version: 66.04
glider: 117
mission: 24
dive: 12
start: 7 30 109 16 52 56
data:
$ID,117
$MISSION,24
$DIVE,12
$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,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,-106613.06
$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,40
$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
$GPS1,164406,2150.529,-15942.211,41,1.5,46,9.8
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,1
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-56.6
$GPS2,165206,2150.493,-15942.373,15,1.6,25,9.8
$SPEED_LIMITS,0.173,0.326
$TGT_NAME,T2
$TGT_LATLONG,2150.420,-15941.560
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.321,-0.058
$KALMAN_X,-4555.5,-788.7,-195.7,8882.4,-780.7
$KALMAN_Y,1055.2,361.7,9.2,-11083.4,203.8
$MHEAD_RNG_PITCHd_Wd,90.5,1406,-13.9,-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,-1.37,-243.3,0.0,0.0,0,98,0.00,0.00,-79.00,0.000,2,0.000,0.000,408,2004,3409
$GC,101,-1.37,-243.3,3.9,-8.9,13,128,11.82,0.00,-7.95,0.000,6,0.196,0.000,2298,2005,3911
$GC,195,-1.37,-243.3,25.3,-14.7,26,196,0.00,0.00,0.00,0.000,6,0.000,0.000,2297,2005,3913
$GC,385,-1.37,-243.3,51.3,-13.0,44,389,0.00,2.58,0.00,0.000,4,0.000,0.058,2298,576,3913
$GC,424,-1.37,-243.3,56.1,-13.1,47,428,0.00,2.40,0.00,0.000,6,0.000,0.032,2299,1995,3913
$GC,749,-1.37,-243.3,97.2,-11.5,77,750,0.00,0.00,0.00,0.000,6,0.000,0.000,2297,1996,3914
$GC,1067,-1.37,-243.3,129.6,-11.0,107,1071,0.00,2.55,0.00,0.000,4,0.000,0.058,2298,583,3915
$GC,1163,-1.37,-243.3,139.6,-9.9,115,1167,0.00,2.38,0.00,0.000,6,0.000,0.034,2298,1987,3915
$GC,1489,-1.37,-243.3,170.4,-9.4,145,1494,0.00,2.55,0.00,0.000,4,0.000,0.061,2297,576,3915
$GC,1529,-1.37,-243.3,174.7,-10.2,148,1533,0.00,2.40,0.00,0.000,6,0.000,0.034,2297,1996,3915
$GC,1855,-1.37,-243.3,207.9,-9.8,178,1857,0.00,0.00,0.00,0.000,6,0.000,0.000,2298,1996,3915
$GC,2172,-1.37,-243.3,237.8,-9.0,208,2176,0.00,2.47,0.00,0.000,4,0.000,0.060,2298,3374,3915
$STATE,2197,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2197,begin apogee
$GC,2206,-0.38,0.0,240.3,8.8,210,2405,1.00,0.00,194.43,0.671,6,0.081,0.000,2510,1983,2918
$STATE,2406,end apogee,CONTROL_FINISHED_OK
$STATE,2406,begin climb
$GC,2409,1.37,243.3,248.1,0.0,230,2615,1.77,2.58,194.45,0.658,4,0.054,0.062,2898,3372,1925
$GC,2684,1.41,280.8,231.9,9.0,254,2721,0.00,2.42,32.05,0.624,6,0.000,0.038,2898,1988,1772
$GC,3048,1.45,310.3,195.1,9.2,288,3082,0.00,2.60,25.48,0.619,4,0.000,0.058,2898,3374,1650
$GC,3121,1.50,349.3,188.0,8.9,294,3163,0.12,2.45,34.08,0.621,6,0.049,0.038,2940,1979,1492
$GC,3480,1.50,349.3,144.6,12.6,328,3484,0.00,2.58,0.00,0.000,4,0.000,0.067,2940,581,1484
$GC,3512,1.50,349.3,139.9,13.5,330,3519,0.00,2.42,0.00,0.000,6,0.000,0.037,2940,1990,1484
$GC,3839,1.50,349.3,98.9,12.3,361,3843,0.00,2.53,0.00,0.000,4,0.000,0.061,2940,3384,1482
$GC,3867,1.50,349.3,95.4,11.8,363,3871,0.00,2.42,0.00,0.000,6,0.000,0.037,2940,1983,1481
$GC,4193,1.50,349.3,54.6,13.3,393,4194,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,1983,1481
$GC,4510,1.53,377.9,20.5,9.2,423,4541,0.00,2.60,23.15,0.532,4,0.000,0.064,2940,582,1376
$GC,4604,1.53,377.9,12.3,10.2,438,4611,0.00,2.42,0.00,0.000,6,0.000,0.034,2940,2001,1373
$GC,4680,1.57,406.1,4.7,9.2,451,4706,0.00,0.00,22.50,0.514,6,0.000,0.000,2940,2005,1261
$STATE,4710,end climb,SURFACE_DEPTH_REACHED
$STATE,4710,begin surface coast
$FINISH,0.4,1.022971
$STATE,4728,end surface coast,CONTROL_FINISHED_OK
$STATE,4728,begin surface
$SM_CCo,4810,0.00,0.000,0,0,1255,407.20
$SM_GC,1.09,11.12,0.00,0.00,0.031,0.000,0.000,407,2005,1255,-10.04,0.51,407.20
$IRIDIUM_FIX,2145.77,-15935.61,241098,151552
$TT8_MAMPS,0.058292
$HUMID,1895
$INTERNAL_PRESSURE,7.57842
$TCM_TEMP,24.50
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.9,7.829
$10V_AH,10.2,3.384
$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,25.850,44.775,526.125,0.000,0.000,24.995,28.645,289.885,0.000,0.000,34.673,27.018,821.990,2610.185,540.080,823.299,503.204,33.335,1033.429,0.000,781.509,0.000,0.000,0.000
$DEVICE_MAMPS,195.585,67.496,671.125,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,307.987,0.000,0.000,0.000,0.000,0.000,65.010,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,12722,459
$CAP_FILE_SIZE,55368,0
$CFSIZE,260165632,255848448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300709,181407,2150.539,-15942.494,11,1.7,28,9.8