version: 66.04
glider: 117
mission: 24
dive: 24
start: 8 1 109 0 19 28
data:
$ID,117
$MISSION,24
$DIVE,24
$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,45
$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,-106829.98
$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,24
$R_STBD_OVSHOOT,45
$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
$GPS1,001001,2150.443,-15941.280,41,1.9,41,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-50.6
$GPS2,001837,2150.546,-15941.454,11,1.7,11,9.8
$SPEED_LIMITS,0.100,0.326
$TGT_NAME,T0
$TGT_LATLONG,2154.000,-15942.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.106,0.308
$KALMAN_X,-26540.2,-1066.6,69.6,32442.8,-1437.5
$KALMAN_Y,6624.4,485.1,22.0,-16693.8,517.6
$MHEAD_RNG_PITCHd_Wd,9.2,6464,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.37,-243.3,0.0,0.0,0,118,0.00,0.00,-96.88,0.000,2,0.000,0.000,405,1930,3293
$GC,121,-1.37,-243.3,3.7,-7.7,16,149,11.45,2.42,-10.50,0.000,4,0.194,0.062,2248,3287,3913
$GC,275,-1.37,-243.3,36.0,-18.2,34,279,0.00,2.40,0.00,0.000,6,0.000,0.035,2248,1898,3914
$GC,472,-1.37,-243.3,68.1,-15.5,52,476,0.00,2.47,0.00,0.000,4,0.000,0.049,2248,3286,3915
$GC,522,-1.37,-243.3,75.8,-15.1,56,526,0.00,2.38,0.00,0.000,6,0.000,0.034,2248,1905,3915
$GC,847,-1.37,-243.3,120.9,-13.8,86,848,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,1904,3917
$GC,1166,-1.37,-243.3,165.5,-14.4,116,1170,0.00,2.47,0.00,0.000,4,0.000,0.052,2248,3288,3918
$GC,1299,-1.37,-243.3,184.1,-13.4,127,1306,0.00,2.40,0.00,0.000,6,0.000,0.037,2248,1900,3918
$GC,1625,-1.37,-243.3,225.3,-12.8,158,1627,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,1900,3919
$GC,1942,-1.37,-243.3,262.9,-12.0,188,1944,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,1899,3918
$GC,2263,-1.37,-243.3,297.7,-10.6,218,2267,0.00,2.53,0.00,0.000,4,0.000,0.060,2248,3291,3918
$GC,2313,-1.37,-243.3,303.1,-10.3,222,2318,0.00,2.42,0.00,0.000,6,0.000,0.041,2248,1904,3918
$GC,2640,-1.37,-243.3,337.7,-10.9,252,2641,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,1904,3917
$GC,2957,-1.37,-243.3,370.4,-9.4,282,2961,0.00,2.62,0.00,0.000,4,0.000,0.077,2249,504,3915
$GC,3001,-1.37,-243.3,374.6,-9.1,285,3008,0.00,2.40,0.00,0.000,6,0.000,0.038,2248,1889,3915
$GC,3328,-1.37,-243.3,405.6,-9.7,316,3332,0.00,2.60,0.00,0.000,4,0.000,0.065,2248,3305,3911
$GC,3412,-1.37,-243.3,414.2,-10.3,323,3416,0.00,2.47,0.00,0.000,6,0.000,0.045,2248,1905,3912
$GC,3738,-1.37,-243.3,446.0,-9.4,353,3743,0.00,2.65,0.00,0.000,4,0.000,0.079,2248,497,3909
$STATE,3776,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3776,begin apogee
$GC,3784,-0.38,0.0,450.1,10.1,356,4002,1.05,0.00,208.27,0.875,6,0.092,0.000,2463,1997,2916
$STATE,4003,end apogee,CONTROL_FINISHED_OK
$STATE,4003,begin climb
$GC,4005,1.37,243.3,459.1,0.0,378,4228,1.80,2.62,210.48,0.844,4,0.063,0.070,2849,3385,1925
