version: 66.04
glider: 118
mission: 21
dive: 31
start: 7 31 109 7 3 5
data:
$ID,118
$MISSION,21
$DIVE,31
$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,-86444
$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,64
$R_STBD_OVSHOOT,34
$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
$GPS1,064232,2152.181,-15944.178,42,1.2,50,9.8
$_CALLS,2
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.07
$_SM_ANGLEo,-58.4
$GPS2,070214,2152.289,-15944.535,16,1.0,16,9.8
$SPEED_LIMITS,0.173,0.326
$TGT_NAME,T2
$TGT_LATLONG,2150.420,-15941.560
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.284,-0.159
$KALMAN_X,-43160.4,-329.7,-57.0,39107.4,-1436.6
$KALMAN_Y,19834.4,140.0,188.0,-27202.8,537.3
$MHEAD_RNG_PITCHd_Wd,109.5,6176,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,25,-1.69,-243.3,0.0,0.0,0,111,0.00,0.00,-83.22,0.000,2,0.000,0.000,420,2473,3607
$GC,117,-1.69,-243.3,4.8,-13.1,12,139,11.23,0.00,-4.18,0.000,6,0.126,0.000,2576,2473,3930
$GC,205,-1.69,-243.3,36.7,-19.5,21,211,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2473,3932
$GC,406,-1.69,-243.3,71.4,-16.2,40,412,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2473,3931
$GC,734,-1.69,-243.3,120.6,-14.2,71,738,0.00,2.58,0.00,0.000,4,0.000,0.044,2576,3907,3932
$GC,777,-1.69,-243.3,126.8,-14.7,74,781,0.00,2.38,0.00,0.000,6,0.000,0.023,2576,2508,3932
$GC,1105,-1.69,-243.3,175.6,-14.3,104,1111,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2508,3932
$GC,1433,-1.69,-243.3,221.7,-14.8,135,1438,0.00,2.53,0.00,0.000,4,0.000,0.047,2576,3896,3931
$GC,1481,-1.69,-243.3,228.5,-13.9,138,1488,0.00,2.40,0.00,0.000,6,0.000,0.025,2576,2497,3932
$GC,1809,-1.69,-243.3,269.5,-12.0,169,1815,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2497,3931
$GC,2137,-1.69,-243.3,307.7,-11.4,200,2144,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2497,3930
$GC,2466,-1.69,-243.3,348.3,-12.8,231,2472,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2497,3927
$GC,2794,-1.69,-243.3,386.7,-11.2,262,2798,0.00,2.60,0.00,0.000,4,0.000,0.055,2576,3898,3925
$GC,2894,-1.69,-243.3,398.4,-11.8,270,2898,0.00,2.42,0.00,0.000,6,0.000,0.030,2576,2500,3924
$GC,3227,-1.69,-243.3,437.5,-11.5,301,3232,0.00,2.47,0.00,0.000,4,0.000,0.054,2576,1095,3921
$GC,3288,-1.69,-243.3,443.8,-11.5,305,3293,0.00,2.38,0.00,0.000,6,0.000,0.032,2576,2495,3920
$GC,3617,-1.69,-243.3,479.0,-10.3,335,3623,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2495,3917
$GC,3945,-1.69,-243.3,513.1,-10.1,366,3949,0.00,2.62,0.00,0.000,4,0.000,0.063,2576,3906,3914
$GC,4056,-1.69,-243.3,524.5,-10.3,375,4061,0.00,2.47,0.00,0.000,6,0.000,0.033,2576,2500,3913
$GC,4385,-1.69,-243.3,556.4,-9.6,405,4391,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2500,3911
$GC,4714,-1.69,-243.3,584.9,-8.3,436,4718,0.00,2.65,0.00,0.000,4,0.000,0.064,2576,3901,3908
$GC,4784,-1.69,-243.3,591.1,-8.9,441,4792,0.00,2.50,0.00,0.000,6,0.000,0.034,2576,2496,3907
$GC,5113,-1.69,-243.3,617.3,-8.8,472,5119,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2496,3905
$GC,5441,-1.69,-243.3,646.9,-9.6,503,5446,0.00,2.70,0.00,0.000,4,0.000,0.070,2576,3902,3903
$GC,5534,-1.69,-243.3,657.0,-10.5,510,5541,0.00,2.53,0.00,0.000,6,0.000,0.038,2576,2503,3902
$STATE,5559,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5560,begin apogee
$GC,5572,-0.50,0.0,660.1,10.8,513,5766,1.20,0.00,188.12,0.966,6,0.064,0.000,2837,2706,2937
$STATE,5772,end apogee,CONTROL_FINISHED_OK
$STATE,5772,begin climb
$GC,5777,1.69,243.3,672.5,0.0,532,5991,2.12,2.42,194.65,0.945,4,0.047,0.072,3321,3922,1945
