version: 66.04
glider: 117
mission: 24
dive: 25
start: 8 1 109 2 55 29
data:
$ID,117
$MISSION,24
$DIVE,25
$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,-106847.43
$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,31
$R_STBD_OVSHOOT,36
$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
$GPS1,024625,2152.212,-15941.571,38,1.3,38,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-52.6
$GPS2,025438,2152.266,-15941.679,16,1.0,16,9.8
$SPEED_LIMITS,0.100,0.326
$TGT_NAME,T0
$TGT_LATLONG,2154.000,-15942.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.027,0.325
$KALMAN_X,-27539.4,-1368.7,27.2,33401.9,-789.2
$KALMAN_Y,6897.6,744.3,-92.2,-13923.9,279.3
$MHEAD_RNG_PITCHd_Wd,354.9,3258,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-1.37,-243.3,0.0,0.0,0,117,0.00,0.00,-96.07,0.000,2,0.000,0.000,406,1890,3289
$GC,120,-1.37,-243.3,3.9,-8.7,16,148,11.38,2.55,-10.55,0.000,4,0.192,0.062,2248,3306,3913
$GC,311,-1.37,-243.3,44.0,-17.3,37,318,0.00,2.40,0.00,0.000,6,0.000,0.034,2247,1911,3914
$GC,508,-1.37,-243.3,76.9,-15.0,56,509,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,1911,3915
$GC,827,-1.37,-243.3,122.0,-13.6,86,831,0.00,2.47,0.00,0.000,4,0.000,0.051,2247,3298,3916
$GC,877,-1.37,-243.3,129.1,-14.0,90,881,0.00,2.40,0.00,0.000,6,0.000,0.035,2247,1904,3917
$GC,1204,-1.37,-243.3,173.6,-14.4,120,1208,0.00,2.58,0.00,0.000,4,0.000,0.066,2247,497,3917
$GC,1236,-1.37,-243.3,178.6,-14.0,122,1243,0.00,2.40,0.00,0.000,6,0.000,0.032,2247,1909,3917
$GC,1562,-1.37,-243.3,218.3,-12.5,153,1566,0.00,2.47,0.00,0.000,4,0.000,0.054,2247,3301,3918
$GC,1681,-1.37,-243.3,232.8,-10.7,163,1685,0.00,2.42,0.00,0.000,6,0.000,0.037,2247,1898,3918
$GC,2007,-1.37,-243.3,267.0,-12.1,193,2008,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,1898,3918
$GC,2324,-1.37,-243.3,304.0,-10.8,223,2328,0.00,2.53,0.00,0.000,4,0.000,0.057,2247,3298,3918
$GC,2446,-1.37,-243.3,317.7,-11.0,233,2453,0.00,2.42,0.00,0.000,6,0.000,0.041,2247,1908,3918
$GC,2773,-1.37,-243.3,352.4,-10.1,264,2777,0.00,2.62,0.00,0.000,4,0.000,0.075,2247,501,3916
$GC,2827,-1.37,-243.3,358.5,-10.8,268,2835,0.00,2.42,0.00,0.000,6,0.000,0.038,2247,1901,3916
$GC,3154,-1.37,-243.3,389.9,-9.4,299,3159,0.00,2.55,0.00,0.000,4,0.000,0.063,2247,3302,3913
$GC,3262,-1.37,-243.3,399.7,-8.4,308,3266,0.00,2.47,0.00,0.000,6,0.000,0.044,2247,1898,3912
$GC,3589,-1.37,-243.3,431.5,-9.9,338,3593,0.00,2.58,0.00,0.000,4,0.000,0.064,2247,3302,3910
$GC,3656,-1.37,-243.3,439.0,-10.8,343,3663,0.00,2.47,0.00,0.000,6,0.000,0.044,2247,1902,3909
$STATE,3766,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3766,begin apogee
$GC,3772,-0.38,0.0,450.9,10.5,354,3990,1.05,0.00,208.82,0.869,6,0.096,0.000,2461,2002,2917
$STATE,3991,end apogee,CONTROL_FINISHED_OK
$STATE,3991,begin climb
$GC,3994,1.37,243.3,462.0,0.0,376,4222,1.80,2.78,211.32,0.841,4,0.064,0.074,2845,586,1924
$GC,4290,1.46,315.3,447.0,8.0,402,4362,0.10,2.47,65.28,0.819,6,0.060,0.043,2876,1982,1630
