version: 66.04
glider: 118
mission: 21
dive: 33
start: 7 31 109 14 40 6
data:
$ID,118
$MISSION,21
$DIVE,33
$D_SURF,4
$D_FLARE,3
$D_TGT,450
$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,150
$T_MISSION,175
$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,450
$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,-86471.953
$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,50
$R_STBD_OVSHOOT,35
$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
$GPS1,141357,2150.800,-15941.943,28,2.2,47,9.8
$_CALLS,2
$_XMS_NAKs,19
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.13
$_SM_ANGLEo,-57.8
$GPS2,143914,2150.899,-15942.197,13,1.7,13,9.8
$SPEED_LIMITS,0.173,0.326
$TGT_NAME,T0
$TGT_LATLONG,2154.000,-15942.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.237,0.224
$KALMAN_X,-48047.9,992.9,-64.9,46699.7,-1960.5
$KALMAN_Y,22067.9,-264.1,-167.9,-31245.0,914.5
$MHEAD_RNG_PITCHd_Wd,36.9,5752,-13.9,-10.000
$D_GRID,450
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,24,-1.69,-243.3,0.0,0.0,0,135,0.00,0.00,-102.40,0.000,2,0.000,0.000,417,2493,3555
$GC,141,-1.69,-243.3,4.3,-13.9,15,163,11.32,2.53,-4.45,0.000,4,0.128,0.052,2578,3897,3932
$GC,265,-1.69,-243.3,45.5,-20.1,27,269,0.00,2.40,0.00,0.000,6,0.000,0.022,2578,2489,3933
$GC,466,-1.69,-243.3,78.5,-13.7,45,472,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2490,3933
$GC,801,-1.69,-243.3,131.2,-17.1,76,805,0.00,2.35,0.00,0.000,4,0.000,0.041,2578,1110,3933
$GC,844,-1.69,-243.3,138.9,-15.4,79,848,0.00,2.30,0.00,0.000,6,0.000,0.022,2578,2511,3933
$GC,1172,-1.69,-243.3,186.5,-14.3,109,1178,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2511,3933
$GC,1500,-1.69,-243.3,232.4,-12.8,140,1505,0.00,2.50,0.00,0.000,4,0.000,0.048,2578,3892,3932
$GC,1547,-1.69,-243.3,238.8,-13.3,143,1555,0.00,2.40,0.00,0.000,6,0.000,0.025,2578,2497,3932
$GC,1876,-1.69,-243.3,278.0,-12.0,174,1880,0.00,2.58,0.00,0.000,4,0.000,0.050,2578,3895,3931
$GC,1942,-1.69,-243.3,286.0,-12.1,179,1946,0.00,2.42,0.00,0.000,6,0.000,0.026,2578,2493,3930
$GC,2270,-1.69,-243.3,323.5,-11.8,209,2274,0.00,2.40,0.00,0.000,4,0.000,0.048,2578,1107,3929
$GC,2317,-1.69,-243.3,329.4,-12.0,212,2324,0.00,2.33,0.00,0.000,6,0.000,0.027,2578,2497,3929
$GC,2645,-1.69,-243.3,367.2,-12.0,243,2649,0.00,2.58,0.00,0.000,4,0.000,0.054,2578,3902,3926
$GC,2772,-1.69,-243.3,382.2,-12.0,253,2776,0.00,2.45,0.00,0.000,6,0.000,0.028,2578,2501,3925
$GC,3100,-1.69,-243.3,420.4,-12.5,283,3107,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2501,3923
$STATE,3349,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3349,begin apogee
$GC,3361,-0.50,0.0,450.6,10.7,307,3554,1.17,0.00,186.25,0.771,6,0.060,0.000,2839,2702,2937
$STATE,3560,end apogee,CONTROL_FINISHED_OK
$STATE,3560,begin climb
