version: 66.04
glider: 118
mission: 21
dive: 46
start: 8 2 109 0 23 57
data:
$ID,118
$MISSION,21
$DIVE,46
$D_SURF,4
$D_FLARE,3
$D_TGT,270
$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,90
$T_MISSION,120
$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,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,400
$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,-86781.758
$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,38
$C_ROLL_DIVE,2560
$C_ROLL_CLIMB,2720
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,17
$R_PORT_OVSHOOT,46
$R_STBD_OVSHOOT,56
$ROLL_AD_RATE,325
$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
$GPS1,000806,2154.265,-15942.178,27,1.7,27,9.8
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-59.7
$GPS2,002301,2154.356,-15942.459,12,1.7,17,9.8
$SPEED_LIMITS,0.100,0.326
$TGT_NAME,TB
$TGT_LATLONG,2153.300,-15940.300
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.288,-0.152
$KALMAN_X,-70640.2,-1256.1,-53.1,71087.5,-705.8
$KALMAN_Y,31697.8,466.1,141.8,-35517.4,371.7
$MHEAD_RNG_PITCHd_Wd,108.0,4195,-13.9,-10.000
$D_GRID,270
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,19,-1.69,-243.3,0.0,0.0,0,99,0.00,0.00,-76.38,0.000,2,0.000,0.000,418,2548,3470
$GC,105,-1.69,-243.3,4.6,-9.9,11,127,11.23,0.00,-6.38,0.000,6,0.128,0.000,2572,2548,3932
$GC,201,-1.69,-243.3,31.9,-17.7,21,207,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2548,3933
$GC,402,-1.69,-243.3,68.1,-16.6,40,408,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2548,3933
$GC,730,-1.69,-243.3,115.6,-12.9,71,734,0.00,2.60,0.00,0.000,4,0.000,0.042,2572,3875,3934
$GC,800,-1.69,-243.3,124.3,-13.3,76,804,0.00,2.47,0.00,0.000,6,0.000,0.024,2572,2560,3935
$GC,1128,-1.69,-243.3,168.9,-11.9,106,1133,0.00,2.60,0.00,0.000,4,0.000,0.043,2571,3871,3934
$GC,1175,-1.69,-243.3,174.8,-12.2,109,1182,0.00,2.53,0.00,0.000,6,0.000,0.025,2572,2548,3934
$GC,1503,-1.69,-243.3,217.5,-13.0,140,1507,0.00,2.10,0.00,0.000,4,0.000,0.046,2572,1231,3934
$GC,1544,-1.69,-243.3,223.1,-12.9,143,1552,0.00,2.03,0.00,0.000,6,0.000,0.025,2572,2552,3934
$GC,1873,-1.69,-243.3,259.8,-9.6,174,1879,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2552,3933
$STATE,1973,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1973,begin apogee
$GC,1985,-0.50,0.0,270.2,9.9,184,2177,1.20,0.00,182.32,0.617,6,0.062,0.000,2835,2735,2936
$STATE,2183,end apogee,CONTROL_FINISHED_OK
$STATE,2183,begin climb
$GC,2189,1.69,243.3,279.2,0.0,203,2386,2.08,2.30,181.88,0.614,4,0.040,0.045,3319,1394,1944
$GC,2579,1.75,296.7,259.9,8.5,235,2627,0.00,2.08,42.60,0.593,6,0.000,0.028,3319,2705,1727
$GC,2950,1.82,352.6,226.0,8.5,269,3007,0.10,2.55,45.95,0.588,4,0.051,0.055,3357,3925,1498
$GC,3146,1.82,352.6,204.0,12.3,285,3150,0.00,2.38,0.00,0.000,6,0.000,0.028,3357,2719,1493
$GC,3475,1.82,352.6,165.5,10.5,315,3479,0.00,2.53,0.00,0.000,4,0.000,0.051,3357,3926,1491
$GC,3575,1.82,352.6,154.5,11.4,323,3579,0.00,2.38,0.00,0.000,6,0.000,0.028,3357,2710,1491
$GC,3908,1.82,352.6,116.4,11.2,354,3913,0.00,2.50,0.00,0.000,4,0.000,0.047,3357,3925,1488
$GC,3998,1.82,352.6,106.0,11.2,361,4002,0.00,2.35,0.00,0.000,6,0.000,0.026,3357,2714,1488
$GC,4326,1.82,352.6,69.2,12.1,391,4330,0.00,2.50,0.00,0.000,4,0.000,0.046,3357,3935,1488
$GC,4459,1.82,352.6,55.0,11.6,401,4466,0.00,2.35,0.00,0.000,6,0.000,0.025,3357,2720,1488
$GC,4787,1.91,424.6,25.1,8.0,432,4858,0.00,2.53,57.75,0.456,4,0.000,0.045,3357,3931,1205
$STATE,4989,end climb,SURFACE_DEPTH_REACHED
$STATE,4990,begin surface coast
$FINISH,3.0,1.022901
$STATE,4996,end surface coast,CONTROL_FINISHED_OK
$STATE,4996,begin surface
$SM_CCo,5092,0.00,0.000,0,0,1197,426.82
$SM_GC,1.17,12.57,0.00,0.00,0.023,0.000,0.000,419,2565,1197,-11.53,0.14,426.82
$IRIDIUM_FIX,2145.77,-15940.77,271098,000005
$TT8_MAMPS,0.077467
$HUMID,1788
$INTERNAL_PRESSURE,10.0722
$TCM_TEMP,24.10
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,24.1,23.400
$10V_AH,10.1,26.333
$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,27.175,43.675,510.500,0.000,0.000,54.931,56.151,483.966,0.000,0.000,45.388,17.555,880.365,2363.446,502.442,872.208,1367.142,33.337,1059.096,0.000,834.118,0.000,0.000,0.000
$DEVICE_MAMPS,128.089,55.224,616.668,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,311.263,0.000,0.000,0.000,0.000,0.000,81.279,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,12693,461
$CAP_FILE_SIZE,177276,0
$CFSIZE,-70647808,-91422720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,25,0,0
$GPS,020809,015001,2154.324,-15942.042,11,1.8,28,9.8