version: 66.04
glider: 117
mission: 24
dive: 8
start: 7 30 109 6 55 5
data:
$ID,117
$MISSION,24
$DIVE,8
$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,500
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,250
$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,350
$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,-106490.34
$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,25
$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
$GPS1,064806,2153.782,-15941.957,11,1.6,27,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-60.4
$GPS2,065414,2153.792,-15942.003,13,1.0,13,9.8
$SPEED_LIMITS,0.173,0.326
$TGT_NAME,TB
$TGT_LATLONG,2153.300,-15940.300
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.314,-0.088
$KALMAN_X,-1007.2,324.1,-168.2,4823.1,-915.1
$KALMAN_Y,64.4,-162.0,185.3,-3638.1,200.2
$MHEAD_RNG_PITCHd_Wd,95.9,3065,-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,16,-1.37,-243.3,0.0,0.0,0,80,0.00,0.00,-60.97,0.000,2,0.000,0.000,405,1983,3307
$GC,83,-1.37,-243.3,3.5,-8.4,10,111,11.52,2.47,-10.10,0.000,4,0.188,0.062,2295,3376,3912
$GC,129,-1.37,-243.3,17.1,-19.9,17,135,0.00,2.40,0.00,0.000,6,0.000,0.035,2296,1979,3913
$GC,206,-1.37,-243.3,28.7,-14.2,26,207,0.00,0.00,0.00,0.000,6,0.000,0.000,2296,1979,3913
$GC,399,-1.37,-243.3,53.6,-11.4,44,403,0.00,2.53,0.00,0.000,4,0.000,0.060,2295,575,3914
$GC,431,-1.37,-243.3,57.5,-11.5,46,438,0.00,2.40,0.00,0.000,6,0.000,0.032,2295,1998,3914
$GC,756,-1.37,-243.3,92.8,-11.2,77,760,0.00,2.45,0.00,0.000,4,0.000,0.057,2295,3377,3916
$GC,788,-1.37,-243.3,96.8,-11.7,79,795,0.00,2.38,0.00,0.000,6,0.000,0.035,2296,1981,3917
$GC,1115,-1.37,-243.3,132.0,-9.6,110,1119,0.00,2.53,0.00,0.000,4,0.000,0.062,2295,580,3917
$GC,1165,-1.37,-243.3,137.4,-11.4,114,1169,0.00,2.40,0.00,0.000,6,0.000,0.035,2296,2001,3917
$GC,1491,-1.37,-243.3,167.4,-9.5,144,1496,0.00,2.47,0.00,0.000,4,0.000,0.059,2296,3382,3917
$GC,1569,-1.37,-243.3,175.9,-10.2,150,1576,0.00,2.40,0.00,0.000,6,0.000,0.036,2295,1978,3918
$GC,1896,-1.37,-243.3,208.1,-9.2,181,1897,0.00,0.00,0.00,0.000,6,0.000,0.000,2295,1978,3918
$GC,2214,-1.37,-243.3,236.2,-8.7,211,2218,0.00,2.55,0.00,0.000,4,0.000,0.067,2295,580,3918
$GC,2257,-1.37,-243.3,240.2,-8.9,214,2264,0.00,2.40,0.00,0.000,6,0.000,0.038,2295,1987,3918
$GC,2584,-1.37,-243.3,269.9,-8.5,245,2585,0.00,0.00,0.00,0.000,6,0.000,0.000,2295,1986,3917
$GC,2901,-1.37,-243.3,298.1,-9.5,275,2902,0.00,0.00,0.00,0.000,6,0.000,0.000,2295,1986,3916
$GC,3219,-1.37,-243.3,324.4,-7.3,305,3220,0.00,0.00,0.00,0.000,6,0.000,0.000,2295,1987,3914
$GC,3538,-1.37,-243.3,351.8,-9.3,335,3539,0.00,0.00,0.00,0.000,6,0.000,0.000,2295,1987,3912
$GC,3856,-1.37,-243.3,378.1,-8.6,365,3861,0.00,2.58,0.00,0.000,4,0.000,0.074,2296,3380,3910
$GC,3908,-1.37,-243.3,382.4,-8.5,369,3912,0.00,2.42,0.00,0.000,6,0.000,0.044,2295,1993,3910
$GC,4235,-1.37,-243.3,409.7,-8.9,399,4241,0.00,0.00,0.00,0.000,6,0.000,0.000,2295,1993,3907
$GC,4560,-1.37,-243.3,436.5,-8.2,430,4562,0.00,0.00,0.00,0.000,6,0.000,0.000,2295,1992,3905
$STATE,4728,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4728,begin apogee
$GC,4733,-0.38,0.0,450.7,8.2,446,4944,1.02,0.00,205.20,0.895,6,0.085,0.000,2510,1991,2917
