version: 66.04
glider: 117
mission: 24
dive: 9
start: 7 30 109 9 44 28
data:
$ID,117
$MISSION,24
$DIVE,9
$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,-106519.76
$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,36
$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
$GPS1,093447,2153.513,-15940.655,34,1.8,34,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-58.3
$GPS2,094338,2153.551,-15940.714,27,1.9,28,9.8
$SPEED_LIMITS,0.173,0.326
$TGT_NAME,T2
$TGT_LATLONG,2150.420,-15941.560
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.050,-0.322
$KALMAN_X,-1224.3,18.8,-259.8,7643.6,-246.3
$KALMAN_Y,333.7,-22.7,126.0,-4434.3,104.2
$MHEAD_RNG_PITCHd_Wd,179.1,5978,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.37,-243.3,0.0,0.0,0,94,0.00,0.00,-73.12,0.000,2,0.000,0.000,408,1980,3302
$GC,97,-1.37,-243.3,3.5,-7.2,12,125,11.65,2.55,-10.12,0.000,4,0.191,0.071,2295,585,3912
$GC,166,-1.37,-243.3,20.7,-13.7,23,172,0.00,2.40,0.00,0.000,6,0.000,0.034,2295,1996,3914
$GC,363,-1.37,-243.3,48.7,-12.0,42,367,0.00,2.55,0.00,0.000,4,0.000,0.058,2296,585,3915
$GC,402,-1.37,-243.3,53.7,-13.0,45,406,0.00,2.38,0.00,0.000,6,0.000,0.032,2295,1988,3914
$GC,727,-1.37,-243.3,95.0,-11.7,75,728,0.00,0.00,0.00,0.000,6,0.000,0.000,2295,1991,3916
$GC,1045,-1.37,-243.3,128.6,-10.5,105,1046,0.00,0.00,0.00,0.000,6,0.000,0.000,2295,1991,3918
$GC,1364,-1.37,-243.3,161.2,-9.8,135,1365,0.00,0.00,0.00,0.000,6,0.000,0.000,2295,1991,3919
$GC,1682,-1.37,-243.3,194.0,-10.0,165,1683,0.00,0.00,0.00,0.000,6,0.000,0.000,2295,1991,3919
$GC,2001,-1.37,-243.3,226.5,-9.1,195,2005,0.00,2.58,0.00,0.000,4,0.000,0.065,2295,577,3919
$GC,2034,-1.37,-243.3,229.6,-9.0,197,2041,0.00,2.40,0.00,0.000,6,0.000,0.037,2295,1984,3919
$GC,2360,-1.37,-243.3,260.2,-9.0,228,2365,0.00,2.53,0.00,0.000,4,0.000,0.064,2295,3375,3919
$GC,2393,-1.37,-243.3,263.5,-8.8,230,2400,0.00,2.40,0.00,0.000,6,0.000,0.039,2295,1988,3919
$GC,2720,-1.37,-243.3,292.0,-8.8,261,2721,0.00,0.00,0.00,0.000,6,0.000,0.000,2295,1988,3918
$GC,3037,-1.37,-243.3,320.7,-8.4,291,3041,0.00,2.55,0.00,0.000,4,0.000,0.067,2295,3377,3916
$GC,3058,-1.37,-243.3,322.5,-8.0,292,3065,0.00,2.42,0.00,0.000,6,0.000,0.041,2295,1987,3916
$GC,3385,-1.37,-243.3,348.5,-8.5,323,3386,0.00,0.00,0.00,0.000,6,0.000,0.000,2295,1987,3915
$GC,3702,-1.37,-243.3,375.5,-8.9,353,3703,0.00,0.00,0.00,0.000,6,0.000,0.000,2295,1987,3912
$GC,4020,-1.37,-243.3,405.6,-9.4,383,4022,0.00,0.00,0.00,0.000,6,0.000,0.000,2295,1987,3910
$GC,4339,-1.37,-243.3,430.6,-7.3,413,4340,0.00,0.00,0.00,0.000,6,0.000,0.000,2295,1985,3907
$STATE,4612,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4612,begin apogee
$GC,4618,-0.38,0.0,450.4,7.0,439,4829,1.02,0.00,205.98,0.895,6,0.087,0.000,2509,1984,2917
$STATE,4830,end apogee,CONTROL_FINISHED_OK
$STATE,4830,begin climb
