version: 66.04
glider: 116
mission: 22
dive: 108
start: 8 7 109 22 49 27
data:
$ID,116
$MISSION,22
$DIVE,108
$D_SURF,4
$D_FLARE,3
$D_TGT,90
$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,25
$T_MISSION,35
$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,51716
$NAV_MODE,1
$FERRY_MAX,0
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-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,375
$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,30
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-59745.871
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,132
$PITCH_MAX,3449
$C_PITCH,3095
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,12
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,140
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,155
$ROLL_MAX,3900
$ROLL_DEG,40
$C_ROLL_DIVE,2628
$C_ROLL_CLIMB,2530
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,46
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,770
$VBD_MAX,3955
$C_VBD,2936
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,3
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,150
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-0.46644667
$PRESSURE_SLOPE,0.0001158926
$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,90
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,12
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,2
$XPDR_VALID,0
$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,0.0043738699
$SEABIRD_T_H,0.00063649943
$SEABIRD_T_I,2.5189185e-05
$SEABIRD_T_J,2.7386873e-06
$SEABIRD_C_G,-9.8703537
$SEABIRD_C_H,1.1242318
$SEABIRD_C_I,-0.0015997718
$SEABIRD_C_J,0.00020779716
$GPS1,223204,2155.651,-15945.609,7,3.2,26,9.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-66.4
$GPS2,224832,2155.741,-15946.035,13,1.6,13,9.8
$SPEED_LIMITS,0.120,0.347
$TGT_NAME,BobNE
$TGT_LATLONG,2154.185,-15941.805
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.326,-0.119
$KALMAN_X,-187671.2,573.9,-258.3,180368.0,-591.6
$KALMAN_Y,60421.3,-339.4,168.6,-60839.0,219.4
$MHEAD_RNG_PITCHd_Wd,100.3,7820,-15.6,-12.000
$D_GRID,90
$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,-1.60,-243.3,0.0,0.0,0,114,0.00,0.00,-93.50,0.000,2,0.000,0.000,125,2636,3364
$GC,116,-1.60,-243.3,3.4,-7.3,14,147,15.62,2.35,-8.70,0.000,4,0.177,0.072,2736,3890,3928
$GC,343,-1.60,-243.3,64.8,-20.7,36,351,0.00,2.15,0.00,0.000,6,0.000,0.028,2736,2619,3954
$GC,414,-1.60,-243.3,77.0,-17.3,43,419,0.00,2.35,0.00,0.000,4,0.000,0.031,2736,1235,3954
$GC,488,-1.60,-243.3,89.5,-15.7,49,492,0.00,2.22,0.00,0.000,3,0.000,0.034,2736,2529,3953
$STATE,492,end dive,TARGET_DEPTH_EXCEEDED
$STATE,492,begin apogee
$GC,497,-0.42,0.0,90.3,15.2,49,787,1.25,0.00,282.45,0.512,6,0.083,0.000,2999,2528,2936
$STATE,788,end apogee,CONTROL_FINISHED_OK
$STATE,788,begin climb
$GC,790,1.60,243.3,102.5,0.0,78,1104,1.98,2.42,302.55,0.498,4,0.047,0.033,3443,1143,1944
$GC,1266,1.69,314.6,77.2,9.6,118,1359,0.00,2.40,87.60,0.477,6,0.000,0.031,3443,2531,1653
$GC,1430,1.73,348.4,60.8,10.9,133,1479,0.00,2.42,42.92,0.466,4,0.000,0.034,3443,1140,1514
$GC,1575,1.78,389.4,44.2,10.6,145,1634,0.00,2.42,51.70,0.463,6,0.000,0.031,3443,2540,1347
$GC,1705,1.84,436.7,31.1,10.4,157,1768,0.00,0.00,58.83,0.456,6,0.000,0.000,3443,2540,1155
$GC,1829,1.88,471.7,17.7,10.8,170,1877,0.00,0.00,41.40,0.446,6,0.000,0.000,3443,2540,1013
$GC,1946,1.91,494.7,4.6,11.2,189,1954,0.00,0.00,6.50,0.362,2,0.000,0.000,3443,2540,990
$STATE,1955,end climb,SURFACE_DEPTH_REACHED
$STATE,1955,begin surface coast
$FINISH,0.3,1.023149
$STATE,1994,end surface coast,CONTROL_FINISHED_OK
$STATE,1994,begin surface
$SM_CCo,2078,0.00,0.000,0,0,985,478.33
$SM_GC,1.19,14.52,0.00,0.00,0.037,0.000,0.000,124,2636,985,-13.58,0.25,478.33
$IRIDIUM_FIX,2145.77,-15945.93,011198,222239
$TT8_MAMPS,0.055991
$HUMID,1732
$INTERNAL_PRESSURE,11.5043
$TCM_TEMP,24.80
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.9,29.378
$10V_AH,9.8,11.007
$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,33.375,18.900,873.950,0.000,0.000,49.096,58.558,658.887,0.000,0.000,47.289,13.766,301.138,524.246,773.041,484.746,979.337,33.348,1186.362,0.000,437.248,0.000,0.000,0.000
$DEVICE_MAMPS,177.177,72.098,512.356,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,119.502,0.000,0.000,0.000,0.000,0.000,114.194,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,6423,197
$CAP_FILE_SIZE,96003,0
$CFSIZE,260034560,243859456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070809,232450,2155.817,-15946.637,13,1.2,13,9.8