version: 66.04
glider: 117
mission: 24
dive: 30
start: 8 1 109 18 0 17
data:
$ID,117
$MISSION,24
$DIVE,30
$D_SURF,2
$D_FLARE,3
$D_TGT,270
$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,90
$T_MISSION,120
$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,400
$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,-106976.78
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,409
$PITCH_MAX,3715
$C_PITCH,2542
$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,1970
$C_ROLL_CLIMB,1994
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,46
$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
$GPS1,175143,2151.373,-15942.595,35,2.1,55,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-54.1
$GPS2,175928,2151.371,-15942.745,13,3.1,32,9.8
$SPEED_LIMITS,0.100,0.326
$TGT_NAME,TA
$TGT_LATLONG,2155.000,-15943.400
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.169,0.279
$KALMAN_X,-34470.0,736.9,-185.6,36619.3,-1249.7
$KALMAN_Y,9637.4,-564.3,-223.4,-16879.3,489.1
$MHEAD_RNG_PITCHd_Wd,21.4,6815,-13.9,-10.000
$D_GRID,270
$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,16,-1.37,-243.3,0.0,0.0,0,116,0.00,0.00,-96.68,0.000,2,0.000,0.000,402,1942,3291
$GC,119,-1.37,-243.3,3.5,-6.6,16,148,11.18,2.53,-10.82,0.000,4,0.186,0.060,2238,3365,3913
$GC,220,-1.37,-243.3,26.8,-17.2,30,227,0.00,2.38,0.00,0.000,6,0.000,0.033,2238,1979,3914
$GC,418,-1.37,-243.3,61.4,-16.7,49,419,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,1979,3914
$GC,736,-1.37,-243.3,106.3,-13.3,79,737,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,1979,3916
$GC,1055,-1.37,-243.3,149.9,-13.6,109,1056,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,1979,3916
$GC,1373,-1.37,-243.3,192.5,-13.6,139,1374,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,1979,3917
$GC,1692,-1.37,-243.3,231.2,-12.4,169,1693,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,1979,3917
$GC,2010,-1.37,-243.3,268.8,-11.9,199,2015,0.00,2.50,0.00,0.000,4,0.000,0.056,2238,3368,3917
$STATE,2018,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2019,begin apogee
$GC,2026,-0.38,0.0,270.1,11.6,199,2234,1.05,0.00,198.50,0.679,6,0.095,0.000,2452,1993,2916
$STATE,2235,end apogee,CONTROL_FINISHED_OK
$STATE,2235,begin climb
$GC,2237,1.37,243.3,278.9,0.0,220,2447,1.77,2.65,198.25,0.666,4,0.060,0.067,2837,588,1924
$GC,2474,1.42,284.2,264.6,8.9,240,2516,0.00,2.45,35.17,0.637,6,0.000,0.036,2837,2003,1758
$GC,2834,1.48,337.8,231.6,8.5,274,2890,0.12,2.62,45.75,0.646,4,0.049,0.061,2876,3385,1539
$GC,2926,1.54,381.4,223.5,8.8,282,2972,0.00,2.45,38.22,0.636,6,0.000,0.040,2877,1995,1362
$GC,3289,1.54,386.0,189.0,9.9,316,3301,0.00,2.62,4.20,0.429,4,0.000,0.068,2877,590,1343
$GC,3347,1.54,386.0,182.9,10.7,321,3351,0.00,2.42,0.00,0.000,6,0.000,0.036,2876,1993,1342
$GC,3673,1.54,386.0,150.9,10.2,351,3677,0.00,2.50,0.00,0.000,4,0.000,0.056,2877,3385,1339
$GC,3701,1.54,386.0,147.9,10.1,353,3705,0.00,2.42,0.00,0.000,6,0.000,0.038,2876,1990,1339
$GC,4027,1.62,449.5,117.5,8.2,383,4086,0.00,0.00,55.00,0.606,6,0.000,0.000,2877,1990,1084
$GC,4404,1.69,505.6,86.1,8.4,419,4462,0.15,2.62,47.20,0.575,4,0.041,0.063,2929,598,854
$GC,4489,1.69,505.6,76.0,12.6,426,4496,0.00,2.40,0.00,0.000,6,0.000,0.032,2929,1995,853
$GC,4816,1.70,515.2,38.2,9.7,457,4827,0.00,0.00,8.70,0.481,6,0.000,0.000,2929,1996,816
$GC,5018,1.70,515.2,15.9,11.2,479,5023,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,1996,814
$GC,5092,1.75,550.2,8.4,9.0,492,5111,0.00,0.00,15.45,0.494,6,0.000,0.000,2929,1996,746
$STATE,5154,end climb,SURFACE_DEPTH_REACHED
$STATE,5155,begin surface coast
$FINISH,0.4,1.022507
$STATE,5178,end surface coast,CONTROL_FINISHED_OK
$STATE,5178,begin surface
$SM_CCo,5259,0.00,0.000,0,0,742,533.53
$SM_GC,1.12,10.93,0.00,0.00,0.026,0.000,0.000,406,2001,742,-9.77,0.88,533.53
$IRIDIUM_FIX,2143.45,-15940.77,261098,161627
$TT8_MAMPS,0.057525
$HUMID,1873
$INTERNAL_PRESSURE,7.54912
$TCM_TEMP,24.60
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.9,11.255
$10V_AH,10.2,4.914
$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,25.200,34.975,646.450,0.000,0.000,22.678,25.589,262.805,0.000,0.000,37.525,33.689,867.638,2836.899,655.747,889.718,481.423,33.341,1189.431,0.000,836.695,0.000,0.000,0.000
$DEVICE_MAMPS,186.381,68.263,678.795,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,340.967,0.000,0.000,0.000,0.000,0.000,106.460,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,15857,507
$CAP_FILE_SIZE,56286,0
$CFSIZE,260165632,254218240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010809,192844,2152.264,-15943.083,15,1.9,15,9.8