version: 66.04
glider: 117
mission: 24
dive: 40
start: 8 2 109 16 53 5
data:
$ID,117
$MISSION,24
$DIVE,40
$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,175
$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,-107168.8
$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,26
$R_STBD_OVSHOOT,39
$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
$GPS1,164100,2154.581,-15941.334,38,1.0,43,9.8
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-52.5
$GPS2,165214,2154.683,-15941.449,14,1.1,14,9.8
$SPEED_LIMITS,0.100,0.279
$TGT_NAME,TB
$TGT_LATLONG,2153.300,-15940.300
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.264,-0.089
$KALMAN_X,-48901.5,1690.6,256.7,51861.4,-1269.3
$KALMAN_Y,11870.6,-498.4,74.8,-13349.4,279.9
$MHEAD_RNG_PITCHd_Wd,98.9,3235,-16.8,-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,-1.50,-170.3,0.0,0.0,0,117,0.00,0.00,-97.62,0.000,2,0.000,0.000,404,1965,3342
$GC,120,-1.50,-170.3,3.9,-8.2,16,140,10.90,0.00,-4.70,0.000,6,0.183,0.000,2207,1966,3615
$GC,208,-1.50,-170.3,26.5,-19.5,28,209,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,1965,3616
$GC,398,-1.50,-170.3,61.0,-19.7,46,402,0.00,2.47,0.00,0.000,4,0.000,0.047,2207,3363,3616
$GC,448,-1.50,-170.3,71.6,-20.2,50,452,0.00,2.40,0.00,0.000,6,0.000,0.032,2207,1964,3617
$GC,774,-1.50,-170.3,123.0,-15.4,80,776,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,1964,3619
$GC,1092,-1.50,-170.3,170.9,-13.4,110,1096,0.00,2.50,0.00,0.000,4,0.000,0.051,2207,3367,3620
$GC,1165,-1.50,-170.3,182.1,-14.8,116,1169,0.00,2.40,0.00,0.000,6,0.000,0.034,2207,1970,3620
$GC,1491,-1.50,-170.3,225.5,-12.3,146,1492,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,1970,3621
$GC,1808,-1.50,-170.3,263.3,-11.3,176,1812,0.00,2.58,0.00,0.000,4,0.000,0.066,2206,565,3621
$GC,1829,-1.50,-170.3,265.9,-11.5,177,1836,0.00,2.40,0.00,0.000,6,0.000,0.034,2207,1969,3621
$STATE,1865,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1865,begin apogee
$GC,1870,-0.38,0.0,270.1,11.7,181,2019,1.23,0.00,140.82,0.680,6,0.099,0.000,2452,1973,2917
$STATE,2020,end apogee,CONTROL_FINISHED_OK
$STATE,2020,begin climb
$GC,2022,1.50,170.3,274.4,0.0,196,2176,1.92,2.65,139.48,0.667,4,0.060,0.064,2869,592,2221
$GC,2199,1.57,219.6,266.2,8.1,212,2246,0.00,2.45,41.55,0.644,6,0.000,0.035,2869,2001,2021
$GC,2563,1.67,308.2,240.2,6.5,246,2644,0.17,2.58,74.30,0.657,4,0.041,0.064,2927,3386,1659
$GC,2734,1.67,308.2,220.9,13.1,261,2739,0.00,2.45,0.00,0.000,6,0.000,0.040,2927,1995,1654
$GC,3061,1.67,308.2,181.8,11.3,291,3066,0.10,2.60,0.00,0.000,4,0.091,0.066,2907,585,1649
$GC,3134,1.67,308.2,174.1,11.0,297,3138,0.00,2.45,0.00,0.000,6,0.000,0.035,2909,2006,1648
$GC,3462,1.70,329.4,143.5,9.2,327,3486,0.00,2.47,17.35,0.599,4,0.000,0.057,2907,3390,1572
$GC,3543,1.70,330.5,135.3,10.0,334,3547,0.00,2.45,0.00,0.000,6,0.000,0.037,2907,1986,1570
$GC,3875,1.78,392.8,101.4,7.5,365,3936,0.00,2.62,53.65,0.589,4,0.000,0.054,2906,3389,1315
$GC,4011,1.84,443.2,89.5,8.0,377,4060,0.17,2.42,43.22,0.568,6,0.040,0.035,2964,1992,1110
$GC,4385,1.84,443.2,44.4,11.9,412,4390,0.10,2.55,0.00,0.000,4,0.084,0.061,2942,595,1102
$GC,4418,1.84,443.2,40.9,10.3,414,4425,0.00,2.40,0.00,0.000,6,0.000,0.030,2943,2006,1102
$GC,4617,1.84,443.2,20.3,10.5,433,4621,0.00,2.58,0.00,0.000,4,0.000,0.058,2942,593,1102
$GC,4656,1.84,443.2,15.7,12.4,439,4663,0.00,2.38,0.00,0.000,6,0.000,0.030,2942,1998,1101
$GC,4731,1.84,443.2,7.6,11.7,452,4737,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,1997,1102
$STATE,4786,end climb,SURFACE_DEPTH_REACHED
$STATE,4786,begin surface coast
$FINISH,0.4,1.009909
$STATE,4804,end surface coast,CONTROL_FINISHED_OK
$STATE,4804,begin surface
$SM_CCo,4885,0.00,0.000,0,0,1099,445.96
$SM_GC,1.33,11.02,0.00,0.00,0.029,0.000,0.000,403,2004,1099,-9.77,0.96,445.96
$IRIDIUM_FIX,2145.77,-15942.95,271098,131325
$TT8_MAMPS,0.063661
$HUMID,1853
$INTERNAL_PRESSURE,7.57842
$TCM_TEMP,25.00
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.9,13.051
$10V_AH,10.1,5.684
$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,25.625,49.800,510.375,0.000,0.000,30.185,27.952,437.404,0.000,0.000,99.359,14.204,846.092,2612.807,543.123,859.253,695.636,33.350,1058.445,0.000,813.128,0.000,0.000,0.000
$DEVICE_MAMPS,182.546,65.962,680.329,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,312.179,0.000,0.000,0.000,0.000,0.000,74.540,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,15886,465
$CAP_FILE_SIZE,62747,0
$CFSIZE,260165632,253227008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020809,181514,2154.701,-15940.883,11,1.7,11,9.8