version: 66.04
glider: 118
mission: 21
dive: 40
start: 8 1 109 9 49 42
data:
$ID,118
$MISSION,21
$DIVE,40
$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,175
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$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,-86639.102
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,428
$PITCH_MAX,3730
$C_PITCH,2946
$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,2560
$C_ROLL_CLIMB,2720
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,17
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,36
$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
$GPS1,093236,2150.749,-15941.068,32,1.7,33,9.8
$_CALLS,1
$_XMS_NAKs,22
$_XMS_TOUTs,0
$_SM_DEPTHo,0.17
$_SM_ANGLEo,-62.1
$GPS2,094852,2150.749,-15941.360,12,3.5,31,9.8
$SPEED_LIMITS,0.100,0.279
$TGT_NAME,T0
$TGT_LATLONG,2154.000,-15942.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.038,0.276
$KALMAN_X,-60510.2,588.0,-120.5,61060.2,-1260.6
$KALMAN_Y,27726.1,18.5,13.5,-37638.9,513.6
$MHEAD_RNG_PITCHd_Wd,358.0,6120,-16.8,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,24,-1.89,-170.3,0.0,0.0,0,110,0.00,0.00,-83.07,0.000,2,0.000,0.000,418,2568,3512
$GC,116,-1.89,-170.3,4.3,-11.5,12,139,11.00,2.58,-1.67,0.000,4,0.127,0.053,2527,3925,3635
$GC,336,-1.89,-170.3,63.0,-16.5,32,344,0.00,2.45,0.00,0.000,6,0.000,0.022,2527,2543,3636
$GC,665,-1.89,-170.3,116.9,-16.4,63,671,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2544,3636
$GC,993,-1.89,-170.3,168.2,-15.5,94,997,0.00,2.58,0.00,0.000,4,0.000,0.044,2527,3930,3637
$GC,1052,-1.89,-170.3,177.0,-15.8,98,1056,0.00,2.42,0.00,0.000,6,0.000,0.024,2527,2563,3637
$GC,1380,-1.89,-170.3,223.1,-13.5,128,1384,0.00,2.35,0.00,0.000,4,0.000,0.044,2527,1163,3637
$GC,1423,-1.89,-170.3,228.9,-13.6,131,1427,0.00,2.28,0.00,0.000,6,0.000,0.024,2526,2574,3637
$GC,1751,-1.89,-170.3,273.5,-13.9,161,1755,0.00,2.53,0.00,0.000,4,0.000,0.050,2527,3918,3637
$GC,1815,-1.89,-170.3,281.7,-13.6,165,1822,0.00,2.45,0.00,0.000,6,0.000,0.026,2527,2557,3637
$GC,2143,-1.89,-170.3,323.7,-12.4,196,2147,0.00,2.60,0.00,0.000,4,0.000,0.051,2527,3925,3635
$GC,2274,-1.89,-170.3,339.9,-12.5,206,2281,0.00,2.47,0.00,0.000,6,0.000,0.027,2527,2557,3634
$GC,2602,-1.89,-170.3,380.6,-13.0,237,2609,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2557,3632
$GC,2931,-1.89,-170.3,419.9,-11.7,268,2935,0.00,2.62,0.00,0.000,4,0.000,0.055,2527,3918,3630
$GC,2989,-1.89,-170.3,426.1,-11.3,272,2994,0.00,2.50,0.00,0.000,6,0.000,0.030,2527,2554,3629
$GC,3318,-1.89,-170.3,462.3,-10.8,302,3322,0.00,2.65,0.00,0.000,4,0.000,0.057,2527,3922,3626
$GC,3395,-1.89,-170.3,470.6,-10.5,308,3400,0.00,2.53,0.00,0.000,6,0.000,0.031,2527,2551,3625
$GC,3723,-1.89,-170.3,507.3,-12.1,338,3728,0.00,2.67,0.00,0.000,4,0.000,0.058,2527,3924,3623
$GC,3770,-1.89,-170.3,513.3,-13.1,341,3777,0.00,2.53,0.00,0.000,6,0.000,0.031,2527,2560,3622
$GC,4098,-1.89,-170.3,551.4,-11.1,372,4105,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2561,3620
$GC,4427,-1.89,-170.3,586.6,-10.9,403,4431,0.00,2.42,0.00,0.000,4,0.000,0.060,2527,1165,3617
$GC,4462,-1.89,-170.3,591.0,-11.9,405,4470,0.00,2.33,0.00,0.000,6,0.000,0.035,2527,2555,3616
$GC,4791,-1.89,-170.3,630.7,-12.9,436,4795,0.00,2.72,0.00,0.000,4,0.000,0.071,2527,3935,3614
$GC,4938,-1.89,-170.3,651.4,-14.5,448,4943,0.00,2.58,0.00,0.000,6,0.000,0.036,2528,2564,3613
$STATE,5011,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5011,begin apogee
$GC,5024,-0.50,0.0,661.3,13.1,454,5168,1.42,0.00,132.02,0.955,6,0.071,0.000,2833,2731,2937
$STATE,5169,end apogee,CONTROL_FINISHED_OK
$STATE,5170,begin climb