$GC,4244,1.47,323.7,447.0,7.8,399,4323,0.10,2.53,72.45,0.820,6,0.056,0.045,2879,1986,1597
$GC,4648,1.47,325.1,407.4,10.0,437,4653,0.00,2.65,0.00,0.000,4,0.000,0.077,2880,587,1588
$GC,4699,1.47,325.1,401.9,11.4,441,4704,0.00,2.50,0.00,0.000,6,0.000,0.044,2880,1996,1587
$GC,5025,1.47,325.1,368.7,10.6,471,5030,0.00,2.60,0.00,0.000,4,0.000,0.071,2880,3389,1585
$GC,5080,1.47,325.1,362.2,11.4,475,5088,0.00,2.50,0.00,0.000,6,0.000,0.046,2880,1991,1584
$GC,5407,1.47,325.1,324.6,12.0,506,5412,0.00,2.65,0.00,0.000,4,0.000,0.076,2880,585,1583
$GC,5447,1.47,325.1,319.6,12.4,509,5451,0.00,2.47,0.00,0.000,6,0.000,0.042,2880,1993,1582
$GC,5773,1.47,325.1,284.2,10.2,539,5777,0.00,2.58,0.00,0.000,4,0.000,0.066,2879,3385,1581
$GC,5812,1.47,325.1,279.6,11.3,542,5817,0.00,2.47,0.00,0.000,6,0.000,0.044,2880,1990,1581
$GC,6139,1.50,348.5,249.4,9.4,572,6162,0.00,0.00,20.10,0.769,6,0.000,0.000,2879,1990,1496
$GC,6481,1.53,374.6,214.6,9.3,604,6510,0.00,0.00,24.20,0.746,6,0.000,0.000,2879,1990,1389
$GC,6830,1.55,394.1,181.9,9.5,637,6850,0.00,0.00,17.73,0.704,6,0.000,0.000,2880,1990,1310
$GC,7169,1.60,429.2,151.2,9.0,669,7203,0.00,0.00,31.52,0.690,6,0.000,0.000,2880,1990,1167
$GC,7521,1.64,461.1,120.1,9.1,702,7553,0.12,0.00,28.17,0.647,6,0.047,0.000,2923,1990,1037
$GC,7869,1.64,461.1,76.5,12.6,735,7874,0.00,2.58,0.00,0.000,4,0.000,0.064,2923,585,1032
$GC,7898,1.64,461.1,72.9,13.2,737,7902,0.00,2.42,0.00,0.000,6,0.000,0.033,2923,2001,1031
$GC,8224,1.68,497.2,40.7,9.0,767,8262,0.00,2.67,30.83,0.570,4,0.000,0.060,2923,586,890
$GC,8274,1.74,544.0,36.1,8.7,771,8315,0.00,2.42,31.60,0.550,6,0.000,0.032,2923,1990,744
$GC,8510,1.81,598.9,14.2,8.5,798,8516,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,1990,741
$GC,8584,1.81,598.9,6.8,10.1,811,8590,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,1990,741
$STATE,8639,end climb,SURFACE_DEPTH_REACHED
$STATE,8639,begin surface coast
$FINISH,0.4,1.022527
$STATE,8663,end surface coast,CONTROL_FINISHED_OK
$STATE,8663,begin surface
$SM_CCo,8744,0.00,0.000,0,0,738,534.51
$SM_GC,1.12,11.00,0.00,0.00,0.030,0.000,0.000,406,1888,738,-9.81,-0.42,534.51
$IRIDIUM_FIX,2143.45,-16008.75,251098,212150
$TT8_MAMPS,0.062127
$HUMID,1919
$INTERNAL_PRESSURE,7.50029
$TCM_TEMP,24.50
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.8,10.243
$10V_AH,10.1,4.386
$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,25.525,70.750,675.350,0.000,0.000,27.435,29.934,312.978,0.000,0.000,60.093,11.976,1475.774,5047.090,706.506,1413.183,621.369,33.341,1499.075,0.000,1370.005,0.000,0.000,0.000
$DEVICE_MAMPS,194.051,79.001,875.147,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,570.543,0.000,0.000,0.000,0.000,0.000,112.672,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,25257,825
$CAP_FILE_SIZE,86524,0
$CFSIZE,260165632,254734336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010809,024625,2152.212,-15941.571,38,1.3,38,9.8