version: 66.04
glider: 117
mission: 24
dive: 22
start: 7 31 109 19 1 23
data:
$ID,117
$MISSION,24
$DIVE,22
$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,45
$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,450
$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,-106804.48
$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,30
$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
$GPS1,185106,2152.426,-15940.457,11,1.4,27,9.8
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-53.4
$GPS2,190032,2152.437,-15940.612,15,1.1,15,9.8
$SPEED_LIMITS,0.100,0.326
$TGT_NAME,T2
$TGT_LATLONG,2150.420,-15941.560
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.164,-0.282
$KALMAN_X,-24331.2,740.6,7.6,29932.2,-2276.7
$KALMAN_Y,5758.0,-415.0,112.3,-11518.2,688.4
$MHEAD_RNG_PITCHd_Wd,140.1,4076,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.37,-243.3,0.0,0.0,0,109,0.00,0.00,-90.50,0.000,2,0.000,0.000,405,1897,3214
$GC,113,-1.37,-243.3,3.1,-5.1,15,140,11.48,0.00,-12.55,0.000,6,0.194,0.000,2249,1897,3912
$GC,207,-1.37,-243.3,23.7,-16.9,29,208,0.00,0.00,0.00,0.000,6,0.000,0.000,2249,1897,3914
$GC,398,-1.37,-243.3,52.4,-14.0,47,402,0.00,2.53,0.00,0.000,4,0.000,0.061,2249,508,3914
$GC,441,-1.37,-243.3,58.3,-13.0,50,448,0.00,2.38,0.00,0.000,6,0.000,0.031,2250,1909,3914
$GC,766,-1.37,-243.3,100.6,-12.7,81,770,0.00,2.45,0.00,0.000,4,0.000,0.051,2249,3296,3916
$GC,809,-1.37,-243.3,107.1,-14.9,84,817,0.00,2.38,0.00,0.000,6,0.000,0.035,2249,1911,3916
$GC,1136,-1.37,-243.3,151.2,-12.2,115,1140,0.00,2.47,0.00,0.000,4,0.000,0.051,2249,3299,3916
$GC,1157,-1.37,-243.3,154.3,-12.9,116,1164,0.00,2.40,0.00,0.000,6,0.000,0.035,2249,1904,3917
$GC,1484,-1.37,-243.3,194.6,-12.4,147,1485,0.00,0.00,0.00,0.000,6,0.000,0.000,2250,1904,3917
$GC,1800,-1.37,-243.3,236.6,-11.1,177,1804,0.00,2.50,0.00,0.000,4,0.000,0.054,2249,3296,3917
$GC,1862,-1.37,-243.3,243.9,-12.4,182,1866,0.00,2.40,0.00,0.000,6,0.000,0.039,2250,1906,3917
$GC,2195,-1.37,-243.3,277.8,-9.0,213,2200,0.00,2.62,0.00,0.000,4,0.000,0.073,2249,496,3918
$GC,2247,-1.37,-243.3,282.7,-9.3,217,2251,0.00,2.42,0.00,0.000,6,0.000,0.037,2249,1902,3917
$GC,2573,-1.37,-243.3,312.2,-9.1,247,2577,0.00,2.55,0.00,0.000,4,0.000,0.061,2250,3310,3916
$GC,2635,-1.37,-243.3,318.3,-9.6,252,2639,0.00,2.47,0.00,0.000,6,0.000,0.042,2249,1899,3916
$GC,2962,-1.37,-243.3,352.0,-9.9,282,2966,0.00,2.58,0.00,0.000,4,0.000,0.061,2249,3310,3913
$GC,3005,-1.37,-243.3,357.0,-10.7,285,3012,0.00,2.47,0.00,0.000,6,0.000,0.043,2249,1904,3913
$GC,3332,-1.37,-243.3,392.0,-10.9,316,3333,0.00,0.00,0.00,0.000,6,0.000,0.000,2249,1904,3910
$GC,3649,-1.37,-243.3,424.6,-10.5,346,3650,0.00,0.00,0.00,0.000,6,0.000,0.000,2249,1903,3907
$STATE,3880,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3880,begin apogee
$GC,3886,-0.38,0.0,450.4,11.3,368,4104,1.05,0.00,207.82,0.877,6,0.099,0.000,2462,1993,2916
$STATE,4105,end apogee,CONTROL_FINISHED_OK
$STATE,4105,begin climb