$GC,6199,1.69,243.3,647.2,10.3,566,6206,0.00,2.25,0.00,0.000,6,0.000,0.037,3321,2692,1939
$GC,6527,1.69,243.3,612.6,11.0,597,6531,0.00,2.40,0.00,0.000,4,0.000,0.066,3321,3932,1936
$GC,6628,1.69,243.3,600.4,12.3,605,6632,0.00,2.22,0.00,0.000,6,0.000,0.035,3321,2693,1936
$GC,6962,1.69,243.3,564.1,10.0,636,6966,0.00,2.50,0.00,0.000,4,0.000,0.058,3321,1298,1934
$GC,7022,1.69,243.3,558.5,10.7,640,7026,0.00,2.42,0.00,0.000,6,0.000,0.037,3321,2697,1934
$GC,7350,1.69,243.3,524.5,10.4,670,7354,0.00,2.35,0.00,0.000,4,0.000,0.064,3321,3935,1933
$GC,7462,1.69,243.3,512.0,10.8,679,7466,0.00,2.22,0.00,0.000,6,0.000,0.034,3321,2690,1933
$GC,7795,1.69,243.3,476.2,11.2,710,7799,0.00,2.38,0.00,0.000,4,0.000,0.061,3321,3933,1932
$GC,7923,1.69,243.3,461.2,12.9,720,7927,0.00,2.20,0.00,0.000,6,0.000,0.032,3321,2697,1932
$GC,8252,1.73,273.7,426.4,9.2,750,8281,0.00,2.53,24.40,0.810,4,0.000,0.053,3321,1298,1820
$GC,8395,1.73,273.7,412.4,10.2,761,8402,0.00,2.42,0.00,0.000,6,0.000,0.034,3321,2704,1817
$GC,8723,1.76,301.0,381.6,9.2,792,8752,0.00,2.35,23.98,0.779,4,0.000,0.061,3321,3931,1708
$GC,8866,1.76,301.0,366.8,10.8,803,8873,0.00,2.20,0.00,0.000,6,0.000,0.031,3321,2693,1706
$GC,9194,1.76,301.0,331.1,11.6,834,9201,0.00,0.00,0.00,0.000,6,0.000,0.000,3321,2693,1704
$GC,9523,1.80,331.1,297.8,9.2,865,9559,0.00,2.53,25.95,0.723,4,0.000,0.049,3321,1306,1586
$GC,9602,1.80,331.1,290.0,10.3,871,9609,0.00,2.40,0.00,0.000,6,0.000,0.031,3320,2703,1584
$GC,9930,1.81,341.0,258.3,9.7,902,9947,0.10,2.35,9.48,0.624,4,0.054,0.057,3354,3926,1546
$GC,10007,1.81,341.0,249.1,12.5,908,10014,0.00,2.17,0.00,0.000,6,0.000,0.028,3353,2695,1545
$GC,10335,1.81,341.0,210.4,12.9,939,10339,0.00,2.42,0.00,0.000,4,0.000,0.047,3354,1300,1544
$GC,10474,1.81,341.0,193.2,11.9,950,10481,0.00,2.40,0.00,0.000,6,0.000,0.029,3354,2715,1543
$GC,10802,1.81,342.4,160.2,10.0,981,10806,0.00,2.25,0.00,0.000,4,0.000,0.054,3354,3933,1543
$GC,10895,1.81,342.4,150.2,10.9,988,10902,0.00,2.15,0.00,0.000,6,0.000,0.025,3354,2692,1543
$GC,11223,1.81,342.4,116.3,11.0,1019,11227,0.00,2.30,0.00,0.000,4,0.000,0.050,3354,3934,1543
$GC,11289,1.81,342.4,108.5,12.8,1024,11293,0.00,2.15,0.00,0.000,6,0.000,0.025,3354,2688,1542
$GC,11623,1.81,344.5,71.3,9.9,1055,11636,0.00,2.30,4.28,0.372,4,0.000,0.048,3354,3932,1532
$GC,11749,1.84,363.2,59.5,9.5,1065,11774,0.00,2.12,17.27,0.493,6,0.000,0.024,3354,2691,1456
$GC,12100,1.96,461.9,29.3,7.3,1097,12189,0.10,0.00,81.65,0.480,6,0.049,0.000,3393,2691,1051
$STATE,12309,end climb,SURFACE_DEPTH_REACHED
$STATE,12309,begin surface coast
$FINISH,-0.2,1.010000
$STATE,12350,end surface coast,CONTROL_FINISHED_OK
$STATE,12350,begin surface
$SM_CCo,12444,0.00,0.000,0,0,1044,464.11
$SM_GC,-0.05,12.80,0.00,0.00,0.023,0.000,0.000,420,2496,1044,-11.55,-0.14,464.11
$IRIDIUM_FIX,2143.45,-15945.93,251098,060615
$TT8_MAMPS,0.075166
$HUMID,1774
$INTERNAL_PRESSURE,9.97455
$TCM_TEMP,23.80
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.7,20.755
$10V_AH,10.0,24.907
$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,27.550,96.300,569.775,0.000,0.000,63.504,53.721,715.815,0.000,0.000,88.130,16.489,2201.372,6301.416,632.104,2000.330,2463.448,33.351,1741.116,0.000,1946.311,0.000,0.000,0.000
$DEVICE_MAMPS,125.788,72.098,966.420,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,786.475,0.000,0.000,0.000,0.000,0.000,165.239,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,34654,1131
$CAP_FILE_SIZE,410590,0
$CFSIZE,-70647808,-87228416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,310709,103155,2151.454,-15942.888,41,1.2,42,9.8