version: 66.04
glider: 117
mission: 24
dive: 4
start: 7 30 109 1 12 55
data:
$ID,117
$MISSION,24
$DIVE,4
$D_SURF,2
$D_FLARE,3
$D_TGT,240
$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,80
$T_MISSION,90
$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,150
$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,-106428.94
$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,24
$R_STBD_OVSHOOT,41
$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
$GPS1,010729,2154.947,-15943.230,7,1.8,10,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-57.8
$GPS2,011206,2154.914,-15943.230,15,0.9,31,9.8
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,T0
$TGT_LATLONG,2154.000,-15942.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.203,-0.162
$KALMAN_X,139.4,64.9,-31.8,1674.6,109.7
$KALMAN_Y,-179.6,-142.0,-70.4,-1074.6,-88.1
$MHEAD_RNG_PITCHd_Wd,118.8,2708,-18.3,-10.000
$D_GRID,240
$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,-1.58,-146.0,0.0,0.0,0,105,0.00,0.00,-85.38,0.000,2,0.000,0.000,406,2007,3478
$GC,107,-1.58,-146.0,4.0,-10.0,14,128,10.82,2.60,-0.62,0.000,4,0.175,0.069,2251,580,3516
$GC,284,-1.58,-146.0,38.2,-15.0,34,292,0.00,2.35,0.00,0.000,6,0.000,0.031,2251,1988,3517
$GC,482,-1.58,-146.0,65.8,-15.6,53,486,0.00,2.50,0.00,0.000,4,0.000,0.057,2251,584,3517
$GC,511,-1.58,-146.0,70.1,-16.0,55,515,0.00,2.35,0.00,0.000,6,0.000,0.032,2251,1994,3517
$GC,841,-1.58,-146.0,112.2,-12.8,86,842,0.00,0.00,0.00,0.000,6,0.000,0.000,2251,1995,3518
$GC,1160,-1.58,-146.0,150.5,-10.8,116,1161,0.00,0.00,0.00,0.000,6,0.000,0.000,2251,1997,3519
$GC,1478,-1.58,-146.0,185.4,-10.4,146,1482,0.00,2.53,0.00,0.000,4,0.000,0.060,2251,584,3519
$GC,1540,-1.58,-146.0,191.6,-8.9,151,1544,0.00,2.38,0.00,0.000,6,0.000,0.035,2251,1996,3519
$GC,1866,-1.58,-146.0,223.8,-9.1,181,1868,0.00,0.00,0.00,0.000,6,0.000,0.000,2251,1996,3518
$STATE,2053,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2054,begin apogee
$GC,2059,-0.38,0.0,240.6,8.7,199,2181,1.25,0.00,117.45,0.658,6,0.094,0.000,2510,1997,2917
$STATE,2182,end apogee,CONTROL_FINISHED_OK
$STATE,2182,begin climb
$GC,2184,1.58,146.0,243.8,0.0,211,2307,1.95,0.00,116.78,0.648,6,0.050,0.000,2953,1997,2321
$GC,2621,1.61,167.0,213.7,9.0,252,2646,0.00,2.47,17.35,0.608,4,0.000,0.064,2953,3373,2235
$GC,2752,1.61,171.2,200.7,9.8,263,2763,0.00,2.42,4.60,0.445,6,0.000,0.039,2953,1981,2219
$GC,3089,1.64,193.5,171.9,9.0,295,3113,0.00,2.55,18.67,0.609,4,0.000,0.061,2953,3375,2128
$GC,3159,1.64,193.5,165.1,10.5,301,3163,0.00,2.42,0.00,0.000,6,0.000,0.039,2953,1980,2125
$GC,3485,1.70,241.1,136.1,7.8,331,3530,0.00,2.60,38.58,0.613,4,0.000,0.058,2953,3373,1933
$GC,3587,1.74,270.2,127.2,8.7,340,3618,0.12,2.42,24.52,0.589,6,0.050,0.038,2991,1977,1815
$GC,3935,1.74,270.2,86.9,13.7,373,3936,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,1977,1808
$GC,4254,1.80,321.3,52.0,7.7,403,4301,0.00,2.58,41.25,0.555,4,0.000,0.057,2992,3381,1606
$GC,4328,1.80,321.3,44.4,11.3,409,4335,0.00,2.42,0.00,0.000,6,0.000,0.036,2992,1979,1604
$GC,4527,1.80,321.5,24.6,10.0,428,4528,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,1979,1601
$GC,4725,1.80,321.5,2.7,12.2,459,4731,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,1979,1600
$STATE,4735,end climb,SURFACE_DEPTH_REACHED
$STATE,4735,begin surface coast
$FINISH,0.3,1.009867
$STATE,4753,end surface coast,CONTROL_FINISHED_OK
$STATE,4753,begin surface
$SM_CCo,4835,0.00,0.000,0,0,1595,324.29
$SM_GC,1.13,11.20,0.00,0.00,0.031,0.000,0.000,407,1976,1595,-10.04,-0.31,324.29
$IRIDIUM_FIX,2145.77,-15945.93,241098,010143
$TT8_MAMPS,0.065195
$HUMID,1940
$INTERNAL_PRESSURE,7.69561
$TCM_TEMP,25.00
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,24.0,6.831
$10V_AH,10.2,2.849
$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,25.350,34.600,379.200,0.000,0.000,0.000,0.000,0.000,0.000,0.000,31.578,31.616,853.435,2721.205,428.745,813.149,101.884,32.334,886.573,0.000,781.188,0.000,0.000,0.000
$DEVICE_MAMPS,174.876,69.030,658.086,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,310.190,0.000,0.000,0.000,0.000,0.000,61.814,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,12710,464
$CAP_FILE_SIZE,68504,0
$CFSIZE,260165632,256389120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300709,023434,2154.484,-15942.449,11,4.5,30,9.8