$GC,4107,1.37,243.3,462.5,0.0,390,4330,1.83,2.65,210.18,0.848,4,0.065,0.066,2851,3390,1924
$GC,4398,1.46,319.5,447.9,7.9,415,4477,0.00,2.53,68.47,0.827,6,0.000,0.044,2850,1983,1613
$GC,4795,1.48,333.9,413.5,9.6,452,4815,0.10,0.00,12.98,0.768,6,0.061,0.000,2881,1983,1555
$GC,5133,1.48,333.9,374.5,11.6,484,5137,0.00,2.65,0.00,0.000,4,0.000,0.078,2882,586,1550
$GC,5172,1.48,333.9,369.6,13.2,487,5177,0.00,2.47,0.00,0.000,6,0.000,0.043,2881,1988,1550
$GC,5498,1.48,333.9,331.1,11.7,517,5503,0.00,2.60,0.00,0.000,4,0.000,0.068,2881,3389,1548
$GC,5538,1.48,333.9,326.0,12.9,520,5542,0.00,2.50,0.00,0.000,6,0.000,0.045,2881,1986,1547
$GC,5864,1.49,343.6,289.5,9.7,550,5875,0.00,0.00,8.65,0.718,6,0.000,0.000,2881,1986,1516
$GC,6193,1.49,343.6,257.0,10.5,581,6197,0.00,2.62,0.00,0.000,4,0.000,0.075,2882,586,1513
$GC,6247,1.49,343.6,250.7,10.7,585,6254,0.00,2.47,0.00,0.000,6,0.000,0.041,2882,1996,1512
$GC,6574,1.49,343.6,218.1,10.2,616,6578,0.00,2.55,0.00,0.000,4,0.000,0.064,2881,3388,1511
$GC,6658,1.49,343.6,209.3,10.5,623,6662,0.00,2.47,0.00,0.000,6,0.000,0.042,2882,1986,1511
$GC,6984,1.57,405.3,179.9,8.3,653,7045,0.00,2.67,54.65,0.733,4,0.000,0.070,2881,582,1264
$GC,7090,1.57,405.3,169.3,11.0,662,7097,0.00,2.47,0.00,0.000,6,0.000,0.038,2882,1992,1260
$GC,7417,1.63,454.4,140.0,8.6,693,7466,0.12,0.00,42.90,0.683,6,0.048,0.000,2926,1996,1063
$GC,7784,1.63,454.4,96.1,12.7,728,7785,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,1996,1057
$GC,8102,1.63,454.4,59.3,12.1,758,8107,0.00,2.60,0.00,0.000,4,0.000,0.061,2924,581,1056
$GC,8180,1.63,454.4,49.3,12.5,764,8187,0.00,2.42,0.00,0.000,6,0.000,0.033,2924,1996,1055
$GC,8378,1.63,454.4,28.5,10.2,783,8382,0.00,2.60,0.00,0.000,4,0.000,0.061,2924,583,1055
$GC,8406,1.63,454.4,25.6,10.7,785,8410,0.00,2.42,0.00,0.000,6,0.000,0.032,2924,2003,1055
$GC,8613,1.65,475.3,5.8,9.4,816,8632,0.00,0.00,17.48,0.533,6,0.000,0.000,2924,2003,979
$STATE,8648,end climb,SURFACE_DEPTH_REACHED
$STATE,8648,begin surface coast
$FINISH,0.5,1.009678
$STATE,8671,end surface coast,CONTROL_FINISHED_OK
$STATE,8672,begin surface
$SM_CCo,8753,0.00,0.000,0,0,975,476.37
$SM_GC,1.12,11.02,0.00,0.00,0.030,0.000,0.000,410,1885,975,-9.81,-0.54,476.37
$IRIDIUM_FIX,2143.45,-15940.77,251098,161640
$TT8_MAMPS,0.057525
$HUMID,1944
$INTERNAL_PRESSURE,7.50029
$TCM_TEMP,24.30
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.8,9.854
$10V_AH,10.1,4.223
$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,25.600,75.675,623.125,0.000,0.000,24.732,32.543,353.249,0.000,0.000,60.492,15.791,1495.984,5072.840,666.321,1427.773,660.107,33.334,1461.533,0.000,1377.941,0.000,0.000,0.000
$DEVICE_MAMPS,194.051,78.234,876.681,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,571.733,0.000,0.000,0.000,0.000,0.000,118.607,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,25261,826
$CAP_FILE_SIZE,89786,0
$CFSIZE,260165632,254914560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310709,212832,2151.392,-15940.675,21,2.3,40,9.8