version: 66.04
glider: 118
mission: 21
dive: 29
start: 7 30 109 23 27 15
data:
$ID,118
$MISSION,21
$DIVE,29
$D_SURF,4
$D_FLARE,3
$D_TGT,660
$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,220
$T_MISSION,275
$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,750
$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,350
$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,-86411.547
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,428
$PITCH_MAX,3730
$C_PITCH,2950
$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,2500
$C_ROLL_CLIMB,2700
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,17
$R_PORT_OVSHOOT,54
$R_STBD_OVSHOOT,31
$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
$GPS1,225807,2152.345,-15945.541,25,1.2,25,9.8
$_CALLS,5
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,0.20
$_SM_ANGLEo,-60.2
$GPS2,232619,2152.487,-15946.105,10,1.2,15,9.8
$SPEED_LIMITS,0.173,0.326
$TGT_NAME,T2
$TGT_LATLONG,2150.420,-15941.560
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.302,-0.123
$KALMAN_X,-37391.2,-674.3,-10.7,30949.5,-2685.0
$KALMAN_Y,17425.1,453.1,-65.6,-24481.1,990.9
$MHEAD_RNG_PITCHd_Wd,102.4,8702,-13.9,-10.000
$D_GRID,660
$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,-1.69,-243.3,0.0,0.0,0,100,0.00,0.00,-76.85,0.000,2,0.000,0.000,424,2478,3465
$GC,106,-1.69,-243.3,3.9,-9.6,11,128,11.18,0.00,-6.35,0.000,6,0.126,0.000,2576,2478,3931
$GC,202,-1.69,-243.3,34.0,-20.6,21,208,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2478,3932
$GC,403,-1.69,-243.3,71.0,-15.4,40,409,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2478,3932
$GC,731,-1.69,-243.3,125.8,-16.4,71,737,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2478,3932
$GC,1059,-1.69,-243.3,172.8,-14.3,102,1064,0.00,2.55,0.00,0.000,4,0.000,0.044,2576,3901,3933
$GC,1107,-1.69,-243.3,179.7,-13.9,105,1114,0.00,2.38,0.00,0.000,6,0.000,0.024,2576,2505,3932
$GC,1435,-1.69,-243.3,221.4,-13.5,136,1439,0.00,2.38,0.00,0.000,4,0.000,0.044,2576,1116,3932
$GC,1481,-1.69,-243.3,227.5,-12.2,139,1489,0.00,2.30,0.00,0.000,6,0.000,0.025,2576,2506,3932
$GC,1810,-1.69,-243.3,267.4,-11.3,170,1814,0.00,2.50,0.00,0.000,4,0.000,0.049,2576,3891,3930
$GC,1874,-1.69,-243.3,273.9,-10.3,174,1881,0.00,2.40,0.00,0.000,6,0.000,0.026,2576,2502,3930
$GC,2202,-1.69,-243.3,311.7,-11.6,205,2208,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2502,3929
$GC,2530,-1.69,-243.3,349.7,-11.6,236,2537,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2502,3926
$GC,2859,-1.69,-243.3,388.2,-11.8,267,2863,0.00,2.58,0.00,0.000,4,0.000,0.054,2576,3891,3923
$GC,2918,-1.69,-243.3,394.7,-12.0,271,2922,0.00,2.42,0.00,0.000,6,0.000,0.030,2576,2499,3923
$GC,3246,-1.69,-243.3,433.6,-11.8,301,3252,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2500,3920
$GC,3574,-1.69,-243.3,471.3,-11.8,332,3581,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2500,3916
$GC,3903,-1.69,-243.3,508.1,-11.2,363,3907,0.00,2.62,0.00,0.000,4,0.000,0.060,2576,3898,3914
$GC,3962,-1.69,-243.3,514.5,-11.5,367,3966,0.00,2.47,0.00,0.000,6,0.000,0.034,2576,2495,3913
$GC,4290,-1.69,-243.3,550.6,-10.6,397,4294,0.00,2.65,0.00,0.000,4,0.000,0.061,2576,3898,3912
$GC,4367,-1.69,-243.3,559.1,-11.5,403,4372,0.00,2.50,0.00,0.000,6,0.000,0.035,2576,2491,3909
$GC,4696,-1.69,-243.3,593.0,-10.3,433,4700,0.00,2.65,0.00,0.000,4,0.000,0.063,2576,3891,3907
$GC,4784,-1.69,-243.3,602.3,-10.7,440,4789,0.00,2.47,0.00,0.000,6,0.000,0.035,2576,2504,3906
$GC,5113,-1.69,-243.3,638.0,-12.1,470,5117,0.00,2.65,0.00,0.000,4,0.000,0.068,2576,3891,3904
$GC,5172,-1.69,-243.3,644.6,-11.8,474,5176,0.00,2.50,0.00,0.000,6,0.000,0.039,2576,2496,3904
$STATE,5293,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5293,begin apogee
