version: 66.04
glider: 117
mission: 24
dive: 65
start: 8 4 109 12 54 57
data:
$ID,117
$MISSION,24
$DIVE,65
$D_SURF,2
$D_FLARE,3
$D_TGT,180
$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,60
$T_MISSION,80
$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,225
$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,-107748.27
$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,28
$R_STBD_OVSHOOT,35
$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
$GPS1,124231,2153.465,-15942.321,40,1.7,40,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-58.4
$GPS2,125404,2153.550,-15942.512,13,2.5,32,9.8
$SPEED_LIMITS,0.100,0.311
$TGT_NAME,TB
$TGT_LATLONG,2153.300,-15940.300
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.297,-0.093
$KALMAN_X,-77189.5,1183.2,198.9,78900.3,-556.3
$KALMAN_Y,27539.4,-391.8,-15.4,-31127.8,273.8
$MHEAD_RNG_PITCHd_Wd,97.7,3829,-14.7,-10.000
$D_GRID,180
$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,-1.40,-219.0,0.0,0.0,0,92,0.00,0.00,-73.35,0.000,2,0.000,0.000,403,1978,3226
$GC,95,-1.40,-219.0,3.6,-6.3,12,122,11.07,0.00,-10.35,0.000,6,0.185,0.000,2231,1978,3812
$GC,194,-1.40,-219.0,26.9,-19.3,26,198,0.00,2.50,0.00,0.000,4,0.000,0.050,2231,3370,3814
$GC,237,-1.40,-219.0,35.6,-18.9,29,244,0.00,2.42,0.00,0.000,6,0.000,0.032,2231,1963,3815
$GC,307,-1.40,-219.0,47.5,-16.3,36,312,0.00,2.53,0.00,0.000,4,0.000,0.057,2231,566,3815
$GC,381,-1.40,-219.0,59.5,-16.0,42,385,0.00,2.38,0.00,0.000,6,0.000,0.028,2231,1973,3814
$GC,451,-1.40,-219.0,70.2,-14.6,48,455,0.00,2.47,0.00,0.000,4,0.000,0.049,2231,3366,3816
$GC,505,-1.40,-219.0,78.4,-14.9,52,512,0.00,2.40,0.00,0.000,6,0.000,0.033,2231,1969,3817
$GC,575,-1.40,-219.0,88.5,-14.4,59,577,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,1968,3816
$GC,639,-1.40,-219.0,97.0,-13.9,65,643,0.00,2.47,0.00,0.000,4,0.000,0.049,2231,3361,3817
$GC,671,-1.40,-219.0,102.0,-14.5,67,678,0.00,2.40,0.00,0.000,6,0.000,0.034,2231,1970,3817
$GC,742,-1.40,-219.0,112.2,-14.8,74,746,0.00,2.55,0.00,0.000,4,0.000,0.059,2230,562,3817
$GC,826,-1.40,-219.0,125.4,-16.9,81,830,0.00,2.40,0.00,0.000,6,0.000,0.030,2231,1978,3818
$GC,895,-1.40,-219.0,136.1,-15.2,87,900,0.00,2.47,0.00,0.000,4,0.000,0.053,2231,3365,3818
$GC,951,-1.40,-219.0,144.7,-15.2,91,958,0.00,2.42,0.00,0.000,6,0.000,0.035,2230,1958,3819
$GC,1021,-1.40,-219.0,154.8,-14.7,98,1022,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,1958,3819
$GC,1084,-1.40,-219.0,163.9,-14.2,104,1086,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,1957,3819
$GC,1148,-1.40,-219.0,172.6,-13.5,110,1149,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,1957,3819
$STATE,1210,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1210,begin apogee
$GC,1215,-0.38,0.0,180.8,12.7,116,1395,1.10,0.00,174.12,0.615,6,0.094,0.000,2453,1957,2917
$STATE,1396,end apogee,CONTROL_FINISHED_OK
$STATE,1396,begin climb
$GC,1398,1.40,219.0,188.6,0.0,134,1581,1.80,0.00,173.98,0.601,6,0.061,0.000,2844,1957,2023
$GC,1644,1.47,271.6,174.7,8.4,157,1697,0.00,2.55,43.80,0.582,4,0.000,0.062,2844,596,1808
$GC,1713,1.54,333.9,169.1,8.1,163,1777,0.15,2.42,52.58,0.580,6,0.039,0.032,2901,2009,1555