$GC,3565,1.69,243.3,460.7,0.0,326,3764,2.10,2.40,188.30,0.761,4,0.041,0.058,3326,3924,1946
$GC,4018,1.69,243.3,426.2,10.3,363,4025,0.00,2.20,0.00,0.000,6,0.000,0.031,3326,2691,1940
$GC,4346,1.71,259.2,394.1,9.6,394,4363,0.00,0.00,12.68,0.673,6,0.000,0.000,3326,2685,1880
$GC,4685,1.72,266.9,360.8,9.8,426,4694,0.00,0.00,7.60,0.607,6,0.000,0.000,3326,2685,1848
$GC,5013,1.75,292.4,330.3,9.3,457,5040,0.00,2.40,21.98,0.693,4,0.000,0.057,3326,3915,1744
$GC,5120,1.75,292.4,319.4,10.6,466,5124,0.00,2.17,0.00,0.000,6,0.000,0.030,3326,2690,1741
$GC,5449,1.79,323.6,286.9,9.1,496,5484,0.00,2.50,26.48,0.677,4,0.000,0.049,3325,1311,1616
$GC,5577,1.79,323.6,274.3,10.4,506,5584,0.00,2.38,0.00,0.000,6,0.000,0.030,3326,2702,1612
$GC,5906,1.83,362.0,241.4,8.9,537,5946,0.10,2.38,32.67,0.649,4,0.053,0.055,3360,3932,1461
$GC,6040,1.83,362.0,225.4,14.6,548,6044,0.00,2.17,0.00,0.000,6,0.000,0.028,3360,2694,1457
$GC,6374,1.83,362.0,180.2,13.1,579,6380,0.00,0.00,0.00,0.000,6,0.000,0.000,3360,2690,1454
$GC,6702,1.83,362.0,136.5,12.6,610,6706,0.00,2.30,0.00,0.000,4,0.000,0.051,3360,3932,1453
$GC,6723,1.83,362.0,133.8,12.7,611,6727,0.00,2.15,0.00,0.000,6,0.000,0.026,3360,2694,1453
$GC,7057,1.83,362.0,93.8,12.1,642,7061,0.00,2.30,0.00,0.000,4,0.000,0.048,3360,3939,1453
$GC,7081,1.83,362.0,90.4,13.0,643,7088,0.00,2.15,0.00,0.000,6,0.000,0.025,3360,2697,1452
$GC,7410,1.83,362.0,50.2,11.6,674,7414,0.00,2.28,0.00,0.000,4,0.000,0.048,3360,3932,1453
$GC,7516,1.84,368.0,38.5,9.8,682,7527,0.00,2.12,5.43,0.380,6,0.000,0.024,3360,2691,1436
$GC,7730,1.86,385.0,18.9,9.5,702,7752,0.00,2.33,15.57,0.441,4,0.000,0.047,3360,3940,1366
$GC,7793,1.86,385.0,11.5,11.7,711,7800,0.00,2.15,0.00,0.000,6,0.000,0.022,3360,2697,1365
$STATE,7857,end climb,SURFACE_DEPTH_REACHED
$STATE,7857,begin surface coast
$FINISH,-0.2,1.023017
$STATE,7901,end surface coast,CONTROL_FINISHED_OK
$STATE,7901,begin surface
$SM_CCo,7939,31.60,0.433,0,0,1102,450.13
$SM_GC,0.44,0.00,0.00,31.60,0.000,0.000,0.433,420,2476,1102,-11.63,-0.68,450.13
$IRIDIUM_FIX,2143.45,-15938.60,251098,141422
$TT8_MAMPS,0.06136
$HUMID,1747
$INTERNAL_PRESSURE,10.0038
$TCM_TEMP,24.00
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.6,21.215
$10V_AH,10.1,25.131
$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,27.300,66.225,496.950,31.600,0.000,53.660,62.512,1061.243,0.000,0.000,262.217,13.986,1404.547,3894.616,568.001,1302.840,2300.919,33.345,1333.363,0.000,1256.390,0.000,0.000,0.000
$DEVICE_MAMPS,128.089,57.525,770.835,433.355,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,497.923,0.000,0.000,0.000,0.000,0.000,116.091,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,22065,729
$CAP_FILE_SIZE,278852,0
$CFSIZE,-70647808,-87687168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310709,165416,2152.270,-15942.292,9,3.0,28,9.8