version: 66.04
glider: 117
mission: 24
dive: 2
start: 7 29 109 22 42 31
data:
$ID,117
$MISSION,24
$DIVE,2
$D_SURF,2
$D_FLARE,3
$D_TGT,90
$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,30
$T_MISSION,45
$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,500
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,250
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51956
$NAV_MODE,1
$FERRY_MAX,0
$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,300
$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,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-106298.34
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,409
$PITCH_MAX,3715
$C_PITCH,2600
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,13
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,150
$ROLL_MAX,3825
$ROLL_DEG,40
$C_ROLL_DIVE,1987
$C_ROLL_CLIMB,1987
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,39
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,746
$VBD_MAX,3936
$C_VBD,2917
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-7.1530929
$PRESSURE_SLOPE,0.0001163939
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$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,0.00439469
$SEABIRD_T_H,0.00064900791
$SEABIRD_T_I,2.5454905e-05
$SEABIRD_T_J,2.5957725e-06
$SEABIRD_C_G,-9.918622
$SEABIRD_C_H,1.1128848
$SEABIRD_C_I,-0.0018190074
$SEABIRD_C_J,0.00019276177
$GPS1,223719,2155.589,-15944.266,9,2.0,9,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-53.4
$GPS2,224144,2155.564,-15944.279,11,2.0,11,9.8
$SPEED_LIMITS,0.173,0.326
$TGT_NAME,T0
$TGT_LATLONG,2154.000,-15942.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.292,-0.144
$KALMAN_X,-31.6,-31.6,-31.6,151.5,-78.1
$KALMAN_Y,-29.6,-29.6,-29.6,-175.6,-73.1
$MHEAD_RNG_PITCHd_Wd,106.4,4872,-13.9,-10.000
$D_GRID,90
$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,16,-1.37,-243.3,0.0,0.0,0,117,0.00,0.00,-97.93,0.000,2,0.000,0.000,403,2003,3430
$GC,120,-1.37,-243.3,3.3,-8.0,16,147,11.07,2.55,-8.07,0.000,4,0.174,0.068,2294,584,3912
$GC,332,-1.37,-243.3,41.6,-15.8,40,339,0.00,2.35,0.00,0.000,6,0.000,0.032,2294,1989,3912
$GC,530,-1.37,-243.3,69.8,-12.6,59,531,0.00,0.00,0.00,0.000,6,0.000,0.000,2294,1989,3912
$STATE,698,end dive,TARGET_DEPTH_EXCEEDED
$STATE,698,begin apogee
$GC,703,-0.38,0.0,90.4,12.5,75,892,1.05,0.00,184.23,0.528,6,0.084,0.000,2513,1992,2917
$STATE,893,end apogee,CONTROL_FINISHED_OK
$STATE,893,begin climb
$GC,896,1.37,243.3,100.5,0.0,94,1089,1.70,0.00,185.30,0.520,6,0.052,0.000,2900,1992,1924
$GC,1407,1.56,396.2,75.4,5.8,142,1535,0.17,2.53,120.88,0.509,4,0.036,0.058,2961,3373,1301
$GC,1635,1.56,396.2,54.8,10.5,162,1643,0.12,2.38,0.00,0.000,6,0.081,0.036,2936,1989,1296
$GC,1961,1.59,425.0,24.5,9.2,193,1995,0.00,2.62,23.70,0.473,4,0.000,0.063,2935,584,1183
$GC,2057,1.59,425.0,14.7,11.1,206,2064,0.00,2.38,0.00,0.000,6,0.000,0.034,2936,1987,1181
$GC,2133,1.59,425.0,7.1,10.6,219,2140,0.00,2.47,0.00,0.000,4,0.000,0.058,2936,3376,1180
$GC,2164,1.59,425.0,3.7,11.6,224,2171,0.00,2.38,0.00,0.000,6,0.000,0.037,2936,1987,1180
$STATE,2181,end climb,SURFACE_DEPTH_REACHED
$STATE,2181,begin surface coast
$FINISH,0.2,1.022595
$STATE,2199,end surface coast,CONTROL_FINISHED_OK
$STATE,2199,begin surface
$SM_CCo,2280,0.00,0.000,0,0,1176,427.07
$SM_GC,0.93,10.93,0.00,0.00,0.031,0.000,0.000,405,1984,1176,-10.04,-0.08,427.07
$IRIDIUM_FIX,2148.09,-15942.95,231098,222218
$TT8_MAMPS,0.056758
$HUMID,1839
$INTERNAL_PRESSURE,7.73467
$TCM_TEMP,25.80
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,24.1,6.592
$10V_AH,10.2,2.739
$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,25.050,19.650,514.100,0.000,0.000,0.000,0.000,0.000,0.000,0.000,15.077,11.727,380.796,938.063,533.552,429.018,61.779,30.181,848.712,0.000,424.188,0.000,0.000,0.000
$DEVICE_MAMPS,174.109,68.263,527.696,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,151.068,0.000,0.000,0.000,0.000,0.000,30.662,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,6460,230
$CAP_FILE_SIZE,40099,0
$CFSIZE,260165632,256499712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290709,232137,2155.498,-15944.008,33,0.9,33,9.8