$STATE,4945,end apogee,CONTROL_FINISHED_OK
$STATE,4945,begin climb
$GC,4947,1.37,243.3,459.9,0.0,467,5168,1.75,0.00,209.88,0.860,6,0.056,0.000,2897,1991,1924
$GC,5486,1.37,243.3,413.1,10.6,518,5490,0.00,2.62,0.00,0.000,4,0.000,0.076,2897,3375,1915
$GC,5604,1.37,243.3,400.0,11.5,528,5608,0.00,2.47,0.00,0.000,6,0.000,0.048,2897,1992,1914
$GC,5937,1.37,243.3,363.8,11.1,559,5941,0.00,2.60,0.00,0.000,4,0.000,0.073,2897,3375,1912
$GC,5987,1.37,243.3,358.0,10.8,563,5991,0.00,2.50,0.00,0.000,6,0.000,0.048,2897,1977,1912
$GC,6313,1.37,243.3,320.7,11.8,593,6317,0.00,2.60,0.00,0.000,4,0.000,0.070,2897,3375,1910
$GC,6379,1.37,243.3,313.0,11.3,598,6386,0.00,2.47,0.00,0.000,6,0.000,0.047,2897,1986,1910
$GC,6706,1.41,280.0,280.7,9.0,629,6741,0.00,2.70,30.42,0.808,4,0.000,0.067,2897,3383,1775
$GC,6787,1.41,280.0,272.4,10.3,636,6791,0.00,2.50,0.00,0.000,6,0.000,0.046,2897,1986,1772
$GC,7113,1.48,330.3,243.0,8.6,666,7165,0.10,0.00,44.75,0.786,6,0.061,0.000,2926,1986,1569
$GC,7483,1.48,330.3,200.0,11.5,701,7487,0.00,2.58,0.00,0.000,4,0.000,0.064,2926,3375,1561
$GC,7522,1.48,330.3,195.9,11.4,704,7527,0.00,2.47,0.00,0.000,6,0.000,0.044,2926,1977,1560
$GC,7848,1.48,330.3,158.4,11.5,734,7852,0.00,2.58,0.00,0.000,4,0.000,0.061,2926,3382,1558
$GC,7933,1.48,330.3,148.3,12.0,741,7937,0.00,2.45,0.00,0.000,6,0.000,0.041,2926,1985,1558
$GC,8259,1.48,330.3,111.6,11.2,771,8260,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,1985,1557
$GC,8576,1.48,330.3,77.9,10.1,801,8580,0.00,2.53,0.00,0.000,4,0.000,0.059,2926,3376,1557
$GC,8687,1.48,330.3,66.0,10.3,810,8695,0.00,2.40,0.00,0.000,6,0.000,0.037,2926,1984,1556
$GC,9014,1.50,353.5,37.7,9.4,841,9039,0.00,2.55,18.67,0.582,4,0.000,0.055,2926,3386,1476
$GC,9073,1.50,353.5,32.1,10.1,846,9077,0.00,2.42,0.00,0.000,6,0.000,0.036,2926,1986,1474
$GC,9274,1.50,353.5,14.1,10.1,870,9281,0.00,2.50,0.00,0.000,4,0.000,0.054,2926,3377,1473
$GC,9304,1.50,353.5,11.0,10.3,875,9311,0.00,2.40,0.00,0.000,6,0.000,0.035,2926,1984,1473
$GC,9379,1.53,378.0,5.2,9.3,888,9404,0.00,0.00,21.60,0.542,6,0.000,0.000,2926,1984,1375
$STATE,9414,end climb,SURFACE_DEPTH_REACHED
$STATE,9414,begin surface coast
$FINISH,0.4,1.018848
$STATE,9432,end surface coast,CONTROL_FINISHED_OK
$STATE,9432,begin surface
$SM_CCo,9514,0.00,0.000,0,0,1368,379.72
$SM_GC,1.19,11.10,0.00,0.00,0.034,0.000,0.000,407,1980,1368,-10.04,-0.20,379.72
$IRIDIUM_FIX,2141.13,-16049.83,241098,050518
$TT8_MAMPS,0.080535
$HUMID,1981
$INTERNAL_PRESSURE,7.55888
$TCM_TEMP,24.50
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.8,7.221
$10V_AH,10.1,3.069
$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,25.500,79.725,530.525,0.000,0.000,31.349,28.671,190.438,0.000,0.000,63.622,13.834,1641.394,5665.561,591.515,1504.836,489.100,33.330,1401.723,0.000,1466.408,0.000,0.000,0.000
$DEVICE_MAMPS,187.915,75.933,895.089,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,620.877,0.000,0.000,0.000,0.000,0.000,129.046,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,28398,897
$CAP_FILE_SIZE,90056,0
$CFSIZE,260165632,256151552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300709,093447,2153.513,-15940.655,34,1.8,34,9.8