$GC,4687,1.46,315.3,406.7,10.1,439,4692,0.00,2.62,0.00,0.000,4,0.000,0.071,2876,3385,1621
$GC,4761,1.46,315.3,398.7,10.8,445,4765,0.00,2.50,0.00,0.000,6,0.000,0.047,2876,1990,1621
$GC,5087,1.46,315.3,364.6,10.1,475,5088,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,1990,1618
$GC,5404,1.46,315.3,328.9,11.6,505,5409,0.00,2.60,0.00,0.000,4,0.000,0.067,2876,3388,1616
$GC,5433,1.46,315.3,325.6,12.0,507,5437,0.00,2.50,0.00,0.000,6,0.000,0.045,2876,1983,1615
$GC,5759,1.46,315.3,288.4,10.9,537,5763,0.00,2.60,0.00,0.000,4,0.000,0.065,2876,3389,1615
$GC,5791,1.46,315.3,284.5,10.8,539,5798,0.00,2.50,0.00,0.000,6,0.000,0.044,2876,1984,1614
$GC,6118,1.51,358.0,252.7,8.8,570,6163,0.00,2.67,35.88,0.779,4,0.000,0.062,2876,3386,1457
$GC,6176,1.52,363.3,247.1,9.9,575,6188,0.00,2.50,5.95,0.608,6,0.000,0.043,2876,1990,1436
$GC,6506,1.57,408.7,216.3,8.7,606,6552,0.00,2.62,40.92,0.742,4,0.000,0.061,2876,3385,1250
$GC,6565,1.59,420.1,210.6,9.7,611,6582,0.00,2.50,11.52,0.667,6,0.000,0.041,2876,1985,1204
$GC,6901,1.59,420.1,176.6,10.2,642,6905,0.00,2.58,0.00,0.000,4,0.000,0.058,2876,3390,1197
$GC,6928,1.59,420.1,173.3,12.0,644,6933,0.00,2.47,0.00,0.000,6,0.000,0.039,2876,1983,1197
$GC,7255,1.61,440.3,140.7,9.4,674,7280,0.12,2.62,17.55,0.655,4,0.047,0.065,2921,586,1121
$GC,7303,1.61,440.3,134.9,13.2,678,7307,0.00,2.45,0.00,0.000,6,0.000,0.035,2921,1997,1119
$GC,7629,1.61,440.3,94.7,11.7,708,7630,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,2002,1117
$GC,7946,1.61,440.3,62.4,10.2,738,7951,0.00,2.60,0.00,0.000,4,0.000,0.061,2921,579,1117
$GC,7975,1.61,440.3,59.5,10.1,740,7979,0.00,2.42,0.00,0.000,6,0.000,0.033,2921,1996,1117
$GC,8307,1.72,527.9,31.5,7.6,771,8387,0.00,0.00,74.55,0.558,6,0.000,0.000,2921,1997,763
$GC,8586,1.72,527.9,4.5,10.6,811,8591,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,1996,759
$STATE,8612,end climb,SURFACE_DEPTH_REACHED
$STATE,8612,begin surface coast
$FINISH,0.5,1.010534
$STATE,8636,end surface coast,CONTROL_FINISHED_OK
$STATE,8636,begin surface
$SM_CCo,8717,0.00,0.000,0,0,757,529.85
$SM_GC,1.25,10.90,0.00,0.00,0.025,0.000,0.000,401,1892,757,-9.83,-0.37,529.85
$IRIDIUM_FIX,2141.13,-15941.58,261098,000007
$TT8_MAMPS,0.067496
$HUMID,1909
$INTERNAL_PRESSURE,7.51005
$TCM_TEMP,24.60
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.8,10.431
$10V_AH,10.1,4.466
$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,25.350,86.100,671.800,0.000,0.000,23.533,31.293,293.896,0.000,0.000,59.737,16.824,1484.140,4963.769,709.365,1457.601,599.729,33.338,1532.358,0.000,1409.057,0.000,0.000,0.000
$DEVICE_MAMPS,191.750,75.166,869.011,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,566.019,0.000,0.000,0.000,0.000,0.000,112.004,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,25176,820
$CAP_FILE_SIZE,89268,0
$CFSIZE,260165632,254652416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010809,052152,2153.991,-15941.742,11,2.4,30,9.8