version: 66.04
glider: 117
mission: 24
dive: 19
start: 7 31 109 9 10 53
data:
$ID,117
$MISSION,24
$DIVE,19
$D_SURF,2
$D_FLARE,3
$D_TGT,660
$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,220
$T_MISSION,275
$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,-106743.8
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,409
$PITCH_MAX,3715
$C_PITCH,2552
$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,1905
$C_ROLL_CLIMB,1990
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$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
$GPS1,090030,2152.145,-15940.651,38,1.9,43,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-53.6
$GPS2,091002,2152.188,-15940.798,11,1.9,11,9.8
$SPEED_LIMITS,0.173,0.326
$TGT_NAME,T0
$TGT_LATLONG,2154.000,-15942.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.059,0.231
$KALMAN_X,-19234.5,527.2,-23.5,24756.9,-1282.0
$KALMAN_Y,4932.4,-99.5,-110.1,-11237.6,305.8
$MHEAD_RNG_PITCHd_Wd,335.9,3940,-20.2,-10.000
$D_GRID,660
$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,14,begin dive
$GC,18,-1.70,-120.2,0.0,0.0,0,111,0.00,0.00,-89.97,0.000,2,0.000,0.000,410,1891,3341
$GC,114,-1.75,-158.6,4.0,-7.9,15,136,11.05,2.53,-3.90,0.000,4,0.197,0.058,2166,3297,3567
$GC,390,-1.75,-158.6,64.7,-16.9,43,394,0.00,2.38,0.00,0.000,6,0.000,0.033,2167,1915,3569
$GC,716,-1.75,-158.6,119.6,-16.5,73,720,0.00,2.47,0.00,0.000,4,0.000,0.049,2166,3306,3571
$GC,834,-1.75,-158.6,136.5,-14.3,83,838,0.00,2.42,0.00,0.000,6,0.000,0.035,2167,1896,3572
$GC,1160,-1.75,-158.6,185.3,-16.0,113,1161,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,1897,3573
$GC,1477,-1.75,-158.6,230.7,-13.4,143,1481,0.00,2.53,0.00,0.000,4,0.000,0.053,2167,3305,3573
$GC,1595,-1.75,-158.6,246.5,-13.7,153,1599,0.00,2.42,0.00,0.000,6,0.000,0.038,2167,1908,3573
$GC,1921,-1.75,-158.6,287.0,-11.8,183,1922,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,1908,3574
$GC,2238,-1.75,-158.6,324.2,-11.8,213,2242,0.00,2.53,0.00,0.000,4,0.000,0.057,2167,3302,3572
$GC,2407,-1.75,-158.6,345.0,-12.1,227,2414,0.00,2.45,0.00,0.000,6,0.000,0.042,2167,1906,3572
$GC,2733,-1.75,-158.6,382.9,-12.8,258,2735,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,1907,3570
$GC,3051,-1.75,-158.6,422.3,-12.2,288,3055,0.00,2.55,0.00,0.000,4,0.000,0.061,2167,3299,3568
$GC,3169,-1.75,-158.6,437.7,-12.4,298,3173,0.00,2.45,0.00,0.000,6,0.000,0.044,2167,1908,3567
$GC,3495,-1.75,-158.6,475.2,-11.2,328,3499,0.00,2.55,0.00,0.000,4,0.000,0.061,2167,3302,3564
$GC,3608,-1.75,-158.6,488.5,-11.2,338,3612,0.00,2.47,0.00,0.000,6,0.000,0.046,2167,1904,3563
$GC,3934,-1.75,-158.6,524.9,-11.2,368,3938,0.00,2.55,0.00,0.000,4,0.000,0.061,2167,3295,3561
$GC,3988,-1.75,-158.6,531.6,-12.0,372,3995,0.00,2.47,0.00,0.000,6,0.000,0.046,2167,1903,3560
$GC,4315,-1.75,-158.6,567.9,-10.7,403,4319,0.00,2.67,0.00,0.000,4,0.000,0.082,2167,497,3557
$GC,4444,-1.75,-158.6,582.4,-11.0,414,4449,0.00,2.47,0.00,0.000,6,0.000,0.042,2167,1906,3557
$GC,4770,-1.75,-158.6,615.1,-10.3,444,4775,0.00,2.58,0.00,0.000,4,0.000,0.066,2167,3306,3554
$GC,4939,-1.75,-158.6,633.5,-10.9,458,4946,0.00,2.50,0.00,0.000,6,0.000,0.048,2167,1904,3552
$STATE,5187,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5187,begin apogee
$GC,5193,-0.38,0.0,661.2,11.1,482,5342,1.52,0.00,142.62,1.075,6,0.118,0.000,2461,1994,2918
$STATE,5343,end apogee,CONTROL_FINISHED_OK
$STATE,5343,begin climb
$GC,5345,1.75,158.6,667.1,0.0,497,5505,2.20,2.65,147.23,1.035,4,0.069,0.067,2929,3384,2269
$GC,5541,1.75,158.6,655.1,10.8,514,5545,0.00,2.53,0.00,0.000,6,0.000,0.047,2929,1989,2265
$GC,5867,1.75,158.6,622.2,10.6,544,5871,0.00,2.62,0.00,0.000,4,0.000,0.068,2929,3385,2259
$GC,5895,1.75,158.6,619.0,11.2,546,5899,0.00,2.53,0.00,0.000,6,0.000,0.047,2929,1982,2258
