version: 66.04
glider: 117
mission: 24
dive: 49
start: 8 3 109 3 13 17
data:
$ID,117
$MISSION,24
$DIVE,49
$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,115
$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,-107359.33
$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,29
$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
$GPS1,030308,2154.814,-15942.845,11,2.0,11,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-59.7
$GPS2,031226,2154.916,-15942.959,15,2.0,15,9.8
$SPEED_LIMITS,0.100,0.279
$TGT_NAME,BobNE
$TGT_LATLONG,2154.185,-15941.805
$TGT_RADIUS,400.000
$KALMAN_CONTROL,0.200,-0.194
$KALMAN_X,-52955.9,-1421.3,-172.6,56878.4,-764.0
$KALMAN_Y,15707.8,874.1,174.9,-18229.7,832.1
$MHEAD_RNG_PITCHd_Wd,124.3,2401,-16.8,-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,15,-1.50,-170.3,0.0,0.0,0,98,0.00,0.00,-79.15,0.000,2,0.000,0.000,408,1990,3447
$GC,100,-1.50,-170.3,4.1,-10.0,13,121,10.57,2.42,-2.78,0.000,4,0.175,0.057,2209,3366,3613
$GC,363,-1.50,-170.3,60.4,-18.3,40,367,0.00,2.38,0.00,0.000,6,0.000,0.034,2209,1971,3614
$GC,688,-1.50,-170.3,109.1,-13.9,70,689,0.00,0.00,0.00,0.000,6,0.000,0.000,2209,1971,3615
$GC,1006,-1.50,-170.3,153.9,-13.0,100,1011,0.00,2.53,0.00,0.000,4,0.000,0.063,2209,570,3615
$GC,1069,-1.50,-170.3,162.9,-14.5,105,1073,0.00,2.38,0.00,0.000,6,0.000,0.032,2209,1978,3615
$GC,1401,-1.50,-170.3,206.1,-12.4,136,1405,0.00,2.45,0.00,0.000,4,0.000,0.054,2209,3363,3615
$GC,1495,-1.50,-170.3,218.2,-12.1,144,1502,0.00,2.38,0.00,0.000,6,0.000,0.036,2209,1971,3615
$GC,1822,-1.50,-170.3,254.8,-10.6,175,1826,0.00,2.55,0.00,0.000,4,0.000,0.067,2208,572,3615
$GC,1850,-1.50,-170.3,258.1,-11.5,177,1854,0.00,2.38,0.00,0.000,6,0.000,0.035,2209,1968,3615
$STATE,1970,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1970,begin apogee
$GC,1976,-0.38,0.0,271.1,10.5,188,2123,1.20,0.00,138.05,0.681,6,0.094,0.000,2453,1971,2917
$STATE,2124,end apogee,CONTROL_FINISHED_OK
$STATE,2125,begin climb
$GC,2127,1.50,170.3,274.9,0.0,203,2275,1.88,0.00,138.18,0.667,6,0.058,0.000,2872,1971,2221
$GC,2593,1.59,238.2,242.8,7.3,248,2654,0.00,2.62,55.70,0.660,4,0.000,0.061,2872,3389,1944
$GC,2711,1.64,276.7,233.2,8.5,258,2750,0.12,2.45,32.33,0.640,6,0.046,0.041,2914,1995,1789
$GC,3075,1.65,287.5,194.7,9.6,292,3089,0.00,2.55,9.20,0.571,4,0.000,0.057,2914,3388,1745
$GC,3123,1.65,287.5,189.7,10.3,296,3130,0.00,2.45,0.00,0.000,6,0.000,0.040,2914,1991,1743
$GC,3450,1.69,324.8,159.8,8.5,327,3491,0.00,2.60,32.22,0.633,4,0.000,0.055,2914,3385,1591
$GC,3541,1.69,324.8,149.7,11.0,335,3549,0.00,2.42,0.00,0.000,6,0.000,0.038,2914,1992,1588
$GC,3868,1.74,365.0,117.2,8.4,366,3907,0.00,2.60,33.90,0.609,4,0.000,0.064,2914,593,1427
$GC,3953,1.74,365.0,108.9,10.1,373,3958,0.00,2.42,0.00,0.000,6,0.000,0.035,2914,2003,1424
$GC,4280,1.80,408.4,79.3,8.3,403,4325,0.00,2.55,36.60,0.578,4,0.000,0.056,2914,3378,1252
$GC,4371,1.80,408.4,70.5,10.3,411,4375,0.00,2.40,0.00,0.000,6,0.000,0.036,2914,1993,1249
$GC,4698,1.84,440.6,40.3,8.7,441,4733,0.12,2.53,27.52,0.537,4,0.043,0.051,2961,3385,1120
$GC,4779,1.84,440.6,31.9,10.3,448,4783,0.00,2.40,0.00,0.000,6,0.000,0.035,2961,1992,1118
$GC,4982,1.84,440.6,7.9,12.4,474,4989,0.00,2.55,0.00,0.000,4,0.000,0.062,2961,586,1115
$GC,5029,1.84,440.6,2.0,12.0,482,5036,0.00,2.40,0.00,0.000,6,0.000,0.031,2961,2003,1115
$STATE,5040,end climb,SURFACE_DEPTH_REACHED
$STATE,5040,begin surface coast
$FINISH,0.4,1.013321
$STATE,5058,end surface coast,CONTROL_FINISHED_OK
$STATE,5058,begin surface
$SM_CCo,5141,0.00,0.000,0,0,1113,442.52
$SM_GC,1.34,11.02,0.00,0.00,0.027,0.000,0.000,406,1953,1113,-9.77,-0.48,442.52
$IRIDIUM_FIX,2143.45,-15945.93,281098,030338
$TT8_MAMPS,0.059059
$HUMID,1933
$INTERNAL_PRESSURE,7.62725
$TCM_TEMP,25.00
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,24.1,14.003
$10V_AH,10.2,6.055
$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,24.925,54.450,503.700,0.000,0.000,51.019,65.955,240.464,0.000,0.000,55.683,15.503,890.647,2843.668,546.490,883.134,549.769,33.340,1065.167,0.000,852.691,0.000,0.000,0.000
$DEVICE_MAMPS,174.876,110.448,681.096,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,326.947,0.000,0.000,0.000,0.000,0.000,72.083,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,15845,487
$CAP_FILE_SIZE,59670,0
$CFSIZE,260165632,252731392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030809,044006,2154.561,-15942.754,35,1.3,35,9.8