version: 66.04
glider: 117
mission: 24
dive: 15
start: 7 30 109 21 30 5
data:
$ID,117
$MISSION,24
$DIVE,15
$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,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,350
$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,-106663.46
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,409
$PITCH_MAX,3715
$C_PITCH,2560
$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,1920
$C_ROLL_CLIMB,1975
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,33
$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
$GPS1,212215,2150.907,-15942.982,61,1.4,76,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-54.1
$GPS2,212914,2150.966,-15943.139,14,1.9,14,9.8
$SPEED_LIMITS,0.173,0.326
$TGT_NAME,T2
$TGT_LATLONG,2150.420,-15941.560
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.304,-0.116
$KALMAN_X,-9602.7,-1022.9,-781.6,13431.8,-705.6
$KALMAN_Y,2539.7,238.4,198.7,-11766.3,278.3
$MHEAD_RNG_PITCHd_Wd,101.1,2897,-13.9,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.37,-243.3,0.0,0.0,0,112,0.00,0.00,-91.32,0.000,2,0.000,0.000,405,1911,3292
$GC,115,-1.37,-243.3,3.2,-6.7,15,144,11.57,2.60,-10.75,0.000,4,0.195,0.072,2258,515,3913
$GC,195,-1.37,-243.3,22.7,-18.7,27,202,0.00,2.40,0.00,0.000,6,0.000,0.032,2258,1926,3914
$GC,392,-1.37,-243.3,56.4,-16.7,46,396,0.00,2.45,0.00,0.000,4,0.000,0.050,2258,3314,3914
$GC,431,-1.37,-243.3,62.3,-14.8,49,435,0.00,2.40,0.00,0.000,6,0.000,0.035,2258,1916,3915
$GC,756,-1.37,-243.3,107.7,-14.4,79,760,0.00,2.50,0.00,0.000,4,0.000,0.052,2258,3316,3916
$GC,788,-1.37,-243.3,112.8,-15.2,81,795,0.00,2.42,0.00,0.000,6,0.000,0.036,2260,1911,3916
$GC,1115,-1.37,-243.3,155.3,-12.7,112,1116,0.00,0.00,0.00,0.000,6,0.000,0.000,2258,1910,3917
$GC,1432,-1.37,-243.3,194.3,-11.0,142,1436,0.00,2.53,0.00,0.000,4,0.000,0.056,2258,3315,3918
$GC,1465,-1.37,-243.3,198.1,-11.2,145,1470,0.00,2.42,0.00,0.000,6,0.000,0.038,2258,1916,3918
$GC,1791,-1.37,-243.3,233.5,-10.5,175,1796,0.00,2.53,0.00,0.000,4,0.000,0.060,2258,3309,3918
$STATE,1852,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1852,begin apogee
$GC,1859,-0.38,0.0,240.5,10.9,180,2059,1.05,0.00,194.75,0.675,6,0.094,0.000,2472,1970,2917
$STATE,2060,end apogee,CONTROL_FINISHED_OK
$STATE,2060,begin climb
$GC,2063,1.37,243.3,251.0,0.0,200,2269,1.77,2.65,194.77,0.662,4,0.058,0.071,2858,572,1924
$GC,2456,1.44,303.5,226.0,8.3,234,2512,0.00,2.45,50.40,0.649,6,0.000,0.038,2858,1977,1679
$GC,2832,1.54,382.3,197.4,7.8,269,2905,0.17,2.62,66.07,0.663,4,0.040,0.064,2911,3378,1358
$GC,2933,1.54,382.3,185.9,12.0,278,2940,0.00,2.50,0.00,0.000,6,0.000,0.041,2911,1967,1355
$GC,3259,1.54,382.3,147.5,12.7,309,3261,0.00,0.00,0.00,0.000,6,0.000,0.000,2911,1967,1350
$GC,3576,1.54,382.3,109.6,10.9,339,3578,0.00,0.00,0.00,0.000,6,0.000,0.000,2911,1967,1347
$GC,3895,1.54,382.3,73.8,11.2,369,3896,0.00,0.00,0.00,0.000,6,0.000,0.000,2911,1967,1346
$GC,4214,1.60,430.7,43.4,8.7,399,4260,0.00,2.55,39.58,0.574,4,0.000,0.052,2911,3373,1160
$GC,4375,1.67,487.8,30.4,8.4,413,4432,0.00,2.42,48.12,0.549,6,0.000,0.036,2911,1972,927
$GC,4630,1.77,570.4,7.2,7.7,448,4675,0.15,2.53,37.33,0.521,4,0.039,0.061,2965,571,745
$STATE,4679,end climb,SURFACE_DEPTH_REACHED
$STATE,4679,begin surface coast
$FINISH,0.5,1.022964
$STATE,4697,end surface coast,CONTROL_FINISHED_OK
$STATE,4697,begin surface
$SM_CCo,4783,0.00,0.000,0,0,740,534.02
$SM_GC,1.00,11.23,0.00,0.00,0.030,0.000,0.000,404,1935,740,-9.86,0.48,534.02
$IRIDIUM_FIX,2141.13,-15943.76,241098,202003
$TT8_MAMPS,0.06136
$HUMID,1913
$INTERNAL_PRESSURE,7.54912
$TCM_TEMP,24.60
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.7,8.260
$10V_AH,10.2,3.538
$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,25.950,44.700,631.025,0.000,0.000,24.109,29.187,241.377,0.000,0.000,154.018,14.166,797.187,2494.150,634.341,835.593,450.597,33.338,1144.124,0.000,799.237,0.000,0.000,0.000
$DEVICE_MAMPS,194.818,72.098,674.960,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,309.015,0.000,0.000,0.000,0.000,0.000,68.015,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,15845,459
$CAP_FILE_SIZE,53069,0
$CFSIZE,260165632,255688704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300709,225032,2150.823,-15943.190,11,1.6,11,9.8