version: 66.04
glider: 118
mission: 21
dive: 32
start: 7 31 109 10 53 35
data:
$ID,118
$MISSION,21
$DIVE,32
$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,577.68152
$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,-86457.336
$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,45
$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
$GPS1,103155,2151.454,-15942.888,41,1.2,42,9.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.09
$_SM_ANGLEo,-59.3
$GPS2,105244,2151.542,-15943.128,12,1.2,12,9.8
$SPEED_LIMITS,0.173,0.326
$TGT_NAME,T2
$TGT_LATLONG,2150.420,-15941.560
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.291,-0.147
$KALMAN_X,-45649.3,564.8,204.3,42861.6,-2268.3
$KALMAN_Y,21011.4,-160.3,31.5,-29302.1,734.1
$MHEAD_RNG_PITCHd_Wd,107.1,3404,-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,-243.3,0.0,0.0,0,106,0.00,0.00,-82.95,0.000,2,0.000,0.000,420,2495,3385
$GC,112,-1.69,-243.3,3.1,-8.3,12,135,11.23,0.00,-7.68,0.000,6,0.126,0.000,2576,2495,3931
$GC,203,-1.69,-243.3,33.9,-23.3,22,210,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2495,3932
$GC,404,-1.69,-243.3,73.6,-18.6,41,411,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2495,3932
$GC,733,-1.69,-243.3,127.0,-15.2,72,739,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2495,3932
$GC,1061,-1.69,-243.3,174.3,-12.8,103,1065,0.00,2.53,0.00,0.000,4,0.000,0.045,2576,3899,3933
$GC,1096,-1.69,-243.3,179.3,-13.6,105,1104,0.00,2.40,0.00,0.000,6,0.000,0.023,2576,2492,3933
$GC,1425,-1.69,-243.3,222.4,-13.1,136,1431,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2492,3933
$GC,1753,-1.69,-243.3,267.3,-13.8,167,1760,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2493,3932
$GC,2082,-1.69,-243.3,307.2,-11.7,198,2088,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2493,3931
$GC,2410,-1.69,-243.3,344.8,-11.6,229,2414,0.00,2.60,0.00,0.000,4,0.000,0.054,2576,3901,3928
$GC,2469,-1.69,-243.3,351.2,-11.8,233,2473,0.00,2.40,0.00,0.000,6,0.000,0.028,2576,2510,3928
$GC,2802,-1.69,-243.3,391.8,-12.1,264,2809,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2510,3925
$GC,3131,-1.69,-243.3,430.4,-10.8,295,3135,0.00,2.58,0.00,0.000,4,0.000,0.056,2576,3896,3922
$GC,3219,-1.69,-243.3,440.2,-10.9,302,3224,0.00,2.45,0.00,0.000,6,0.000,0.030,2576,2502,3921
$GC,3548,-1.69,-243.3,474.2,-10.9,332,3552,0.00,2.62,0.00,0.000,4,0.000,0.058,2576,3903,3918
$GC,3607,-1.69,-243.3,480.3,-11.4,336,3611,0.00,2.45,0.00,0.000,6,0.000,0.031,2576,2500,3917
$GC,3935,-1.69,-243.3,517.2,-10.9,366,3939,0.00,2.62,0.00,0.000,4,0.000,0.060,2576,3897,3914
$GC,3981,-1.69,-243.3,522.6,-10.8,369,3989,0.00,2.47,0.00,0.000,6,0.000,0.031,2576,2497,3914
$GC,4310,-1.69,-243.3,558.6,-11.6,400,4316,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2497,3911
$GC,4638,-1.69,-243.3,596.3,-11.4,431,4645,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2497,3909
$GC,4967,-1.69,-243.3,632.3,-10.3,462,4971,0.00,2.67,0.00,0.000,4,0.000,0.068,2576,3892,3906
$GC,5071,-1.69,-243.3,643.0,-9.9,470,5078,0.00,2.50,0.00,0.000,6,0.000,0.037,2576,2503,3905
$STATE,5255,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5256,begin apogee
$GC,5268,-0.50,0.0,660.5,8.9,488,5462,1.20,0.00,188.40,0.960,6,0.066,0.000,2836,2705,2937
$STATE,5468,end apogee,CONTROL_FINISHED_OK
$STATE,5468,begin climb
$GC,5474,1.69,243.3,670.6,0.0,507,5687,2.12,2.42,194.23,0.938,4,0.046,0.071,3321,3920,1945
$GC,5846,1.69,243.3,646.5,10.6,537,5853,0.00,2.25,0.00,0.000,6,0.000,0.037,3320,2691,1940
