version: 66.04
glider: 117
mission: 24
dive: 5
start: 7 30 109 2 42 37
data:
$ID,117
$MISSION,24
$DIVE,5
$D_SURF,2
$D_FLARE,3
$D_TGT,240
$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,80
$T_MISSION,90
$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,500
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$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,300
$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,-106443.91
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,409
$PITCH_MAX,3715
$C_PITCH,2600
$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,1987
$C_ROLL_CLIMB,1987
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$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
$GPS1,023434,2154.484,-15942.449,11,4.5,30,9.8
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-58.6
$GPS2,024144,2154.423,-15942.498,14,1.5,14,9.8
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,T0
$TGT_LATLONG,2154.000,-15942.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.125,-0.147
$KALMAN_X,380.2,131.1,-66.5,2666.6,257.0
$KALMAN_Y,-298.1,-184.8,-38.1,-1858.5,-78.0
$MHEAD_RNG_PITCHd_Wd,129.8,1161,-25.0,-10.000
$D_GRID,240
$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,-2.02,-78.1,0.0,0.0,0,85,0.00,0.00,-62.83,0.000,6,0.000,0.000,407,1975,3237
$GC,87,-2.03,-83.9,4.0,-9.5,11,108,10.40,2.55,-0.45,0.000,4,0.181,0.068,2151,583,3263
$GC,164,-2.03,-83.9,23.6,-19.0,22,171,0.00,2.38,0.00,0.000,6,0.000,0.031,2150,1993,3264
$GC,362,-2.03,-83.9,60.3,-17.9,41,366,0.00,2.53,0.00,0.000,4,0.000,0.056,2150,583,3265
$GC,435,-2.03,-83.9,70.8,-14.1,47,439,0.00,2.35,0.00,0.000,6,0.000,0.031,2151,1991,3266
$GC,762,-2.03,-83.9,117.1,-16.8,77,766,0.00,2.53,0.00,0.000,4,0.000,0.056,2150,577,3267
$GC,828,-2.03,-83.9,128.4,-16.1,82,836,0.00,2.38,0.00,0.000,6,0.000,0.032,2151,1995,3268
$GC,1154,-2.03,-83.9,171.5,-12.5,113,1158,0.00,2.53,0.00,0.000,4,0.000,0.058,2151,584,3268
$GC,1204,-2.03,-83.9,177.3,-11.5,117,1208,0.00,2.35,0.00,0.000,6,0.000,0.033,2151,1985,3268
$GC,1530,-2.03,-83.9,212.5,-11.1,147,1534,0.00,2.53,0.00,0.000,4,0.000,0.060,2151,581,3268
$GC,1652,-2.03,-83.9,228.0,-12.3,157,1659,0.00,2.38,0.00,0.000,6,0.000,0.035,2150,1984,3268
$STATE,1752,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1752,begin apogee
$GC,1757,-0.38,0.0,240.8,12.8,167,1835,1.83,0.00,69.80,0.661,6,0.114,0.000,2509,1985,2916
$STATE,1836,end apogee,CONTROL_FINISHED_OK
$STATE,1836,begin climb
$GC,1839,2.03,83.9,244.1,0.0,175,1916,2.35,0.00,68.43,0.650,6,0.048,0.000,3051,1987,2573
$GC,2233,2.05,103.5,214.7,8.3,212,2257,0.00,2.58,16.42,0.607,4,0.000,0.064,3050,3380,2495
$GC,2472,2.08,129.3,194.0,7.8,233,2498,0.00,2.42,21.73,0.619,6,0.000,0.039,3050,1982,2389
$GC,2824,2.10,143.1,160.5,8.8,266,2841,0.00,2.58,11.73,0.580,4,0.000,0.065,3050,585,2333
$GC,2875,2.10,143.1,155.0,11.6,270,2879,0.00,2.42,0.00,0.000,6,0.000,0.038,3050,1993,2331
$GC,3201,2.10,145.1,123.0,9.8,300,3206,0.00,2.53,0.00,0.000,4,0.000,0.064,3050,3387,2328
$GC,3253,2.10,145.4,118.0,10.0,304,3257,0.00,2.42,0.00,0.000,6,0.000,0.037,3050,1980,2328
$GC,3579,2.13,163.0,87.3,8.5,334,3598,0.00,0.00,16.35,0.570,6,0.000,0.000,3050,1981,2252
$GC,3918,2.21,227.0,59.0,4.5,366,3976,0.12,2.58,51.38,0.568,4,0.051,0.058,3088,3384,1991
$GC,4224,2.21,227.0,29.6,10.6,393,4229,0.00,2.42,0.00,0.000,6,0.000,0.035,3088,1974,1985
$GC,4431,2.21,227.0,6.3,12.3,421,4437,0.00,2.53,0.00,0.000,4,0.000,0.064,3088,585,1984
$STATE,4464,end climb,SURFACE_DEPTH_REACHED
$STATE,4464,begin surface coast
$FINISH,0.3,1.022481
$STATE,4482,end surface coast,CONTROL_FINISHED_OK
$STATE,4482,begin surface
$SM_CCo,4506,32.53,0.508,0,0,1692,300.00
$SM_GC,1.38,0.00,0.00,32.53,0.000,0.000,0.508,404,1992,1692,-10.10,0.14,300.00
$IRIDIUM_FIX,2145.77,-15948.11,241098,010118
$TT8_MAMPS,0.060593
$HUMID,1964
$INTERNAL_PRESSURE,7.68584
$TCM_TEMP,24.90
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,24.0,6.907
$10V_AH,10.2,2.895
$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,26.300,49.375,255.825,32.525,0.000,30.868,27.235,238.235,0.000,0.000,32.706,14.348,838.829,2506.044,357.954,816.010,463.655,33.339,807.373,0.000,788.192,0.000,0.000,0.000
$DEVICE_MAMPS,181.012,68.263,661.154,507.754,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,287.961,0.000,0.000,0.000,0.000,0.000,61.321,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,12743,430
$CAP_FILE_SIZE,54450,0
$CFSIZE,260165632,256356352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300709,035903,2154.208,-15942.178,11,1.3,11,9.8