version: 66.04
glider: 118
mission: 21
dive: 7
start: 7 29 109 6 15 29
data:
$ID,118
$MISSION,21
$DIVE,7
$D_SURF,4
$D_FLARE,3
$D_TGT,240
$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,80
$T_MISSION,90
$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,250
$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,-85830.047
$T_RSLEEP,3
$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,42
$R_STBD_OVSHOOT,52
$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
$GPS1,055927,2155.572,-15942.048,8,1.8,22,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-62.0
$GPS2,061438,2155.561,-15942.148,11,1.7,11,9.8
$SPEED_LIMITS,0.173,0.326
$TGT_NAME,T2
$TGT_LATLONG,2150.420,-15941.560
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.097,-0.311
$KALMAN_X,-304.9,22.7,-52.7,3.3,-312.4
$KALMAN_Y,2116.7,995.8,-1.9,-4088.3,59.3
$MHEAD_RNG_PITCHd_Wd,152.9,9575,-13.9,-10.000
$D_GRID,240
$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,25,-1.69,-243.3,0.0,0.0,0,91,0.00,0.00,-63.45,0.000,2,0.000,0.000,417,2386,3301
$GC,97,-1.69,-243.3,3.6,-6.9,9,126,11.25,2.40,-9.30,0.000,4,0.124,0.060,2597,1009,3931
$GC,219,-1.69,-243.3,35.0,-18.7,21,226,0.00,2.28,0.00,0.000,6,0.000,0.022,2598,2398,3932
$GC,420,-1.69,-243.3,69.0,-14.7,40,424,0.00,2.50,0.00,0.000,4,0.000,0.040,2597,3801,3932
$GC,479,-1.69,-243.3,77.2,-15.3,44,483,0.00,2.40,0.00,0.000,6,0.000,0.025,2598,2407,3931
$GC,812,-1.69,-243.3,121.8,-12.8,75,817,0.00,2.50,0.00,0.000,4,0.000,0.041,2597,3795,3932
$GC,876,-1.69,-243.3,129.1,-12.6,79,883,0.00,2.47,0.00,0.000,6,0.000,0.025,2598,2391,3933
$GC,1204,-1.69,-243.3,168.2,-12.1,110,1210,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2390,3932
$GC,1532,-1.69,-243.3,208.5,-12.8,141,1536,0.00,2.55,0.00,0.000,4,0.000,0.044,2597,3793,3931
$GC,1603,-1.69,-243.3,217.3,-11.6,146,1610,0.00,2.45,0.00,0.000,6,0.000,0.028,2598,2395,3931
$STATE,1824,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1824,begin apogee
$GC,1837,-0.50,0.0,240.3,10.9,167,2022,1.17,0.00,180.05,0.600,6,0.058,0.000,2858,2564,2937
$STATE,2028,end apogee,CONTROL_FINISHED_OK
$STATE,2028,begin climb
$GC,2034,1.69,243.3,255.7,0.0,185,2224,2.08,2.53,180.15,0.599,4,0.038,0.048,3350,1153,1945
$GC,2440,1.69,243.3,230.6,10.1,218,2447,0.00,2.35,0.00,0.000,6,0.000,0.029,3351,2541,1941
$GC,2768,1.69,243.3,199.7,10.5,249,2772,0.00,2.58,0.00,0.000,4,0.000,0.053,3350,3936,1938
$GC,2832,1.69,243.3,193.2,10.8,253,2839,0.00,2.45,0.00,0.000,6,0.000,0.028,3350,2541,1938
$GC,3160,1.73,274.2,163.2,9.1,284,3190,0.00,2.60,24.08,0.548,4,0.000,0.049,3350,3932,1818
$GC,3290,1.77,305.7,151.1,9.1,294,3326,0.00,2.42,25.92,0.538,6,0.000,0.028,3350,2540,1688
$GC,3652,1.77,305.7,115.8,11.1,327,3656,0.00,2.55,0.00,0.000,4,0.000,0.048,3351,3935,1684
$GC,3804,1.79,326.6,98.7,9.4,339,3827,0.00,2.42,17.38,0.495,6,0.000,0.027,3350,2545,1605
$GC,4162,1.93,440.9,63.3,6.8,372,4261,0.17,2.62,91.62,0.489,4,0.037,0.045,3411,3928,1138
$GC,4327,1.93,440.9,42.7,12.8,385,4334,0.00,2.42,0.00,0.000,6,0.000,0.026,3411,2544,1135
$GC,4533,1.93,440.9,18.0,12.4,405,4539,0.00,0.00,0.00,0.000,6,0.000,0.000,3411,2544,1132
$GC,4619,1.93,440.9,6.4,12.3,418,4626,0.00,2.53,0.00,0.000,4,0.000,0.044,3411,3929,1132
$STATE,4630,end climb,SURFACE_DEPTH_REACHED
$STATE,4630,begin surface coast
$FINISH,0.3,1.023056
$STATE,4662,end surface coast,CONTROL_FINISHED_OK
$STATE,4662,begin surface
$SM_CCo,4758,0.00,0.000,0,0,1128,443.75
$SM_GC,0.99,12.82,0.00,0.00,0.025,0.000,0.000,420,2390,1128,-11.64,-0.28,443.75
$IRIDIUM_FIX,2148.09,-15940.77,231098,060647
$TT8_MAMPS,0.078234
$HUMID,1838
$INTERNAL_PRESSURE,10.1015
$TCM_TEMP,24.10
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.8,16.903
$10V_AH,10.1,22.812
$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,27.500,50.025,519.200,0.000,0.000,52.802,58.130,540.277,0.000,0.000,398.265,11.287,820.639,2131.645,502.837,822.490,1390.852,33.339,1041.720,0.000,790.602,0.000,0.000,0.000
$DEVICE_MAMPS,124.254,59.826,599.794,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,286.288,0.000,0.000,0.000,0.000,0.000,69.747,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,12717,425
$CAP_FILE_SIZE,166205,0
$CFSIZE,-70647808,-80347136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290709,073605,2154.954,-15941.970,14,2.6,33,9.8