$GC,5305,-0.50,0.0,660.6,12.1,485,5498,1.20,0.00,187.68,0.960,6,0.064,0.000,2838,2699,2937
$STATE,5504,end apogee,CONTROL_FINISHED_OK
$STATE,5504,begin climb
$GC,5510,1.69,243.3,674.1,0.0,504,5724,2.12,2.70,193.88,0.940,4,0.044,0.065,3323,1292,1943
$GC,5916,1.69,243.3,646.6,11.2,537,5923,0.00,2.50,0.00,0.000,6,0.000,0.042,3323,2705,1938
$GC,6244,1.69,243.3,608.3,11.8,568,6248,0.00,2.38,0.00,0.000,4,0.000,0.068,3323,3942,1936
$GC,6378,1.69,243.3,591.6,12.7,578,6385,0.00,2.28,0.00,0.000,6,0.000,0.035,3323,2681,1936
$GC,6706,1.69,243.3,554.8,10.5,609,6710,0.00,2.42,0.00,0.000,4,0.000,0.065,3323,3946,1934
$GC,6797,1.69,243.3,544.5,11.2,616,6802,0.00,2.25,0.00,0.000,6,0.000,0.035,3323,2688,1934
$GC,7126,1.71,259.1,512.5,9.6,646,7143,0.00,2.42,12.43,0.806,4,0.000,0.064,3323,3946,1879
$GC,7231,1.71,259.1,500.6,11.2,654,7238,0.00,2.25,0.00,0.000,6,0.000,0.034,3323,2692,1878
$GC,7559,1.71,259.1,464.0,11.0,685,7564,0.00,2.38,0.00,0.000,4,0.000,0.062,3323,3939,1876
$GC,7592,1.71,259.1,460.6,11.2,687,7596,0.00,2.22,0.00,0.000,6,0.000,0.033,3323,2693,1876
$GC,7920,1.73,274.0,428.8,9.6,717,7937,0.00,0.00,13.50,0.775,6,0.000,0.000,3323,2694,1820
$GC,8258,1.73,274.0,392.9,11.2,749,8263,0.00,2.38,0.00,0.000,4,0.000,0.061,3323,3943,1817
$GC,8323,1.73,274.0,385.8,12.6,753,8330,0.00,2.22,0.00,0.000,6,0.000,0.032,3323,2692,1817
$GC,8652,1.73,275.0,349.4,10.0,784,8656,0.00,2.38,0.00,0.000,4,0.000,0.059,3323,3949,1816
$GC,8718,1.73,275.0,342.0,11.5,789,8722,0.00,2.22,0.00,0.000,6,0.000,0.031,3323,2688,1816
$GC,9047,1.74,281.5,308.6,9.8,819,9060,0.00,2.40,7.32,0.629,4,0.000,0.058,3323,3945,1789
$GC,9133,1.74,281.5,299.7,10.2,826,9137,0.00,2.20,0.00,0.000,6,0.000,0.030,3323,2696,1788
$GC,9462,1.77,309.9,268.5,9.2,856,9489,0.00,0.00,25.12,0.703,6,0.000,0.000,3323,2696,1674
$GC,9810,1.77,309.9,232.4,11.6,889,9816,0.00,0.00,0.00,0.000,6,0.000,0.000,3323,2696,1669
$GC,10138,1.77,309.9,196.7,10.7,920,10142,0.00,2.33,0.00,0.000,4,0.000,0.054,3323,3939,1668
$GC,10250,1.77,309.9,184.5,11.1,929,10254,0.00,2.17,0.00,0.000,6,0.000,0.028,3323,2685,1668
$GC,10584,1.77,309.9,150.3,10.2,960,10588,0.00,2.33,0.00,0.000,4,0.000,0.051,3323,3941,1668
$GC,10720,1.77,309.9,136.1,10.1,971,10723,0.00,2.15,0.00,0.000,6,0.000,0.025,3323,2697,1668
$GC,11054,1.92,431.5,109.9,6.6,1002,11164,0.17,2.42,100.55,0.557,4,0.037,0.042,3382,1314,1177
$GC,11237,1.92,431.5,87.4,14.9,1017,11241,0.00,2.38,0.00,0.000,6,0.000,0.027,3382,2720,1173
$GC,11565,1.92,431.5,43.9,11.6,1047,11569,0.00,2.22,0.00,0.000,4,0.000,0.052,3382,3926,1171
$GC,11643,1.92,431.5,33.7,13.0,1053,11647,0.00,2.12,0.00,0.000,6,0.000,0.024,3382,2695,1171
$GC,11862,1.92,431.5,7.0,11.5,1080,11869,0.00,2.28,0.00,0.000,4,0.000,0.046,3382,3936,1171
$STATE,11874,end climb,SURFACE_DEPTH_REACHED
$STATE,11874,begin surface coast
$FINISH,1.7,1.022944
$STATE,11896,end surface coast,CONTROL_FINISHED_OK
$STATE,11896,begin surface
$SM_CCo,11993,0.00,0.000,0,0,1165,434.43
$SM_GC,0.36,12.73,0.00,0.00,0.024,0.000,0.000,419,2514,1165,-11.55,0.40,434.43
$IRIDIUM_FIX,2143.45,-15945.93,241098,232354
$TT8_MAMPS,0.066729
$HUMID,1793
$INTERNAL_PRESSURE,9.99408
$TCM_TEMP,23.80
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.8,20.337
$10V_AH,10.0,24.643
$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,27.400,100.925,540.475,0.000,0.000,135.102,150.541,1000.411,0.000,0.000,88.378,15.263,2117.013,6226.751,587.132,1902.078,2842.548,33.343,1649.187,0.000,1852.109,0.000,0.000,0.000
$DEVICE_MAMPS,125.788,68.263,960.284,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,753.247,0.000,0.000,0.000,0.000,0.000,177.525,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,34658,1085
$CAP_FILE_SIZE,400335,0
$CFSIZE,-70647808,-86573056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310709,024844,2152.150,-15945.478,39,2.0,52,9.8