$GC,1839,1.54,333.9,157.0,11.1,175,1844,0.12,2.50,0.00,0.000,4,0.078,0.057,2875,3378,1551
$GC,1890,1.54,333.9,151.2,11.1,179,1894,0.00,2.42,0.00,0.000,6,0.000,0.038,2875,1992,1550
$GC,1959,1.54,333.9,143.5,11.0,185,1964,0.00,2.58,0.00,0.000,4,0.000,0.063,2876,592,1549
$GC,1999,1.61,385.4,140.0,8.4,188,2048,0.00,2.40,43.60,0.572,6,0.000,0.032,2875,1992,1345
$GC,2119,1.65,418.0,129.5,9.0,199,2155,0.10,2.55,28.58,0.557,4,0.052,0.054,2919,3391,1213
$GC,2190,1.65,418.0,121.1,13.2,205,2194,0.00,2.45,0.00,0.000,6,0.000,0.036,2918,1990,1211
$GC,2259,1.65,418.0,111.7,13.2,211,2261,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,1990,1209
$GC,2323,1.65,418.0,104.2,11.9,217,2325,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,1990,1209
$GC,2387,1.65,418.0,96.5,12.4,223,2391,0.00,2.58,0.00,0.000,4,0.000,0.062,2918,585,1208
$GC,2430,1.65,418.0,90.8,12.8,226,2437,0.00,2.42,0.00,0.000,6,0.000,0.031,2919,2004,1207
$GC,2500,1.65,418.0,82.5,11.8,233,2502,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2006,1207
$GC,2564,1.65,418.0,75.1,11.2,239,2568,0.00,2.47,0.00,0.000,4,0.000,0.054,2919,3380,1207
$GC,2604,1.65,418.0,70.8,10.5,242,2608,0.00,2.42,0.00,0.000,6,0.000,0.035,2919,1985,1206
$GC,2674,1.65,418.0,63.3,10.9,248,2675,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,1985,1206
$GC,2737,1.65,418.0,56.3,10.6,254,2739,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,1986,1205
$GC,2801,1.65,418.0,49.8,10.1,260,2806,0.00,2.53,0.00,0.000,4,0.000,0.052,2918,3386,1205
$GC,2830,1.66,426.9,47.0,9.7,262,2843,0.00,2.42,7.95,0.467,6,0.000,0.035,2918,1985,1177
$GC,2905,1.69,452.1,40.0,9.2,269,2937,0.00,2.60,22.95,0.520,4,0.000,0.060,2919,596,1072
$GC,2987,1.70,462.5,31.8,9.7,276,3006,0.00,2.40,9.95,0.474,6,0.000,0.030,2919,2007,1031
$GC,3069,1.74,495.3,24.8,9.0,284,3105,0.00,2.47,28.65,0.509,4,0.000,0.051,2919,3378,897
$GC,3128,1.76,511.0,19.3,9.5,289,3149,0.00,2.40,14.48,0.482,6,0.000,0.034,2919,1992,832
$GC,3217,1.76,511.0,10.6,10.6,304,3223,0.00,2.55,0.00,0.000,4,0.000,0.061,2919,597,829
$GC,3247,1.76,511.0,7.3,10.6,309,3254,0.00,2.38,0.00,0.000,6,0.000,0.029,2919,1995,829
$STATE,3303,end climb,SURFACE_DEPTH_REACHED
$STATE,3303,begin surface coast
$FINISH,0.7,1.022830
$STATE,3327,end surface coast,CONTROL_FINISHED_OK
$STATE,3327,begin surface
$SM_CCo,3407,0.00,0.000,0,0,826,512.92
$SM_GC,1.22,10.85,0.00,0.00,0.023,0.000,0.000,401,2002,826,-9.77,0.88,512.92
$IRIDIUM_FIX,2148.09,-15942.95,291098,090922
$TT8_MAMPS,0.063661
$HUMID,1887
$INTERNAL_PRESSURE,7.54912
$TCM_TEMP,24.60
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,24.0,16.664
$10V_AH,10.1,7.204
$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,25.200,78.950,600.625,0.000,0.000,25.885,56.904,412.054,0.000,0.000,179.586,33.346,624.611,1432.231,647.656,694.532,698.421,33.354,1125.617,0.000,635.246,0.000,0.000,0.000
$DEVICE_MAMPS,184.847,62.894,615.134,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,215.366,0.000,0.000,0.000,0.000,0.000,56.053,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,9577,323
$CAP_FILE_SIZE,69286,0
$CFSIZE,260165632,251297792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040809,135231,2153.728,-15942.627,9,1.6,13,9.8