91.7,9124,-14.7,-10.000
$D_GRID,330
$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,19,begin dive
$GC,25,-1.74,-219.0,0.0,0.0,0,97,0.00,0.00,-69.85,0.000,2,0.000,0.000,421,2517,3306
$GC,104,-1.74,-219.0,4.1,-8.1,10,126,11.10,0.00,-7.78,0.000,6,0.126,0.000,2561,2517,3831
$GC,200,-1.74,-219.0,30.0,-18.4,21,204,0.00,0.47,0.00,0.000,4,0.000,0.032,2561,2865,3833
$GC,549,-1.74,-219.0,86.6,-13.4,51,556,0.00,0.52,0.00,0.000,6,0.000,0.032,2561,2499,3833
$GC,622,-1.74,-219.0,95.9,-12.8,58,626,0.00,0.50,0.00,0.000,4,0.000,0.031,2561,2860,3834
$GC,756,-1.74,-219.0,114.0,-13.7,69,760,0.00,0.52,0.00,0.000,6,0.000,0.033,2561,2496,3834
$GC,835,-1.74,-219.0,125.0,-12.5,76,841,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2496,3834
$GC,913,-1.74,-219.0,134.3,-12.9,83,920,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2496,3834
$GC,991,-1.74,-219.0,144.3,-12.9,90,998,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2496,3834
$GC,1071,-1.74,-219.0,154.8,-13.6,97,1077,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2496,3834
$GC,1149,-1.74,-219.0,165.6,-13.6,104,1155,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2495,3834
$GC,1227,-1.74,-219.0,175.5,-12.6,111,1234,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2496,3834
$GC,1307,-1.74,-219.0,185.2,-12.5,118,1310,0.00,0.52,0.00,0.000,4,0.000,0.033,2560,2866,3834
$GC,1664,-1.74,-219.0,227.4,-12.0,148,1671,0.00,0.52,0.00,0.000,6,0.000,0.036,2560,2504,3834
$GC,1743,-1.74,-219.0,237.0,-12.8,155,1746,0.00,0.50,0.00,0.000,4,0.000,0.036,2561,2857,3834
$GC,2100,-1.74,-219.0,282.7,-12.2,185,2107,0.00,0.52,0.00,0.000,6,0.000,0.038,2561,2504,3831
$GC,2174,-1.74,-219.0,292.2,-12.4,192,2177,0.00,0.50,0.00,0.000,4,0.000,0.038,2561,2852,3831
$STATE,2487,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2487,begin apogee
$GC,2500,-0.50,0.0,330.3,12.0,219,2672,1.23,0.00,164.73,0.671,6,0.061,0.000,2832,3051,2936
$STATE,2673,end apogee,CONTROL_FINISHED_OK
$STATE,2673,begin climb
$GC,2679,1.74,219.0,339.2,0.0,236,2852,2.15,0.55,165.55,0.663,4,0.041,0.033,3332,2695,2044
$GC,3015,1.74,219.0,320.9,10.2,266,3022,0.00,0.52,0.00,0.000,6,0.000,0.039,3332,3044,2040
$GC,3221,1.74,219.0,300.9,10.2,285,3224,0.00,0.52,0.00,0.000,4,0.000,0.044,3332,3378,2037
$GC,3578,1.74,219.0,263.2,11.0,315,3585,0.00,0.52,0.00,0.000,6,0.000,0.030,3332,3022,2036
$GC,3652,1.75,224.6,255.4,9.8,322,3660,0.00,0.62,4.43,0.436,4,0.000,0.042,3332,3385,2021
$GC,3872,1.76,236.2,233.2,9.6,341,3886,0.00,0.50,10.62,0.564,6,0.000,0.031,3332,3061,1973
$GC,3951,1.78,249.0,225.7,9.6,348,3968,0.00,0.00,11.40,0.565,6,0.000,0.000,3332,3059,1919
