version: 66.04
glider: 116
mission: 22
dive: 109
start: 8 7 109 23 33 14
data:
$ID,116
$MISSION,22
$DIVE,109
$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,-59764.961
$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,54
$R_STBD_OVSHOOT,29
$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
$GPS1,232450,2155.817,-15946.637,13,1.2,13,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-67.4
$GPS2,233219,2155.883,-15946.843,13,1.3,18,9.8
$SPEED_LIMITS,0.120,0.347
$TGT_NAME,BobNE
$TGT_LATLONG,2154.185,-15941.805
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.325,-0.120
$KALMAN_X,-188696.1,81.6,-401.9,180662.7,-371.0
$KALMAN_Y,60693.4,-184.8,146.5,-60984.0,138.2
$MHEAD_RNG_PITCHd_Wd,100.5,9210,-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,-243.3,0.0,0.0,0,106,0.00,0.00,-86.38,0.000,2,0.000,0.000,124,2638,3428
$GC,109,-1.60,-243.3,3.9,-8.7,13,139,15.52,2.40,-7.53,0.000,4,0.175,0.042,2735,1234,3932
$GC,367,-1.60,-243.3,60.3,-14.9,38,371,0.00,2.40,0.00,0.000,6,0.000,0.034,2735,2626,3966
$GC,438,-1.60,-243.3,71.6,-16.5,44,442,0.00,2.30,0.00,0.000,4,0.000,0.062,2735,3888,3966
$GC,470,-1.60,-243.3,77.7,-17.9,46,478,0.00,2.12,0.00,0.000,6,0.000,0.028,2735,2626,3966
$GC,540,-1.60,-243.3,89.2,-16.2,53,541,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2626,3966
$STATE,549,end dive,TARGET_DEPTH_EXCEEDED
$STATE,549,begin apogee
$GC,554,-0.42,0.0,90.8,16.2,54,866,1.27,0.00,304.33,0.499,6,0.085,0.000,3001,2533,2936
$STATE,867,end apogee,CONTROL_FINISHED_OK
$STATE,867,begin climb
$GC,869,1.60,243.3,103.3,0.0,85,1171,1.95,2.42,289.38,0.489,4,0.048,0.034,3445,1136,1944
$GC,1243,1.71,331.6,87.8,9.1,117,1358,0.00,2.45,107.72,0.476,6,0.000,0.032,3445,2547,1584
$GC,1419,1.71,331.6,68.3,12.8,133,1423,0.00,2.47,0.00,0.000,4,0.000,0.061,3445,3895,1582
$GC,1462,1.71,331.6,62.5,13.5,136,1470,0.00,2.35,0.00,0.000,6,0.000,0.029,3445,2498,1582
$GC,1533,1.72,334.9,54.1,11.9,143,1543,0.00,0.00,5.07,0.347,6,0.000,0.000,3445,2497,1570
$GC,1608,1.74,358.1,45.8,11.2,150,1643,0.00,2.38,29.62,0.455,4,0.000,0.034,3445,1149,1476
$GC,1732,1.81,408.2,32.7,10.3,161,1801,0.00,2.42,62.50,0.456,6,0.000,0.033,3445,2549,1271
$GC,1862,1.87,461.9,20.2,10.2,173,1931,0.00,2.53,62.92,0.449,4,0.000,0.059,3445,3887,1053
$GC,1981,1.87,461.9,6.5,12.2,191,1989,0.00,2.28,0.00,0.000,6,0.000,0.028,3445,2528,1052
$STATE,2006,end climb,SURFACE_DEPTH_REACHED
$STATE,2006,begin surface coast
$FINISH,0.3,1.022908
$STATE,2039,end surface coast,CONTROL_FINISHED_OK
$STATE,2040,begin surface
$SM_CCo,2125,0.00,0.000,0,0,1048,463.13
$SM_GC,1.15,14.57,0.00,0.00,0.038,0.000,0.000,124,2638,1048,-13.58,0.28,463.13
$IRIDIUM_FIX,2145.77,-15945.93,011198,222204
$TT8_MAMPS,0.055991
$HUMID,1757
$INTERNAL_PRESSURE,11.5239
$TCM_TEMP,24.60
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.5,29.526
$10V_AH,9.9,11.050
$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,33.325,28.850,861.550,0.000,0.000,28.555,25.045,263.717,0.000,0.000,48.188,18.461,314.849,528.727,773.938,466.117,505.730,33.331,1187.553,0.000,429.937,0.000,0.000,0.000
$DEVICE_MAMPS,174.876,62.127,498.550,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,122.147,0.000,0.000,0.000,0.000,0.000,69.441,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,6435,201
$CAP_FILE_SIZE,89133,0
$CFSIZE,260034560,243798016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080809,000925,2156.169,-15947.423,9,2.0,14,9.8