version: 66.04
glider: 117
mission: 24
dive: 34
start: 8 2 109 0 43 59
data:
$ID,117
$MISSION,24
$DIVE,34
$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,-107052.58
$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,42
$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
$GPS1,003426,2154.176,-15943.571,26,3.4,46,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-51.8
$GPS2,004308,2154.230,-15943.735,13,1.4,13,9.8
$SPEED_LIMITS,0.100,0.326
$TGT_NAME,TB
$TGT_LATLONG,2153.300,-15940.300
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.320,-0.063
$KALMAN_X,-39424.0,-1505.4,-58.0,41977.4,-885.5
$KALMAN_Y,9594.6,219.4,131.8,-12683.1,95.8
$MHEAD_RNG_PITCHd_Wd,91.4,6151,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.37,-243.3,0.0,0.0,0,118,0.00,0.00,-96.97,0.000,2,0.000,0.000,403,1948,3283
$GC,121,-1.37,-243.3,3.4,-7.3,16,149,11.00,2.45,-10.80,0.000,4,0.182,0.068,2239,585,3913
$GC,239,-1.37,-243.3,31.3,-19.0,31,244,0.00,2.35,0.00,0.000,6,0.000,0.031,2239,1974,3914
$GC,436,-1.37,-243.3,66.7,-16.4,49,441,0.00,2.50,0.00,0.000,4,0.000,0.057,2238,584,3914
$GC,492,-1.37,-243.3,76.3,-16.2,53,499,0.00,2.35,0.00,0.000,6,0.000,0.031,2239,1980,3914
$GC,817,-1.37,-243.3,125.1,-15.4,84,821,0.00,2.45,0.00,0.000,4,0.000,0.054,2239,3362,3916
$GC,860,-1.37,-243.3,132.3,-15.8,87,868,0.00,2.38,0.00,0.000,6,0.000,0.035,2238,1975,3916
$GC,1187,-1.37,-243.3,176.8,-13.5,118,1191,0.00,2.55,0.00,0.000,4,0.000,0.063,2238,568,3916
$GC,1220,-1.37,-243.3,181.6,-13.4,120,1227,0.00,2.38,0.00,0.000,6,0.000,0.033,2239,1974,3917
$GC,1547,-1.37,-243.3,222.2,-13.1,151,1548,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,1974,3917
$GC,1864,-1.37,-243.3,256.2,-9.9,181,1868,0.00,2.50,0.00,0.000,4,0.000,0.058,2239,3365,3918
$GC,1909,-1.37,-243.3,260.8,-10.5,185,1913,0.00,2.40,0.00,0.000,6,0.000,0.038,2238,1973,3917
$STATE,2014,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2014,begin apogee
$GC,2019,-0.38,0.0,270.6,9.1,195,2227,1.05,0.00,197.27,0.687,6,0.090,0.000,2455,1973,2917
$STATE,2228,end apogee,CONTROL_FINISHED_OK
$STATE,2228,begin climb
$GC,2230,1.37,243.3,276.6,0.0,216,2439,1.75,2.62,197.75,0.672,4,0.059,0.059,2836,3387,1924
$GC,2478,1.54,380.3,265.2,6.2,237,2602,0.17,2.45,115.53,0.661,6,0.040,0.040,2889,1995,1365
$GC,2927,1.54,380.3,223.0,10.1,279,2931,0.00,2.62,0.00,0.000,4,0.000,0.071,2889,590,1357
$GC,2970,1.54,380.3,218.2,11.5,282,2977,0.00,2.45,0.00,0.000,6,0.000,0.038,2889,2004,1356
$GC,3297,1.54,380.3,182.5,10.4,313,3298,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,2007,1354
$GC,3614,1.54,380.3,146.4,11.4,343,3615,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,2007,1352
$GC,3933,1.65,475.0,118.2,7.4,373,4018,0.00,2.67,78.70,0.625,4,0.000,0.063,2889,595,980
$GC,4042,1.68,500.8,109.4,9.3,383,4072,0.00,2.42,22.25,0.582,6,0.000,0.035,2889,1996,875
$GC,4389,1.70,511.9,78.8,9.7,416,4402,0.10,0.00,9.93,0.529,6,0.050,0.000,2930,1997,830
$GC,4718,1.70,511.9,40.1,11.0,447,4722,0.00,2.58,0.00,0.000,4,0.000,0.061,2930,590,825
$GC,4791,1.70,511.9,32.0,11.6,453,4795,0.00,2.40,0.00,0.000,6,0.000,0.032,2930,2002,825
$GC,4992,1.70,511.9,10.2,12.1,478,4998,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2002,825
$GC,5067,1.70,511.9,2.0,11.2,491,5073,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2002,825
$STATE,5077,end climb,SURFACE_DEPTH_REACHED
$STATE,5077,begin surface coast
$FINISH,0.4,1.023154
$STATE,5095,end surface coast,CONTROL_FINISHED_OK
$STATE,5096,begin surface
$SM_CCo,5177,0.00,0.000,0,0,823,513.66
$SM_GC,1.08,10.93,0.00,0.00,0.028,0.000,0.000,403,1963,823,-9.78,-0.20,513.66
$IRIDIUM_FIX,2143.45,-15943.76,261098,232336
$TT8_MAMPS,0.082069
$HUMID,1940
$INTERNAL_PRESSURE,7.56865
$TCM_TEMP,24.70
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,24.0,11.888
$10V_AH,10.2,5.177
$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,25.000,44.575,621.425,0.000,0.000,26.299,27.771,325.853,0.000,0.000,49.876,13.396,866.417,2756.415,639.714,884.700,560.796,33.341,1179.397,0.000,846.925,0.000,0.000,0.000
$DEVICE_MAMPS,181.779,111.982,687.232,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,334.833,0.000,0.000,0.000,0.000,0.000,72.502,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,15878,496
$CAP_FILE_SIZE,58762,0
$CFSIZE,260165632,253882368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020809,021102,2154.258,-15943.357,13,1.9,13,9.8