version: 66.04
glider: 117
mission: 24
dive: 36
start: 8 2 109 3 59 5
data:
$ID,117
$MISSION,24
$DIVE,36
$D_SURF,2
$D_FLARE,3
$D_TGT,270
$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,90
$T_MISSION,120
$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,400
$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,-107086.44
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,409
$PITCH_MAX,3715
$C_PITCH,2542
$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,1970
$C_ROLL_CLIMB,1994
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,37
$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
$GPS1,034636,2154.209,-15943.063,12,1.3,29,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-53.1
$GPS2,035814,2154.219,-15943.210,17,1.4,17,9.8
$SPEED_LIMITS,0.100,0.326
$TGT_NAME,TB
$TGT_LATLONG,2153.300,-15940.300
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.313,-0.091
$KALMAN_X,-42001.3,-1542.4,73.9,45367.0,-692.0
$KALMAN_Y,10182.5,458.6,40.3,-13442.6,152.5
$MHEAD_RNG_PITCHd_Wd,96.4,5283,-13.9,-10.000
$D_GRID,270
$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,-1.37,-243.3,0.0,0.0,0,117,0.00,0.00,-97.75,0.000,2,0.000,0.000,406,1980,3384
$GC,120,-1.37,-243.3,4.0,-8.8,16,147,10.93,2.55,-8.60,0.000,4,0.180,0.069,2238,569,3911
$GC,322,-1.37,-243.3,48.4,-17.5,37,329,0.00,2.38,0.00,0.000,6,0.000,0.031,2238,1973,3912
$GC,519,-1.37,-243.3,81.9,-16.5,56,523,0.00,2.53,0.00,0.000,4,0.000,0.057,2237,569,3913
$GC,570,-1.37,-243.3,89.7,-15.7,60,574,0.00,2.38,0.00,0.000,6,0.000,0.031,2238,1976,3913
$GC,895,-1.37,-243.3,139.9,-14.4,90,899,0.00,2.55,0.00,0.000,4,0.000,0.059,2238,565,3914
$GC,945,-1.37,-243.3,147.4,-14.4,94,950,0.00,2.38,0.00,0.000,6,0.000,0.032,2238,1969,3914
$GC,1272,-1.37,-243.3,193.5,-15.5,124,1276,0.00,2.47,0.00,0.000,4,0.000,0.056,2238,3362,3915
$GC,1323,-1.37,-243.3,201.4,-14.8,128,1327,0.00,2.40,0.00,0.000,6,0.000,0.037,2238,1964,3914
$GC,1649,-1.37,-243.3,244.1,-11.2,158,1650,0.00,0.00,0.00,0.000,6,0.000,0.000,2237,1965,3915
$STATE,1920,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1920,begin apogee
$GC,1926,-0.38,0.0,270.8,8.8,184,2128,1.05,0.00,196.73,0.683,6,0.093,0.000,2452,1964,2917
$STATE,2129,end apogee,CONTROL_FINISHED_OK
$STATE,2129,begin climb
$GC,2132,1.37,243.3,275.8,0.0,204,2340,1.77,2.60,197.27,0.667,4,0.061,0.067,2837,586,1925
$GC,2407,1.42,285.9,258.7,8.8,228,2449,0.00,2.45,36.47,0.640,6,0.000,0.037,2837,1995,1751
$GC,2766,1.57,407.0,231.6,6.7,262,2880,0.17,2.62,102.28,0.659,4,0.038,0.063,2896,3384,1256
$GC,2963,1.57,407.0,211.8,10.8,279,2971,0.00,2.45,0.00,0.000,6,0.000,0.041,2896,1995,1252
$GC,3290,1.57,407.0,176.8,11.1,310,3294,0.00,2.60,0.00,0.000,4,0.000,0.068,2896,592,1248
$GC,3340,1.57,407.0,170.2,12.7,314,3345,0.00,2.42,0.00,0.000,6,0.000,0.037,2897,1999,1247
$GC,3667,1.57,407.0,130.9,11.4,344,3668,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,1999,1245
$GC,3984,1.57,407.0,96.9,10.5,374,3988,0.00,2.58,0.00,0.000,4,0.000,0.062,2896,592,1244
$GC,4050,1.59,421.8,90.1,9.6,379,4069,0.00,2.40,11.52,0.557,6,0.000,0.034,2897,1998,1197
$GC,4387,1.63,455.7,61.1,9.1,411,4419,0.00,0.00,29.83,0.571,6,0.000,0.000,2896,1998,1059
$GC,4737,1.74,544.6,33.9,7.5,444,4809,0.10,2.65,64.28,0.542,4,0.049,0.061,2941,596,746
$GC,4868,1.74,544.6,18.6,13.8,456,4875,0.12,2.40,0.00,0.000,6,0.074,0.031,2915,2006,743
$GC,4944,1.75,553.3,10.0,9.8,469,4950,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,2006,742
$GC,5018,1.77,571.5,2.9,9.5,482,5024,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,2007,741
$STATE,5029,end climb,SURFACE_DEPTH_REACHED
$STATE,5029,begin surface coast
$FINISH,0.4,0.998775
$STATE,5051,end surface coast,CONTROL_FINISHED_OK
$STATE,5051,begin surface
$SM_CCo,5133,0.00,0.000,0,0,739,534.26
$SM_GC,1.16,10.88,0.00,0.00,0.027,0.000,0.000,400,1941,739,-9.78,-0.82,534.26
$IRIDIUM_FIX,2145.77,-15943.76,271098,030331
$TT8_MAMPS,0.105079
$HUMID,1915
$INTERNAL_PRESSURE,7.55888
$TCM_TEMP,24.80
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,24.0,12.198
$10V_AH,10.1,5.288
$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,25.025,44.875,638.375,0.000,0.000,51.249,58.488,374.674,0.000,0.000,44.316,17.171,861.097,2748.421,643.494,911.584,675.712,33.349,1197.734,0.000,870.512,0.000,0.000,0.000
$DEVICE_MAMPS,180.245,78.234,682.630,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,328.206,0.000,0.000,0.000,0.000,0.000,77.253,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,15850,488
$CAP_FILE_SIZE,62462,0
$CFSIZE,260165632,253722624
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020809,052554,2154.123,-15942.996,24,1.5,43,9.8