$GC,4035,1.82,279.3,218.1,9.1,356,4063,0.00,0.00,25.15,0.600,6,0.000,0.000,3333,3059,1798
$GC,4129,1.89,341.2,210.3,8.1,365,4193,0.12,0.52,51.20,0.604,4,0.045,0.040,3374,3379,1544
$GC,4327,1.89,341.2,188.3,12.7,381,4331,0.00,0.50,0.00,0.000,6,0.000,0.030,3375,3041,1539
$GC,4406,1.89,341.2,177.6,12.7,388,4410,0.00,0.55,0.00,0.000,4,0.000,0.041,3375,3380,1538
$GC,4524,1.89,341.2,162.1,13.1,398,4527,0.00,0.47,0.00,0.000,6,0.000,0.029,3375,3053,1538
$GC,4603,1.89,341.2,151.9,12.4,405,4606,0.00,0.47,0.00,0.000,4,0.000,0.032,3375,2707,1537
$GC,4668,1.89,341.2,144.8,11.3,410,4671,0.00,0.50,0.00,0.000,6,0.000,0.038,3375,3049,1537
$GC,4747,1.89,341.2,135.0,12.4,417,4750,0.00,0.47,0.00,0.000,4,0.000,0.034,3375,2714,1536
$GC,4885,1.89,341.2,118.9,12.0,428,4892,0.00,0.50,0.00,0.000,6,0.000,0.036,3375,3054,1535
$GC,4964,1.89,341.2,109.4,12.6,435,4967,0.00,0.47,0.00,0.000,4,0.000,0.031,3375,2715,1535
$GC,5144,1.89,341.2,87.4,12.3,450,5151,0.00,0.50,0.00,0.000,6,0.000,0.035,3375,3058,1534
$GC,5222,1.89,341.2,79.1,11.4,457,5225,0.00,0.50,0.00,0.000,4,0.000,0.040,3375,3381,1534
$GC,5398,1.89,341.2,58.7,12.1,472,5402,0.00,0.47,0.00,0.000,6,0.000,0.028,3375,3049,1534
$GC,5478,1.93,368.8,51.2,9.2,479,5505,0.00,0.57,21.98,0.482,4,0.000,0.036,3374,3384,1432
$GC,5857,1.93,368.8,16.7,10.6,514,5864,0.00,0.47,0.00,0.000,6,0.000,0.027,3375,3048,1429
$GC,5945,1.93,368.8,8.8,10.1,527,5952,0.00,0.52,0.00,0.000,4,0.000,0.035,3374,3381,1428
$STATE,5989,end climb,SURFACE_DEPTH_REACHED
$STATE,5989,begin surface coast
$FINISH,0.6,1.022807
$STATE,6028,end surface coast,CONTROL_FINISHED_OK
$STATE,6028,begin surface
$SM_CCo,6062,14.73,0.410,0,0,1305,400.08
$SM_GC,1.22,0.00,0.00,14.73,0.000,0.000,0.410,418,2519,1305,-11.63,0.57,400.08
$IRIDIUM_FIX,2145.77,-15948.11,281098,232327
$TT8_MAMPS,0.059059
$HUMID,1840
$INTERNAL_PRESSURE,10.0722
$TCM_TEMP,24.00
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,24.1,26.707
$10V_AH,10.1,28.441
$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,27.175,16.975,455.050,14.725,0.000,54.052,64.595,683.291,0.000,0.000,77.691,16.612,1136.007,2459.448,519.435,1286.029,1801.406,33.347,1256.294,0.000,1233.255,0.000,0.000,0.000
$DEVICE_MAMPS,125.788,43.719,671.125,410.345,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,366.196,0.000,0.000,0.000,0.000,0.000,88.362,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,15855,540
$CAP_FILE_SIZE,224322,0
$CFSIZE,-70647808,-97714176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,040809,011328,2153.967,-15945.358,13,99.0,32,9.8