$GC,4833,1.37,243.3,458.4,0.0,460,5054,1.77,2.67,209.60,0.860,4,0.058,0.074,2898,3373,1924
$GC,5104,1.37,243.3,439.7,11.1,484,5112,0.00,2.50,0.00,0.000,6,0.000,0.047,2898,1989,1920
$GC,5432,1.38,251.6,407.2,9.8,515,5441,0.00,0.00,7.35,0.705,6,0.000,0.000,2898,1988,1891
$GC,5760,1.38,251.6,371.7,11.3,546,5761,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,1988,1888
$GC,6077,1.38,251.6,335.1,10.9,576,6081,0.00,2.60,0.00,0.000,4,0.000,0.070,2898,3378,1885
$GC,6165,1.38,251.6,325.3,10.5,583,6172,0.00,2.50,0.00,0.000,6,0.000,0.046,2898,1977,1885
$GC,6492,1.38,251.6,292.4,10.5,614,6496,0.00,2.60,0.00,0.000,4,0.000,0.066,2898,3381,1883
$GC,6558,1.38,251.6,285.0,11.4,619,6565,0.00,2.47,0.00,0.000,6,0.000,0.044,2898,1985,1884
$GC,6885,1.40,266.4,253.8,9.6,650,6905,0.00,2.62,12.60,0.765,4,0.000,0.064,2897,3385,1831
$GC,6940,1.43,293.8,248.7,9.2,655,6975,0.00,2.50,25.83,0.786,6,0.000,0.044,2898,1979,1718
$GC,7292,1.54,379.8,219.6,7.6,688,7374,0.17,2.67,74.78,0.768,4,0.048,0.060,2945,3378,1367
$GC,7420,1.54,379.8,203.7,14.9,699,7424,0.00,2.50,0.00,0.000,6,0.000,0.043,2945,1979,1363
$GC,7746,1.54,379.8,158.6,13.7,729,7747,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,1978,1358
$GC,8063,1.54,379.8,117.0,13.4,759,8067,0.00,2.55,0.00,0.000,4,0.000,0.056,2945,3383,1356
$GC,8113,1.54,379.8,110.1,12.9,763,8118,0.00,2.45,0.00,0.000,6,0.000,0.038,2945,1981,1355
$GC,8439,1.54,379.8,73.6,10.6,793,8441,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,1980,1355
$GC,8757,1.65,472.2,43.1,7.4,823,8837,0.00,0.00,76.30,0.594,6,0.000,0.000,2945,1980,991
$GC,9031,1.65,472.2,13.5,12.8,853,9037,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,1980,986
$GC,9105,1.65,472.2,3.6,13.6,866,9110,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,1980,986
$STATE,9120,end climb,SURFACE_DEPTH_REACHED
$STATE,9120,begin surface coast
$FINISH,0.5,1.022953
$STATE,9138,end surface coast,CONTROL_FINISHED_OK
$STATE,9138,begin surface
$SM_CCo,9220,0.00,0.000,0,0,983,474.41
$SM_GC,1.17,11.12,0.00,0.00,0.031,0.000,0.000,406,1978,983,-10.05,-0.23,474.41
$IRIDIUM_FIX,2148.09,-15942.95,241098,060647
$TT8_MAMPS,0.058292
$HUMID,1970
$INTERNAL_PRESSURE,7.51005
$TCM_TEMP,24.30
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.8,7.402
$10V_AH,10.1,3.152
$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,25.750,55.400,612.425,0.000,0.000,26.404,29.819,313.856,0.000,0.000,63.160,28.781,1558.999,5494.831,642.727,1441.450,615.981,33.339,1420.342,0.000,1387.240,0.000,0.000,0.000
$DEVICE_MAMPS,190.983,73.632,895.089,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,604.889,0.000,0.000,0.000,0.000,0.000,123.937,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,28415,872
$CAP_FILE_SIZE,86604,0
$CFSIZE,260165632,256053248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300709,121925,2152.069,-15941.378,42,1.5,42,9.8