version: 66.04
glider: 118
mission: 21
dive: 6
start: 7 29 109 5 2 56
data:
$ID,118
$MISSION,21
$DIVE,6
$D_SURF,4
$D_FLARE,3
$D_TGT,180
$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,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,500
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$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,300
$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,-85818.133
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,428
$PITCH_MAX,3730
$C_PITCH,2970
$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,2400
$C_ROLL_CLIMB,2550
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,17
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,33
$ROLL_AD_RATE,350
$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
$GPS1,045031,2155.994,-15941.980,45,1.5,45,9.8
$_CALLS,1
$_XMS_NAKs,16
$_XMS_TOUTs,1
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-63.2
$GPS2,050201,2155.990,-15942.070,14,1.5,31,9.8
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,T2
$TGT_LATLONG,2150.420,-15941.560
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.044,-0.256
$KALMAN_X,-100.3,3.1,31.9,-130.3,-84.2
$KALMAN_Y,1770.0,1077.6,138.0,-3177.7,34.8
$MHEAD_RNG_PITCHd_Wd,160.4,10353,-18.3,-10.000
$D_GRID,180
$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,13,begin dive
$GC,20,-2.00,-146.0,0.0,0.0,0,79,0.00,0.00,-57.03,0.000,2,0.000,0.000,420,2381,3388
$GC,86,-2.00,-146.0,3.3,-6.8,8,108,10.85,2.42,-2.20,0.000,4,0.124,0.057,2529,1000,3537
$GC,249,-2.00,-146.0,47.1,-19.1,24,256,0.00,2.30,0.00,0.000,6,0.000,0.022,2529,2409,3537
$GC,450,-2.00,-146.0,79.4,-15.8,43,454,0.00,2.45,0.00,0.000,4,0.000,0.040,2529,3793,3538
$GC,513,-2.00,-146.0,88.4,-15.4,47,520,0.00,2.40,0.00,0.000,6,0.000,0.024,2529,2401,3538
$GC,847,-2.00,-146.0,137.6,-13.3,78,851,0.00,2.50,0.00,0.000,4,0.000,0.040,2529,3794,3538
$GC,890,-2.00,-146.0,144.1,-13.9,81,894,0.00,2.42,0.00,0.000,6,0.000,0.025,2529,2390,3538
$STATE,1159,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1159,begin apogee
$GC,1172,-0.50,0.0,181.0,11.5,106,1285,1.50,0.00,108.25,0.540,6,0.066,0.000,2856,2564,2937
$STATE,1291,end apogee,CONTROL_FINISHED_OK
$STATE,1291,begin climb
$GC,1297,2.00,146.0,183.2,0.0,117,1414,2.38,0.00,106.95,0.536,6,0.038,0.000,3419,2563,2340
$GC,1740,2.10,225.9,156.0,6.3,157,1812,0.00,0.00,59.60,0.520,6,0.000,0.000,3418,2564,2015
$GC,2130,2.10,225.9,116.0,10.5,194,2134,0.00,2.45,0.00,0.000,4,0.000,0.046,3419,3912,2011
$GC,2211,2.10,225.9,106.5,11.3,200,2218,0.00,2.40,0.00,0.000,6,0.000,0.027,3418,2534,2011
$GC,2539,2.10,225.9,71.6,10.8,231,2546,0.00,0.00,0.00,0.000,6,0.000,0.000,3418,2534,2010
$GC,2868,2.25,347.7,43.0,4.4,262,2970,0.17,2.58,92.95,0.462,4,0.039,0.043,3478,3908,1519
$GC,3133,2.25,347.7,13.7,13.7,287,3140,0.00,2.38,0.00,0.000,6,0.000,0.025,3478,2545,1513
$STATE,3198,end climb,SURFACE_DEPTH_REACHED
$STATE,3198,begin surface coast
$FINISH,0.3,1.009411
$STATE,3230,end surface coast,CONTROL_FINISHED_OK
$STATE,3230,begin surface
$SM_CCo,3325,0.00,0.000,0,0,1507,350.78
$SM_GC,1.26,13.15,0.00,0.00,0.026,0.000,0.000,417,2392,1507,-11.66,-0.20,350.78
$IRIDIUM_FIX,2148.09,-15940.77,231098,030326
$TT8_MAMPS,0.06136
$HUMID,1798
$INTERNAL_PRESSURE,10.1796
$TCM_TEMP,24.30
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,24.2,16.671
$10V_AH,10.1,22.751
$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,28.050,24.800,367.750,0.000,0.000,29.578,26.484,342.245,0.000,0.000,242.125,31.267,592.023,1481.443,372.537,578.359,991.750,33.320,749.336,0.000,538.695,0.000,0.000,0.000
$DEVICE_MAMPS,124.254,56.758,539.968,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,202.959,0.000,0.000,0.000,0.000,0.000,49.257,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,9606,303
$CAP_FILE_SIZE,118249,0
$CFSIZE,-70647808,-80019456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290709,055927,2155.572,-15942.048,8,1.8,22,9.8