$GC,5175,1.89,170.3,670.9,0.0,468,5324,2.33,0.00,136.80,0.936,6,0.043,0.000,3365,2731,2242
$GC,5642,1.91,184.1,640.1,9.5,512,5659,0.00,2.42,12.18,0.825,4,0.000,0.066,3365,3923,2185
$GC,5743,1.91,184.1,628.9,11.4,520,5748,0.00,2.33,0.00,0.000,6,0.000,0.036,3365,2717,2185
$GC,6072,1.91,184.1,589.7,12.3,550,6076,0.00,2.47,0.00,0.000,4,0.000,0.064,3365,3933,2183
$GC,6338,1.91,184.1,554.7,13.0,572,6345,0.00,2.33,0.00,0.000,6,0.000,0.035,3365,2716,2182
$GC,6666,1.91,184.1,518.9,10.9,603,6673,0.00,0.00,0.00,0.000,6,0.000,0.000,3365,2717,2181
$GC,6995,1.93,201.8,487.2,9.3,634,7019,0.00,2.50,14.52,0.803,4,0.000,0.061,3365,3923,2114
$GC,7096,1.93,201.8,477.5,10.2,642,7103,0.00,2.33,0.00,0.000,6,0.000,0.033,3365,2705,2113
$GC,7424,1.94,209.9,447.3,9.7,673,7438,0.00,2.50,7.90,0.709,4,0.000,0.061,3365,3925,2081
$GC,7672,1.94,209.9,420.4,10.5,694,7676,0.00,2.30,0.00,0.000,6,0.000,0.032,3365,2711,2080
$GC,8000,1.94,209.9,385.7,10.6,724,8004,0.00,2.45,0.00,0.000,4,0.000,0.058,3365,3930,2079
$GC,8089,1.94,209.9,376.1,11.0,731,8093,0.00,2.30,0.00,0.000,6,0.000,0.031,3365,2715,2078
$GC,8417,1.99,251.9,346.3,8.3,761,8458,0.00,2.47,34.95,0.767,4,0.000,0.057,3365,3925,1909
$GC,8621,1.99,251.9,324.3,12.4,777,8628,0.00,2.30,0.00,0.000,6,0.000,0.031,3364,2718,1904
$GC,8949,1.99,251.9,284.3,11.4,808,8953,0.00,2.45,0.00,0.000,4,0.000,0.056,3365,3936,1903
$GC,9030,1.99,251.9,274.6,11.5,814,9037,0.00,2.33,0.00,0.000,6,0.000,0.029,3365,2709,1903
$GC,9359,2.03,278.1,240.7,9.0,845,9386,0.00,2.50,21.73,0.670,4,0.000,0.054,3365,3922,1803
$GC,9487,2.03,278.1,229.2,10.4,855,9494,0.00,2.30,0.00,0.000,6,0.000,0.028,3365,2708,1799
$GC,9815,2.03,278.1,192.5,11.8,886,9819,0.00,2.45,0.00,0.000,4,0.000,0.052,3364,3933,1798
$GC,9851,2.03,278.1,188.0,12.0,888,9858,0.00,2.30,0.00,0.000,6,0.000,0.028,3365,2713,1798
$GC,10179,2.03,278.1,152.6,10.8,919,10186,0.10,0.00,0.00,0.000,6,0.051,0.000,3400,2712,1798
$GC,10508,2.03,278.1,114.8,11.1,950,10512,0.00,2.42,0.00,0.000,4,0.000,0.050,3400,3935,1798
$GC,10665,2.04,289.2,98.0,9.6,963,10681,0.00,2.25,9.93,0.502,6,0.000,0.025,3400,2711,1758
$GC,11016,2.04,289.2,60.8,11.6,995,11021,0.00,2.42,0.00,0.000,4,0.000,0.048,3400,3939,1756
$GC,11163,2.12,350.9,49.3,7.6,1007,11228,0.00,2.28,51.60,0.502,6,0.000,0.024,3400,2707,1505
$GC,11418,2.12,350.9,24.6,11.3,1030,11422,0.00,2.42,0.00,0.000,4,0.000,0.046,3400,3937,1500
$GC,11472,2.12,350.9,18.7,12.0,1034,11479,0.00,2.25,0.00,0.000,6,0.000,0.024,3400,2719,1499
$GC,11560,2.12,350.9,9.1,11.7,1047,11566,0.00,0.00,0.00,0.000,6,0.000,0.000,3400,2719,1500
$STATE,11603,end climb,SURFACE_DEPTH_REACHED
$STATE,11604,begin surface coast
$FINISH,-0.3,1.008868
$STATE,11648,end surface coast,CONTROL_FINISHED_OK
$STATE,11648,begin surface
$SM_CCo,11681,46.90,0.437,0,0,1102,450.13
$SM_GC,0.01,0.00,0.00,46.90,0.000,0.000,0.437,420,2532,1102,-11.62,-0.79,450.13
$IRIDIUM_FIX,2145.77,-15942.95,261098,060654
$TT8_MAMPS,0.062894
$HUMID,1776
$INTERNAL_PRESSURE,9.97455
$TCM_TEMP,23.90
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.8,22.411
$10V_AH,10.0,25.832
$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,27.650,107.850,421.625,46.900,0.000,29.976,27.050,572.457,0.000,0.000,82.194,32.889,2104.946,5851.148,576.937,1961.003,2191.724,33.358,1624.800,0.000,1886.832,0.000,0.000,0.000
$DEVICE_MAMPS,127.322,70.564,954.915,437.190,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,737.806,0.000,0.000,0.000,0.000,0.000,154.110,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,34640,1061
$CAP_FILE_SIZE,386943,0
$CFSIZE,-70647808,-89849856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,0,0
$GPS,010809,130637,2152.476,-15941.941,36,1.8,36,9.8