$GC,6175,1.72,271.0,615.1,9.2,568,6203,0.00,2.45,23.35,0.874,4,0.000,0.067,3321,3934,1831
$GC,6291,1.72,271.0,602.4,12.3,577,6298,0.00,2.25,0.00,0.000,6,0.000,0.035,3321,2696,1829
$GC,6619,1.72,271.0,567.6,10.8,608,6623,0.00,2.53,0.00,0.000,4,0.000,0.058,3321,1286,1826
$GC,6712,1.72,271.0,556.7,11.9,615,6719,0.00,2.45,0.00,0.000,6,0.000,0.037,3321,2698,1825
$GC,7040,1.72,271.0,519.2,11.2,646,7044,0.00,2.35,0.00,0.000,4,0.000,0.064,3320,3939,1825
$GC,7100,1.72,271.0,512.8,12.0,650,7104,0.00,2.25,0.00,0.000,6,0.000,0.034,3321,2683,1824
$GC,7429,1.76,303.3,480.1,9.1,680,7465,0.00,2.45,27.45,0.841,4,0.000,0.062,3320,3938,1700
$GC,7530,1.76,303.3,469.8,11.1,688,7537,0.00,2.22,0.00,0.000,6,0.000,0.033,3321,2699,1698
$GC,7858,1.76,303.3,433.5,11.1,719,7862,0.00,2.47,0.00,0.000,4,0.000,0.054,3321,1300,1695
$GC,7902,1.76,303.3,428.4,11.9,722,7906,0.00,2.42,0.00,0.000,6,0.000,0.034,3321,2709,1694
$GC,8230,1.78,319.3,394.0,9.6,752,8254,0.00,2.38,14.20,0.758,4,0.000,0.061,3321,3931,1634
$GC,8320,1.78,319.3,384.4,10.9,759,8327,0.00,2.22,0.00,0.000,6,0.000,0.031,3321,2685,1633
$GC,8648,1.78,319.3,349.6,11.1,790,8652,0.00,2.42,0.00,0.000,4,0.000,0.051,3321,1304,1631
$GC,8691,1.78,319.3,344.5,12.3,793,8695,0.00,2.40,0.00,0.000,6,0.000,0.032,3321,2707,1631
$GC,9019,1.78,319.3,307.7,10.6,823,9023,0.00,2.30,0.00,0.000,4,0.000,0.059,3321,3933,1630
$GC,9159,1.78,319.3,290.9,12.4,834,9164,0.00,2.20,0.00,0.000,6,0.000,0.029,3321,2685,1630
$GC,9488,1.78,319.3,256.2,10.5,864,9494,0.00,0.00,0.00,0.000,6,0.000,0.000,3321,2685,1630
$GC,9816,1.78,319.3,221.8,10.0,895,9820,0.00,2.40,0.00,0.000,4,0.000,0.047,3321,1303,1630
$GC,9848,1.79,326.1,218.5,9.8,897,9861,0.00,2.38,6.65,0.557,6,0.000,0.030,3321,2703,1607
$GC,10181,1.81,341.9,187.9,9.6,928,10206,0.10,2.35,14.95,0.610,4,0.053,0.054,3355,3929,1543
$GC,10290,1.81,341.9,175.5,13.0,937,10294,0.00,2.17,0.00,0.000,6,0.000,0.027,3355,2684,1541
$GC,10619,1.81,341.9,136.3,12.5,967,10625,0.00,0.00,0.00,0.000,6,0.000,0.000,3356,2684,1540
$GC,10947,1.81,341.9,97.8,10.9,998,10951,0.00,2.33,0.00,0.000,4,0.000,0.049,3356,3941,1541
$GC,11051,1.81,341.9,85.1,12.3,1006,11058,0.00,2.15,0.00,0.000,6,0.000,0.024,3356,2691,1540
$GC,11379,1.87,392.1,53.8,8.6,1037,11428,0.00,2.40,43.08,0.505,4,0.000,0.041,3356,1311,1337
$GC,11562,2.10,578.4,39.2,4.8,1052,11724,0.22,2.33,147.07,0.482,6,0.033,0.024,3421,2709,581
$STATE,11808,end climb,SURFACE_DEPTH_REACHED
$STATE,11808,begin surface coast
$FINISH,-0.2,1.022974
$STATE,11836,end surface coast,CONTROL_FINISHED_OK
$STATE,11837,begin surface
$SM_CCo,11930,0.00,0.000,0,0,575,579.40
$SM_GC,0.04,13.00,0.00,0.00,0.025,0.000,0.000,418,2493,575,-11.56,-0.20,579.40
$IRIDIUM_FIX,2145.77,-15940.77,251098,101006
$TT8_MAMPS,0.057525
$HUMID,1756
$INTERNAL_PRESSURE,9.93548
$TCM_TEMP,23.80
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.7,20.966
$10V_AH,10.0,25.033
$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,27.875,91.950,659.375,0.000,0.000,131.017,344.211,343.280,0.000,0.000,85.223,12.703,2073.772,6127.929,690.386,1898.706,2361.547,33.359,1780.244,0.000,1848.339,0.000,0.000,0.000
$DEVICE_MAMPS,125.788,71.331,959.517,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,752.759,0.000,0.000,0.000,0.000,0.000,159.788,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,34699,1083
$CAP_FILE_SIZE,386356,0
$CFSIZE,-70647808,-87818240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,310709,141357,2150.800,-15941.943,28,2.2,47,9.8