version: 66.04
glider: 117
mission: 24
dive: 44
start: 8 2 109 23 56 32
data:
$ID,117
$MISSION,24
$DIVE,44
$D_SURF,2
$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,45
$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,175
$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,-107261.45
$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,25
$R_STBD_OVSHOOT,35
$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
$GPS1,234732,2153.927,-15942.032,11,1.5,11,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-54.9
$GPS2,235543,2153.995,-15942.192,16,1.6,16,9.8
$SPEED_LIMITS,0.120,0.296
$TGT_NAME,BobNE
$TGT_LATLONG,2154.185,-15941.805
$TGT_RADIUS,400.000
$KALMAN_CONTROL,0.270,-0.122
$KALMAN_X,-50976.0,-489.9,-87.3,55193.2,-310.2
$KALMAN_Y,14089.1,286.0,9.2,-17555.8,232.2
$MHEAD_RNG_PITCHd_Wd,104.5,753,-19.6,-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,-1.72,-170.3,0.0,0.0,0,105,0.00,0.00,-85.55,0.000,2,0.000,0.000,408,1987,3329
$GC,108,-1.72,-170.3,3.9,-8.1,14,128,10.50,0.00,-4.90,0.000,6,0.181,0.000,2161,1987,3614
$GC,196,-1.72,-170.3,27.2,-20.2,26,197,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,1987,3616
$GC,385,-1.72,-170.3,65.7,-20.6,44,387,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,1987,3616
$STATE,542,end dive,TARGET_DEPTH_EXCEEDED
$STATE,542,begin apogee
$GC,548,-0.38,0.0,90.9,14.3,59,687,1.48,0.00,132.95,0.544,6,0.113,0.000,2448,1989,2917
$STATE,688,end apogee,CONTROL_FINISHED_OK
$STATE,688,begin climb
$GC,690,1.72,170.3,97.7,0.0,73,831,2.15,0.00,131.93,0.528,6,0.064,0.000,2918,1987,2221
$GC,1149,1.87,292.8,63.4,6.2,117,1253,0.15,2.55,97.03,0.508,4,0.040,0.053,2972,3387,1722
$GC,1276,1.87,292.8,51.0,12.6,128,1281,0.12,2.42,0.00,0.000,6,0.083,0.036,2947,1992,1720
$GC,1601,1.93,344.6,20.8,9.6,158,1651,0.00,2.55,42.25,0.481,4,0.000,0.053,2947,3390,1510
$GC,1708,1.99,390.3,10.2,9.8,175,1754,0.12,2.42,38.17,0.470,6,0.047,0.035,2991,1993,1324
$STATE,1780,end climb,SURFACE_DEPTH_REACHED
$STATE,1780,begin surface coast
$FINISH,0.4,1.012857
$STATE,1798,end surface coast,CONTROL_FINISHED_OK
$STATE,1798,begin surface
$SM_CCo,1822,4.90,0.351,0,0,1286,400.08
$SM_GC,1.30,0.00,0.00,4.90,0.000,0.000,0.351,407,1990,1286,-9.82,0.57,400.08
$IRIDIUM_FIX,2145.77,-15940.77,271098,222212
$TT8_MAMPS,0.066729
$HUMID,1824
$INTERNAL_PRESSURE,7.63701
$TCM_TEMP,25.20
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,24.1,13.545
$10V_AH,10.2,5.895
$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,25.825,9.950,442.325,4.900,0.000,29.929,28.380,290.052,0.000,0.000,22.058,17.001,315.635,743.385,466.227,337.857,464.904,33.343,709.560,0.000,313.761,0.000,0.000,0.000
$DEVICE_MAMPS,181.012,52.923,543.803,350.519,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,125.718,0.000,0.000,0.000,0.000,0.000,31.839,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,6438,190
$CAP_FILE_SIZE,29632,0
$CFSIZE,260165632,252964864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030809,002804,2153.948,-15942.284,9,2.1,28,9.8