version: 66.04
glider: 117
mission: 24
dive: 13
start: 7 30 109 18 25 24
data:
$ID,117
$MISSION,24
$DIVE,13
$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,-106625.68
$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,38
$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
$GPS1,181407,2150.539,-15942.494,11,1.7,28,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-57.8
$GPS2,182431,2150.531,-15942.755,11,1.7,11,9.8
$SPEED_LIMITS,0.173,0.326
$TGT_NAME,T2
$TGT_LATLONG,2150.420,-15941.560
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.324,-0.032
$KALMAN_X,-6202.0,-920.9,-559.1,10373.4,-936.4
$KALMAN_Y,1251.2,370.9,145.8,-11357.5,89.0
$MHEAD_RNG_PITCHd_Wd,85.8,2066,-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,15,-1.37,-243.3,0.0,0.0,0,97,0.00,0.00,-78.65,0.000,2,0.000,0.000,407,2004,3344
$GC,100,-1.37,-243.3,3.7,-8.2,13,128,11.73,2.45,-9.32,0.000,4,0.194,0.064,2295,3377,3912
$GC,157,-1.37,-243.3,18.9,-14.7,22,164,0.00,2.40,0.00,0.000,6,0.000,0.035,2295,1984,3913
$GC,234,-1.37,-243.3,29.9,-14.8,30,238,0.00,2.55,0.00,0.000,4,0.000,0.061,2295,576,3914
$GC,261,-1.37,-243.3,34.0,-14.8,32,266,0.00,2.40,0.00,0.000,6,0.000,0.032,2295,1995,3913
$GC,459,-1.37,-243.3,58.8,-11.8,50,460,0.00,0.00,0.00,0.000,6,0.000,0.000,2295,1995,3914
$GC,777,-1.37,-243.3,94.5,-10.3,80,778,0.00,0.00,0.00,0.000,6,0.000,0.000,2295,1995,3915
$GC,1096,-1.37,-243.3,128.4,-11.1,110,1100,0.00,2.55,0.00,0.000,4,0.000,0.060,2295,582,3916
$GC,1203,-1.37,-243.3,139.7,-10.8,119,1207,0.00,2.38,0.00,0.000,6,0.000,0.034,2295,1986,3916
$GC,1529,-1.37,-243.3,176.4,-10.7,149,1530,0.00,0.00,0.00,0.000,6,0.000,0.000,2295,1986,3916
$GC,1846,-1.37,-243.3,205.8,-9.7,179,1850,0.00,2.55,0.00,0.000,4,0.000,0.062,2295,580,3916
$GC,1913,-1.37,-243.3,212.4,-9.6,184,1920,0.00,2.40,0.00,0.000,6,0.000,0.036,2295,1988,3916
$STATE,2238,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2238,begin apogee
$GC,2243,-0.38,0.0,240.2,8.4,215,2443,1.02,0.00,194.25,0.673,6,0.085,0.000,2510,1990,2917
$STATE,2444,end apogee,CONTROL_FINISHED_OK
$STATE,2444,begin climb
$GC,2446,1.37,243.3,249.9,0.0,235,2656,1.75,2.65,194.40,0.660,4,0.053,0.065,2901,3380,1924
$GC,2796,1.37,243.3,222.6,10.4,266,2803,0.00,2.45,0.00,0.000,6,0.000,0.041,2901,1989,1919
$GC,3123,1.37,243.3,189.5,10.1,297,3127,0.00,2.55,0.00,0.000,4,0.000,0.061,2901,3380,1916
$GC,3188,1.37,243.3,182.8,10.0,302,3196,0.00,2.45,0.00,0.000,6,0.000,0.041,2901,1985,1916
$GC,3516,1.39,257.0,152.1,9.6,333,3532,0.00,2.62,10.98,0.588,4,0.000,0.068,2901,578,1869
$GC,3578,1.39,264.8,146.0,9.8,338,3591,0.00,2.45,7.97,0.552,6,0.000,0.038,2901,1995,1837
$GC,3907,1.47,325.0,117.3,8.3,369,3963,0.00,0.00,50.38,0.622,6,0.000,0.000,2901,1995,1592
$GC,4281,1.50,354.4,80.8,9.2,404,4312,0.12,0.00,25.08,0.578,6,0.047,0.000,2947,1995,1471
$GC,4629,1.50,354.4,40.7,10.9,437,4634,0.00,2.53,0.00,0.000,4,0.000,0.061,2946,3386,1465
$GC,4806,1.50,354.4,23.0,10.5,452,4810,0.00,2.42,0.00,0.000,6,0.000,0.037,2946,1983,1464
$GC,5012,1.57,403.9,2.6,8.6,485,5020,0.00,0.00,5.97,0.432,2,0.000,0.000,2946,1983,1438
$STATE,5020,end climb,SURFACE_DEPTH_REACHED
$STATE,5020,begin surface coast
$FINISH,0.5,1.023428
$STATE,5042,end surface coast,CONTROL_FINISHED_OK
$STATE,5042,begin surface
$SM_CCo,5123,0.00,0.000,0,0,1434,363.78
$SM_GC,1.25,11.05,0.00,0.00,0.030,0.000,0.000,408,1980,1434,-10.03,-0.17,363.78
$IRIDIUM_FIX,2141.13,-15941.58,241098,181844
$TT8_MAMPS,0.077467
$HUMID,1924
$INTERNAL_PRESSURE,7.60771
$TCM_TEMP,24.60
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.9,7.953
$10V_AH,10.1,3.437
$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,25.675,39.800,489.025,0.000,0.000,55.491,54.854,331.483,0.000,0.000,37.515,11.987,886.687,2866.828,518.231,878.987,608.581,33.338,1028.733,0.000,850.167,0.000,0.000,0.000
$DEVICE_MAMPS,194.051,68.263,673.426,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,329.193,0.000,0.000,0.000,0.000,0.000,70.338,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,15873,490
$CAP_FILE_SIZE,58075,0
$CFSIZE,260165632,255787008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300709,195132,2150.762,-15942.915,12,1.7,12,9.8