version: 66.04
glider: 117
mission: 24
dive: 21
start: 7 31 109 16 26 17
data:
$ID,117
$MISSION,24
$DIVE,21
$D_SURF,2
$D_FLARE,3
$D_TGT,450
$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,150
$T_MISSION,175
$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,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,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,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-106788.05
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,409
$PITCH_MAX,3715
$C_PITCH,2552
$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,1905
$C_ROLL_CLIMB,1990
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$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
$GPS1,161525,2153.225,-15940.455,38,1.1,38,9.8
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-53.0
$GPS2,162526,2153.231,-15940.566,13,1.0,13,9.8
$SPEED_LIMITS,0.173,0.326
$TGT_NAME,T2
$TGT_LATLONG,2150.420,-15941.560
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.192,-0.263
$KALMAN_X,-23276.2,1428.6,71.2,28205.6,-2378.1
$KALMAN_Y,5175.7,-642.1,26.9,-9146.8,390.3
$MHEAD_RNG_PITCHd_Wd,134.0,5478,-13.9,-10.000
$D_GRID,450
$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,-90.62,0.000,2,0.000,0.000,404,1892,3143
$GC,115,-1.37,-243.3,3.0,-5.0,15,149,11.52,2.53,-14.32,0.000,4,0.194,0.070,2247,509,3910
$GC,216,-1.37,-243.3,25.3,-18.9,30,223,0.00,2.40,0.00,0.000,6,0.000,0.031,2248,1918,3912
$GC,413,-1.37,-243.3,60.1,-16.8,49,415,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,1922,3912
$GC,732,-1.37,-243.3,109.3,-15.7,79,736,0.00,2.45,0.00,0.000,4,0.000,0.051,2248,3297,3913
$GC,753,-1.37,-243.3,112.7,-15.8,80,760,0.00,2.40,0.00,0.000,6,0.000,0.035,2248,1902,3914
$GC,1080,-1.37,-243.3,161.2,-14.2,111,1081,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,1902,3914
$GC,1396,-1.37,-243.3,202.8,-12.8,141,1398,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,1902,3915
$GC,1715,-1.37,-243.3,241.6,-12.1,171,1719,0.00,2.53,0.00,0.000,4,0.000,0.054,2248,3303,3915
$GC,1777,-1.37,-243.3,249.7,-12.9,176,1781,0.00,2.42,0.00,0.000,6,0.000,0.038,2247,1903,3916
$GC,2108,-1.37,-243.3,288.3,-11.2,207,2110,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,1903,3915
$GC,2426,-1.37,-243.3,320.6,-9.0,237,2427,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,1904,3915
$GC,2744,-1.37,-243.3,352.6,-10.5,267,2748,0.00,2.53,0.00,0.000,4,0.000,0.060,2248,3295,3913
$GC,2784,-1.37,-243.3,356.6,-9.8,270,2789,0.00,2.42,0.00,0.000,6,0.000,0.041,2247,1908,3913
$GC,3111,-1.37,-243.3,389.8,-10.1,300,3115,0.00,2.55,0.00,0.000,4,0.000,0.062,2247,3298,3911
$GC,3166,-1.37,-243.3,395.8,-10.5,304,3173,0.00,2.47,0.00,0.000,6,0.000,0.044,2248,1896,3910
$GC,3493,-1.37,-243.3,427.6,-9.4,335,3497,0.00,2.58,0.00,0.000,4,0.000,0.063,2248,3299,3908
$GC,3514,-1.37,-243.3,429.9,-9.7,336,3521,0.00,2.47,0.00,0.000,6,0.000,0.044,2248,1901,3907
$STATE,3719,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3720,begin apogee
$GC,3726,-0.38,0.0,450.7,10.5,356,3943,1.05,0.00,208.35,0.867,6,0.094,0.000,2461,1987,2917
$STATE,3944,end apogee,CONTROL_FINISHED_OK