$GC,6221,1.75,158.6,587.3,10.1,576,6225,0.00,2.62,0.00,0.000,4,0.000,0.067,2929,3384,2257
$GC,6401,1.75,158.6,567.5,11.4,591,6408,0.00,2.53,0.00,0.000,6,0.000,0.048,2929,1979,2255
$GC,6727,1.79,191.3,537.7,8.2,622,6757,0.00,0.00,28.05,0.992,6,0.000,0.000,2930,1980,2136
$GC,7074,1.80,202.0,505.4,9.4,655,7090,0.00,2.67,10.23,0.899,4,0.000,0.066,2929,3386,2093
$GC,7124,1.81,207.6,500.5,9.7,659,7136,0.00,2.53,6.97,0.816,6,0.000,0.047,2930,1986,2071
$GC,7455,1.81,207.6,468.8,10.1,690,7460,0.00,2.62,0.00,0.000,4,0.000,0.067,2929,3391,2066
$GC,7624,1.81,207.6,450.1,11.9,704,7631,0.00,2.53,0.00,0.000,6,0.000,0.047,2930,1986,2065
$GC,7952,1.81,207.6,416.1,10.2,735,7956,0.00,2.60,0.00,0.000,4,0.000,0.066,2929,3384,2064
$GC,8051,1.81,207.6,405.3,10.9,743,8058,0.00,2.50,0.00,0.000,6,0.000,0.046,2929,1986,2063
$GC,8378,1.81,207.6,373.0,11.1,774,8382,0.00,2.60,0.00,0.000,4,0.000,0.064,2930,3387,2063
$GC,8417,1.81,207.6,368.2,12.7,777,8421,0.00,2.50,0.00,0.000,6,0.000,0.046,2929,1986,2062
$GC,8743,1.81,207.6,332.1,10.3,807,8748,0.00,2.60,0.00,0.000,4,0.000,0.064,2929,3387,2061
$GC,8821,1.81,207.6,323.1,10.9,813,8828,0.00,2.50,0.00,0.000,6,0.000,0.045,2930,1984,2062
$GC,9148,1.82,220.2,292.3,9.3,844,9164,0.00,2.62,11.20,0.811,4,0.000,0.063,2930,3385,2018
$GC,9226,1.82,220.2,284.1,10.9,850,9233,0.00,2.50,0.00,0.000,6,0.000,0.044,2929,1984,2017
$GC,9552,1.82,220.2,250.6,10.6,881,9556,0.00,2.60,0.00,0.000,4,0.000,0.061,2930,3395,2015
$GC,9584,1.82,220.2,247.0,10.6,883,9591,0.00,2.50,0.00,0.000,6,0.000,0.043,2930,1985,2015
$GC,9911,1.85,246.1,217.9,8.6,914,9945,0.12,2.62,23.42,0.782,4,0.052,0.059,2965,3389,1912
$GC,10107,1.85,246.1,196.2,11.1,931,10115,0.00,2.47,0.00,0.000,6,0.000,0.041,2964,1986,1909
$GC,10434,1.85,246.1,162.3,10.4,962,10439,0.00,2.55,0.00,0.000,4,0.000,0.057,2964,3385,1908
$GC,10463,1.85,246.1,159.3,10.8,964,10467,0.00,2.45,0.00,0.000,6,0.000,0.039,2964,1988,1908
$GC,10789,1.86,248.0,127.6,9.9,994,10790,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,1988,1908
$GC,11106,1.86,248.0,93.0,13.0,1024,11110,0.00,2.55,0.00,0.000,4,0.000,0.056,2964,3393,1907
$GC,11172,1.86,248.0,83.9,12.6,1029,11179,0.00,2.45,0.00,0.000,6,0.000,0.035,2964,1979,1907
$GC,11499,1.89,274.3,52.6,8.5,1060,11533,0.00,2.65,24.38,0.604,4,0.000,0.052,2964,3396,1798
$GC,11673,1.93,307.9,39.6,8.1,1075,11708,0.00,2.45,29.27,0.582,6,0.000,0.034,2964,1980,1661
$GC,11902,1.98,349.1,19.7,7.7,1096,11946,0.00,2.60,35.00,0.558,4,0.000,0.051,2964,3382,1494
$GC,11969,1.98,349.1,13.1,10.4,1107,11976,0.00,2.42,0.00,0.000,6,0.000,0.033,2964,1984,1492
$GC,12044,1.98,349.1,4.7,10.7,1120,12050,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,1984,1490
$STATE,12072,end climb,SURFACE_DEPTH_REACHED
$STATE,12073,begin surface coast
$FINISH,0.5,1.000915
$STATE,12089,end surface coast,CONTROL_FINISHED_OK
$STATE,12089,begin surface
$SM_CCo,12171,0.00,0.000,0,0,1485,351.27
$SM_GC,1.48,11.30,0.00,0.00,0.033,0.000,0.000,405,1892,1485,-9.83,-0.31,351.27
$IRIDIUM_FIX,2141.13,-15939.40,251098,050534
$TT8_MAMPS,0.075166
$HUMID,1898
$INTERNAL_PRESSURE,7.52959
$TCM_TEMP,24.50
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.6,9.244
$10V_AH,10.1,3.946
$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,26.200,121.825,458.375,0.000,0.000,23.904,30.982,357.020,0.000,0.000,82.376,11.871,2125.698,7226.507,571.420,2072.034,743.851,33.357,1647.292,0.000,2019.810,0.000,0.000,0.000
$DEVICE_MAMPS,197.119,82.069,1074.567,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,797.591,0.000,0.000,0.000,0.000,0.000,154.454,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,37859,1128
$CAP_FILE_SIZE,121924,0
$CFSIZE,260165632,255180800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310709,123500,2153.662,-15941.676,38,1.8,42,9.8