version: 66.04
glider: 117
mission: 24
dive: 16
start: 7 30 109 23 0 35
data:
$ID,117
$MISSION,24
$DIVE,16
$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,750
$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,-106682.84
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,409
$PITCH_MAX,3715
$C_PITCH,2560
$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,1920
$C_ROLL_CLIMB,1975
$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
$GPS1,225032,2150.823,-15943.190,11,1.6,11,9.8
$_CALLS,1
$_XMS_NAKs,26
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-50.1
$GPS2,225944,2150.881,-15943.401,17,1.5,17,9.8
$SPEED_LIMITS,0.173,0.326
$TGT_NAME,T2
$TGT_LATLONG,2150.420,-15941.560
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.315,-0.082
$KALMAN_X,-11713.6,-1076.3,-487.9,14856.2,-1366.8
$KALMAN_Y,2972.7,232.6,173.9,-12321.6,336.9
$MHEAD_RNG_PITCHd_Wd,94.7,3280,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.37,-243.3,0.0,0.0,0,117,0.00,0.00,-96.97,0.000,2,0.000,0.000,404,1937,3328
$GC,120,-1.37,-243.3,3.7,-8.5,16,148,11.52,2.47,-9.55,0.000,4,0.194,0.064,2255,3310,3913
$GC,187,-1.37,-243.3,22.1,-16.6,26,194,0.00,2.40,0.00,0.000,6,0.000,0.034,2256,1919,3914
$GC,384,-1.37,-243.3,56.3,-16.7,45,386,0.00,0.00,0.00,0.000,6,0.000,0.000,2256,1919,3914
$GC,703,-1.37,-243.3,98.8,-12.3,75,707,0.00,2.47,0.00,0.000,4,0.000,0.051,2256,3313,3915
$GC,765,-1.37,-243.3,106.7,-13.0,80,768,0.00,2.40,0.00,0.000,6,0.000,0.035,2256,1913,3916
$GC,1095,-1.37,-243.3,148.9,-12.7,111,1096,0.00,0.00,0.00,0.000,6,0.000,0.000,2255,1913,3916
$GC,1413,-1.37,-243.3,189.9,-12.4,141,1415,0.00,0.00,0.00,0.000,6,0.000,0.000,2256,1913,3917
$GC,1732,-1.37,-243.3,227.6,-11.7,171,1736,0.00,2.53,0.00,0.000,4,0.000,0.057,2255,3317,3917
$GC,1861,-1.37,-243.3,242.3,-11.2,182,1865,0.00,2.42,0.00,0.000,6,0.000,0.040,2255,1922,3917
$GC,2188,-1.37,-243.3,276.4,-9.8,212,2192,0.00,2.53,0.00,0.000,4,0.000,0.061,2256,3311,3917
$GC,2249,-1.37,-243.3,282.9,-10.0,217,2253,0.00,2.42,0.00,0.000,6,0.000,0.041,2256,1922,3917
$GC,2581,-1.37,-243.3,314.2,-9.6,248,2585,0.00,2.65,0.00,0.000,4,0.000,0.077,2256,505,3915
$GC,2643,-1.37,-243.3,320.4,-9.7,253,2647,0.00,2.45,0.00,0.000,6,0.000,0.039,2255,1917,3915
$GC,2969,-1.37,-243.3,352.9,-10.7,283,2970,0.00,0.00,0.00,0.000,6,0.000,0.000,2255,1921,3912
$GC,3286,-1.37,-243.3,386.9,-10.3,313,3290,0.00,2.58,0.00,0.000,4,0.000,0.068,2256,3320,3909
$GC,3330,-1.37,-243.3,391.5,-9.8,316,3337,0.00,2.47,0.00,0.000,6,0.000,0.045,2255,1921,3909
$GC,3657,-1.37,-243.3,420.2,-8.1,347,3658,0.00,0.00,0.00,0.000,6,0.000,0.000,2255,1921,3906
$STATE,3971,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3971,begin apogee
$GC,3977,-0.38,0.0,450.7,10.1,377,4188,1.05,0.00,205.48,0.889,6,0.096,0.000,2468,1985,2917
$STATE,4189,end apogee,CONTROL_FINISHED_OK
$STATE,4189,begin climb
$GC,4192,1.37,243.3,461.1,0.0,398,4413,1.80,2.65,209.43,0.857,4,0.065,0.072,2853,3366,1924