$STATE,3944,begin climb
$GC,3947,1.37,243.3,460.8,0.0,378,4175,1.80,2.72,211.15,0.842,4,0.065,0.076,2846,582,1923
$GC,4254,1.49,343.7,445.4,7.2,405,4356,0.15,2.50,90.47,0.823,6,0.050,0.042,2886,1993,1514
$GC,4674,1.49,343.7,401.0,12.2,444,4675,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,1993,1506
$GC,4992,1.49,343.7,363.3,11.5,474,4997,0.00,2.60,0.00,0.000,4,0.000,0.071,2886,3385,1503
$GC,5025,1.49,343.7,359.5,11.2,476,5032,0.00,2.50,0.00,0.000,6,0.000,0.045,2886,1986,1503
$GC,5352,1.52,369.5,327.9,9.3,507,5379,0.00,2.70,22.17,0.788,4,0.000,0.076,2886,585,1410
$GC,5418,1.52,369.5,320.7,10.8,512,5425,0.00,2.50,0.00,0.000,6,0.000,0.041,2886,1996,1407
$GC,5745,1.52,369.5,283.8,11.9,543,5746,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,1997,1404
$GC,6062,1.52,369.5,249.4,11.4,573,6066,0.00,2.65,0.00,0.000,4,0.000,0.070,2886,582,1403
$GC,6101,1.52,369.5,244.8,12.4,576,6105,0.00,2.47,0.00,0.000,6,0.000,0.040,2886,1995,1402
$GC,6427,1.52,369.5,209.0,11.3,606,6432,0.00,2.62,0.00,0.000,4,0.000,0.067,2886,585,1401
$GC,6456,1.52,369.5,205.2,13.3,608,6460,0.00,2.45,0.00,0.000,6,0.000,0.038,2886,1992,1401
$GC,6782,1.52,369.5,171.0,10.9,638,6786,0.00,2.55,0.00,0.000,4,0.000,0.061,2886,3389,1400
$GC,6870,1.52,369.5,160.5,10.8,645,6877,0.00,2.45,0.00,0.000,6,0.000,0.039,2886,1986,1400
$GC,7197,1.54,379.5,126.5,9.7,676,7210,0.00,2.65,8.32,0.601,4,0.000,0.066,2886,588,1369
$GC,7245,1.54,379.5,121.6,10.4,680,7249,0.00,2.42,0.00,0.000,6,0.000,0.035,2886,1994,1368
$GC,7571,1.57,410.3,91.1,9.1,710,7601,0.00,0.00,28.15,0.624,6,0.000,0.000,2886,1995,1244
$GC,7920,1.61,438.2,61.1,9.2,743,7952,0.00,2.58,25.10,0.584,4,0.000,0.061,2886,582,1129
$GC,7976,1.66,476.7,55.9,8.9,748,8016,0.12,2.45,34.17,0.576,6,0.045,0.034,2934,2003,973
$GC,8334,1.66,476.7,19.9,10.4,781,8341,0.12,2.60,0.00,0.000,4,0.074,0.061,2908,587,968
$GC,8387,1.66,476.7,14.6,10.2,790,8394,0.00,2.40,0.00,0.000,6,0.000,0.031,2908,1998,967
$GC,8462,1.69,506.6,8.0,9.2,803,8494,0.00,0.00,25.23,0.525,6,0.000,0.000,2908,1998,850
$STATE,8526,end climb,SURFACE_DEPTH_REACHED
$STATE,8526,begin surface coast
$FINISH,0.6,1.012481
$STATE,8545,end surface coast,CONTROL_FINISHED_OK
$STATE,8545,begin surface
$SM_CCo,8627,0.00,0.000,0,0,846,508.02
$SM_GC,1.24,10.95,0.00,0.00,0.029,0.000,0.000,405,1897,846,-9.82,-0.23,508.02
$IRIDIUM_FIX,2145.77,-15942.95,251098,121214
$TT8_MAMPS,0.079768
$HUMID,1879
$INTERNAL_PRESSURE,7.49052
$TCM_TEMP,24.50
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.8,9.669
$10V_AH,10.1,4.142
$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,25.725,75.875,653.125,0.000,0.000,25.934,29.635,387.075,0.000,0.000,59.844,13.327,1460.466,4988.742,692.661,1389.485,694.814,33.347,1479.422,0.000,1343.912,0.000,0.000,0.000
$DEVICE_MAMPS,194.051,75.933,866.710,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,563.244,0.000,0.000,0.000,0.000,0.000,132.263,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,25263,817
$CAP_FILE_SIZE,89240,0
$CFSIZE,260165632,255008768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310709,185106,2152.426,-15940.457,11,1.4,27,9.8