version: 66.04
glider: 117
mission: 24
dive: 20
start: 7 31 109 12 45 26
data:
$ID,117
$MISSION,24
$DIVE,20
$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,-106774.09
$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,34
$R_STBD_OVSHOOT,31
$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
$GPS1,123500,2153.662,-15941.676,38,1.8,42,9.8
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-60.4
$GPS2,124436,2153.691,-15941.797,13,1.6,29,9.8
$SPEED_LIMITS,0.173,0.326
$TGT_NAME,TB
$TGT_LATLONG,2153.300,-15940.300
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.318,-0.070
$KALMAN_X,-21394.6,1547.2,169.3,23995.6,-2779.7
$KALMAN_Y,5082.6,-488.5,-114.2,-8213.7,525.7
$MHEAD_RNG_PITCHd_Wd,92.6,2672,-13.9,-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,16,-1.37,-243.3,0.0,0.0,0,86,0.00,0.00,-66.25,0.000,2,0.000,0.000,406,1896,3248
$GC,89,-1.37,-243.3,3.7,-7.2,11,122,11.48,2.58,-11.45,0.000,4,0.193,0.074,2247,517,3913
$GC,173,-1.37,-243.3,24.7,-20.5,23,177,0.00,2.38,0.00,0.000,6,0.000,0.031,2247,1915,3914
$GC,376,-1.37,-243.3,60.8,-17.1,42,377,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,1919,3914
$GC,695,-1.37,-243.3,110.7,-14.8,72,699,0.00,2.45,0.00,0.000,4,0.000,0.050,2247,3297,3916
$GC,772,-1.37,-243.3,122.4,-14.6,78,779,0.00,2.38,0.00,0.000,6,0.000,0.034,2247,1915,3917
$GC,1099,-1.37,-243.3,166.8,-12.6,109,1103,0.00,2.47,0.00,0.000,4,0.000,0.051,2247,3300,3918
$GC,1131,-1.37,-243.3,171.2,-12.5,111,1138,0.00,2.42,0.00,0.000,6,0.000,0.035,2248,1895,3918
$GC,1457,-1.37,-243.3,211.2,-12.7,142,1462,0.00,2.53,0.00,0.000,4,0.000,0.054,2247,3305,3919
$GC,1531,-1.37,-243.3,220.2,-12.5,148,1535,0.00,2.42,0.00,0.000,6,0.000,0.038,2248,1905,3920
$GC,1858,-1.37,-243.3,260.6,-12.6,178,1862,0.00,2.60,0.00,0.000,4,0.000,0.071,2247,502,3920
$GC,1897,-1.37,-243.3,265.5,-12.5,181,1902,0.00,2.40,0.00,0.000,6,0.000,0.035,2248,1901,3920
$GC,2225,-1.37,-243.3,299.6,-11.7,211,2229,0.00,2.53,0.00,0.000,4,0.000,0.058,2248,3302,3920
$GC,2280,-1.37,-243.3,306.5,-11.6,215,2287,0.00,2.45,0.00,0.000,6,0.000,0.041,2247,1901,3919
$GC,2606,-1.37,-243.3,343.4,-12.1,246,2610,0.00,2.55,0.00,0.000,4,0.000,0.059,2247,3301,3918
$GC,2645,-1.37,-243.3,348.4,-12.4,249,2649,0.00,2.45,0.00,0.000,6,0.000,0.041,2250,1905,3918
$GC,2971,-1.37,-243.3,382.8,-10.3,279,2973,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,1905,3916
$GC,3288,-1.37,-243.3,415.2,-11.0,309,3293,0.00,2.58,0.00,0.000,4,0.000,0.062,2248,3310,3913
$GC,3400,-1.37,-243.3,428.4,-12.5,318,3407,0.00,2.50,0.00,0.000,6,0.000,0.044,2247,1897,3912
$GC,3726,-1.37,-243.3,463.6,-10.7,349,3731,0.00,2.60,0.00,0.000,4,0.000,0.062,2247,3310,3909
$GC,3781,-1.37,-243.3,469.9,-10.8,353,3788,0.00,2.50,0.00,0.000,6,0.000,0.045,2248,1902,3909
$GC,4108,-1.37,-243.3,504.3,-10.2,384,4112,0.00,2.58,0.00,0.000,4,0.000,0.062,2247,3303,3906
$GC,4181,-1.37,-243.3,512.0,-10.3,390,4185,0.00,2.50,0.00,0.000,6,0.000,0.046,2248,1899,3905
$GC,4507,-1.37,-243.3,546.4,-10.5,420,4508,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,1898,3903
$GC,4824,-1.37,-243.3,577.4,-9.4,450,4829,0.00,2.60,0.00,0.000,4,0.000,0.064,2248,3310,3900
$GC,4869,-1.37,-243.3,581.6,-9.2,453,4875,0.00,2.50,0.00,0.000,6,0.000,0.047,2247,1905,3899
$GC,5195,-1.37,-243.3,609.3,-8.2,484,5199,0.00,2.58,0.00,0.000,4,0.000,0.064,2247,3300,3897
$GC,5291,-1.37,-243.3,617.6,-8.5,492,5295,0.00,2.50,0.00,0.000,6,0.000,0.048,2248,1899,3896
$GC,5617,-1.37,-243.3,645.6,-8.7,522,5619,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,1900,3894
$STATE,5773,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5773,begin apogee
$GC,5779,-0.38,0.0,660.1,8.7,537,6007,1.08,0.00,217.68,1.071,6,0.100,0.000,2462,1992,2917
$STATE,6008,end apogee,CONTROL_FINISHED_OK