$GC,4459,1.52,369.9,449.6,6.5,421,4584,0.17,2.50,112.90,0.836,6,0.046,0.047,2900,1976,1408
$GC,4901,1.52,369.9,398.1,12.4,462,4905,0.00,2.70,0.00,0.000,4,0.000,0.083,2900,568,1400
$GC,4929,1.52,369.9,394.5,13.8,464,4933,0.00,2.47,0.00,0.000,6,0.000,0.044,2900,1968,1400
$GC,5255,1.52,369.9,354.0,12.1,494,5259,0.00,2.62,0.00,0.000,4,0.000,0.070,2900,3380,1398
$GC,5298,1.52,369.9,348.2,12.7,497,5305,0.00,2.53,0.00,0.000,6,0.000,0.047,2900,1967,1397
$GC,5625,1.52,369.9,308.7,11.9,528,5626,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,1967,1395
$GC,5942,1.52,369.9,273.8,10.8,558,5946,0.00,2.60,0.00,0.000,4,0.000,0.065,2900,3374,1394
$GC,5974,1.52,369.9,270.2,10.9,560,5981,0.00,2.50,0.00,0.000,6,0.000,0.045,2900,1970,1394
$GC,6300,1.52,369.9,236.1,11.8,591,6301,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,1970,1393
$GC,6617,1.52,369.9,199.1,11.9,621,6619,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,1970,1391
$GC,6936,1.52,369.9,165.0,10.4,651,6937,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,1970,1391
$GC,7255,1.58,413.6,133.3,8.8,681,7301,0.00,2.62,35.90,0.694,4,0.000,0.055,2900,3372,1230
$GC,7384,1.60,429.0,121.2,9.6,692,7404,0.00,2.45,14.20,0.638,6,0.000,0.038,2900,1969,1169
$GC,7721,1.60,429.0,86.3,10.6,724,7725,0.00,2.58,0.00,0.000,4,0.000,0.067,2900,571,1164
$GC,7764,1.60,429.0,81.7,10.2,727,7771,0.00,2.45,0.00,0.000,6,0.000,0.036,2900,1984,1164
$GC,8091,1.66,482.0,50.7,8.5,758,8147,0.00,2.60,45.75,0.594,4,0.000,0.057,2900,3368,950
$GC,8170,1.71,524.1,44.1,8.8,765,8217,0.15,2.45,36.25,0.568,6,0.041,0.036,2954,1964,778
$GC,8407,1.71,524.1,14.6,13.5,790,8413,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,1964,775
$GC,8481,1.71,524.1,4.7,13.1,803,8487,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,1964,775
$STATE,8502,end climb,SURFACE_DEPTH_REACHED
$STATE,8502,begin surface coast
$FINISH,0.6,1.022937
$STATE,8515,end surface coast,CONTROL_FINISHED_OK
$STATE,8515,begin surface
$SM_CCo,8597,0.00,0.000,0,0,772,525.92
$SM_GC,1.08,11.20,0.00,0.00,0.032,0.000,0.000,404,1908,772,-9.87,-0.31,525.92
$IRIDIUM_FIX,2143.45,-15943.76,241098,212149
$TT8_MAMPS,0.070564
$HUMID,1952
$INTERNAL_PRESSURE,7.51005
$TCM_TEMP,24.40
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.6,8.512
$10V_AH,10.1,3.616
$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,25.900,65.650,659.900,0.000,0.000,25.429,24.955,371.998,0.000,0.000,275.334,18.750,1443.757,4985.582,685.030,1394.264,650.977,33.344,1475.092,0.000,1352.050,0.000,0.000,0.000
$DEVICE_MAMPS,194.051,107.380,888.953,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,558.281,0.000,0.000,0.000,0.000,0.000,110.968,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,25269,809
$CAP_FILE_SIZE,85621,0
$CFSIZE,260165632,255574016
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310709,012507,2150.843,-15942.801,40,1.3,40,9.8