$STATE,6008,begin climb
$GC,6010,1.37,243.3,668.7,0.0,560,6249,1.83,2.78,222.93,1.026,4,0.070,0.078,2846,592,1924
$GC,6367,1.42,284.8,644.1,8.9,591,6413,0.00,2.53,39.88,0.984,6,0.000,0.045,2846,1996,1755
$GC,6732,1.47,325.2,611.2,8.9,625,6777,0.12,0.00,38.75,0.998,6,0.058,0.000,2882,1996,1591
$GC,7094,1.47,325.2,574.0,11.6,659,7098,0.00,2.62,0.00,0.000,4,0.000,0.072,2882,3388,1582
$GC,7138,1.47,325.2,568.5,12.5,662,7145,0.00,2.53,0.00,0.000,6,0.000,0.048,2882,1990,1582
$GC,7464,1.47,325.2,529.3,12.3,693,7468,0.00,2.62,0.00,0.000,4,0.000,0.067,2882,3388,1581
$GC,7485,1.47,325.2,526.4,12.0,694,7492,0.00,2.53,0.00,0.000,6,0.000,0.048,2882,1990,1581
$GC,7812,1.47,325.2,489.4,11.3,725,7813,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,1990,1580
$GC,8128,1.47,325.2,454.1,11.2,755,8133,0.00,2.62,0.00,0.000,4,0.000,0.067,2882,3393,1579
$GC,8190,1.47,325.2,446.9,11.9,760,8195,0.00,2.53,0.00,0.000,6,0.000,0.048,2882,1988,1578
$GC,8516,1.47,325.2,412.5,10.8,790,8517,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,1988,1577
$GC,8834,1.49,343.4,381.3,9.5,820,8857,0.00,2.67,15.70,0.891,4,0.000,0.065,2882,3396,1517
$GC,8885,1.50,349.6,376.3,9.8,824,8897,0.00,2.55,7.50,0.785,6,0.000,0.046,2882,1983,1491
$GC,9216,1.50,349.6,342.3,10.2,855,9217,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,1983,1487
$GC,9535,1.51,358.1,310.4,9.8,885,9551,0.00,2.67,8.50,0.777,4,0.000,0.061,2882,3388,1457
$GC,9581,1.54,382.3,306.1,9.3,889,9615,0.00,2.50,24.10,0.850,6,0.000,0.044,2882,1987,1358
$GC,9932,1.54,382.3,270.0,12.1,922,9937,0.00,2.65,0.00,0.000,4,0.000,0.074,2882,582,1353
$GC,9976,1.54,382.3,264.0,13.9,925,9983,0.00,2.47,0.00,0.000,6,0.000,0.040,2882,1993,1353
$GC,10303,1.54,382.3,227.9,11.6,956,10304,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,1997,1352
$GC,10620,1.57,410.2,193.3,9.2,986,10655,0.00,2.62,25.40,0.752,4,0.000,0.058,2882,3384,1244
$GC,10705,1.57,410.2,184.6,10.3,993,10712,0.00,2.47,0.00,0.000,6,0.000,0.040,2883,1988,1242
$GC,11031,1.57,410.2,148.7,10.2,1024,11036,0.00,2.60,0.00,0.000,4,0.000,0.067,2882,581,1239
$GC,11098,1.57,410.2,141.2,11.2,1029,11105,0.00,2.45,0.00,0.000,6,0.000,0.035,2882,2002,1239
$GC,11425,1.71,519.9,111.5,7.0,1060,11528,0.20,2.67,93.88,0.654,4,0.041,0.062,2946,585,795
$GC,11545,1.71,519.9,97.6,13.6,1071,11553,0.12,2.45,0.00,0.000,6,0.085,0.035,2922,1988,794
$GC,11870,1.71,519.9,57.4,11.2,1102,11874,0.00,2.60,0.00,0.000,4,0.000,0.063,2922,584,790
$GC,11924,1.71,519.9,50.7,12.4,1106,11931,0.00,2.42,0.00,0.000,6,0.000,0.033,2922,1990,791
$GC,12251,1.71,524.6,20.6,9.9,1137,12260,0.00,0.00,4.40,0.404,6,0.000,0.000,2922,1990,778
$STATE,12429,end climb,SURFACE_DEPTH_REACHED
$STATE,12429,begin surface coast
$FINISH,0.5,1.022983
$STATE,12445,end surface coast,CONTROL_FINISHED_OK
$STATE,12445,begin surface
$SM_CCo,12527,0.00,0.000,0,0,776,524.94
$SM_GC,1.32,10.95,0.00,0.00,0.027,0.000,0.000,404,1892,776,-9.82,-0.37,524.94
$IRIDIUM_FIX,2143.45,-15940.77,251098,090953
$TT8_MAMPS,0.077467
$HUMID,1904
$INTERNAL_PRESSURE,7.47099
$TCM_TEMP,24.40
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.5,9.479
$10V_AH,10.1,4.057
$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,25.775,116.900,698.700,0.000,0.000,30.244,26.238,346.970,0.000,0.000,84.665,29.656,2131.521,7453.454,759.132,2029.238,726.899,33.338,1845.482,0.000,1958.434,0.000,0.000,0.000
$DEVICE_MAMPS,193.284,78.234,1070.732,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,827.132,0.000,0.000,0.000,0.000,0.000,167.045,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,37825,1171
$CAP_FILE_SIZE,121548,0
$CFSIZE,260165632,255074304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310709,161525,2153.225,-15940.455,38,1.1,38,9.8