version: 66.04
glider: 117
mission: 24
dive: 54
start: 8 3 109 15 4 41
data:
$ID,117
$MISSION,24
$DIVE,54
$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,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,-107450.34
$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,23
$R_STBD_OVSHOOT,39
$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
$GPS1,145604,2153.711,-15941.965,12,2.1,31,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-54.1
$GPS2,150350,2153.784,-15942.093,11,1.4,11,9.8
$SPEED_LIMITS,0.100,0.279
$TGT_NAME,BobNE
$TGT_LATLONG,2154.185,-15941.805
$TGT_RADIUS,400.000
$KALMAN_CONTROL,0.274,0.017
$KALMAN_X,-60825.3,1202.5,84.9,63357.5,-993.0
$KALMAN_Y,20533.7,-746.4,159.8,-23512.0,654.1
$MHEAD_RNG_PITCHd_Wd,76.7,892,-17.2,-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,16,-1.52,-164.1,0.0,0.0,0,111,0.00,0.00,-91.68,0.000,2,0.000,0.000,405,2000,3314
$GC,114,-1.53,-170.3,3.9,-8.4,15,136,10.80,2.42,-5.18,0.000,4,0.183,0.061,2204,3366,3614
$GC,221,-1.53,-170.3,30.0,-18.4,29,225,0.00,2.42,0.00,0.000,6,0.000,0.035,2204,1964,3616
$GC,419,-1.53,-170.3,63.4,-15.4,47,424,0.00,2.47,0.00,0.000,4,0.000,0.049,2204,3360,3616
$GC,493,-1.53,-170.3,73.9,-15.3,53,497,0.00,2.40,0.00,0.000,6,0.000,0.035,2204,1963,3617
$GC,819,-1.53,-170.3,123.2,-15.8,83,823,0.00,2.50,0.00,0.000,4,0.000,0.051,2204,3366,3619
$GC,858,-1.53,-170.3,129.9,-16.4,86,862,0.00,2.40,0.00,0.000,6,0.000,0.036,2203,1972,3619
$GC,1184,-1.53,-170.3,178.7,-13.6,116,1188,0.00,2.50,0.00,0.000,4,0.000,0.052,2203,3368,3620
$GC,1246,-1.53,-170.3,187.0,-13.2,121,1251,0.00,2.42,0.00,0.000,6,0.000,0.036,2204,1962,3620
$GC,1573,-1.53,-170.3,227.0,-11.3,151,1577,0.00,2.55,0.00,0.000,4,0.000,0.066,2203,570,3620
$GC,1645,-1.53,-170.3,235.5,-11.1,157,1650,0.00,2.40,0.00,0.000,6,0.000,0.035,2204,1976,3620
$GC,1973,-1.53,-170.3,268.6,-9.8,187,1977,0.00,2.50,0.00,0.000,4,0.000,0.059,2204,3362,3620
$STATE,1981,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1981,begin apogee
$GC,1989,-0.38,0.0,270.2,10.0,187,2137,1.23,0.00,140.73,0.692,6,0.100,0.000,2450,1995,2917
$STATE,2138,end apogee,CONTROL_FINISHED_OK
$STATE,2138,begin climb
$GC,2140,1.53,170.3,273.9,0.0,202,2286,1.95,0.00,139.52,0.676,6,0.061,0.000,2879,1995,2222
$GC,2601,1.62,241.0,243.4,7.1,245,2669,0.00,2.62,58.35,0.667,4,0.000,0.062,2878,3378,1933
$GC,2777,1.66,272.8,229.6,8.7,260,2811,0.10,2.45,27.50,0.644,6,0.056,0.041,2913,1990,1804
$GC,3136,1.66,272.8,193.7,10.3,294,3140,0.00,2.60,0.00,0.000,4,0.000,0.070,2913,594,1796
$GC,3175,1.66,272.8,189.5,11.1,297,3179,0.00,2.42,0.00,0.000,6,0.000,0.036,2913,1995,1795
$GC,3502,1.67,280.1,156.4,9.7,327,3514,0.00,2.55,5.65,0.507,4,0.000,0.058,2913,3403,1775
$GC,3587,1.68,289.4,147.9,9.6,334,3605,0.00,2.47,9.57,0.576,6,0.000,0.038,2913,1989,1737
$GC,3923,1.73,329.1,117.6,8.4,366,3964,0.00,0.00,34.35,0.617,6,0.000,0.000,2913,1989,1575
$GC,4285,1.78,374.0,84.9,8.2,400,4331,0.00,2.58,38.47,0.588,4,0.000,0.054,2913,3390,1391
$GC,4414,1.87,446.6,74.1,7.0,411,4483,0.15,2.45,61.90,0.571,6,0.041,0.035,2963,1984,1096
$GC,4802,1.87,446.6,28.2,12.2,447,4806,0.00,2.55,0.00,0.000,4,0.000,0.062,2962,588,1089
$GC,4834,1.87,446.6,23.7,14.0,449,4841,0.00,2.42,0.00,0.000,6,0.000,0.031,2962,2009,1088
$STATE,5016,end climb,SURFACE_DEPTH_REACHED
$STATE,5016,begin surface coast
$FINISH,0.4,1.023059
$STATE,5028,end surface coast,CONTROL_FINISHED_OK
$STATE,5028,begin surface
$SM_CCo,5111,0.00,0.000,0,0,1084,449.63
$SM_GC,1.14,11.18,0.00,0.00,0.031,0.000,0.000,407,1960,1084,-9.77,-0.28,449.63
$IRIDIUM_FIX,2143.45,-15940.77,281098,131313
$TT8_MAMPS,0.069797
$HUMID,1921
$INTERNAL_PRESSURE,7.56865
$TCM_TEMP,24.60
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.8,15.016
$10V_AH,10.2,6.460
$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,25.400,54.575,516.050,0.000,0.000,29.815,29.933,269.701,0.000,0.000,164.518,11.775,878.642,2761.322,545.111,893.977,506.539,33.333,1075.494,0.000,857.751,0.000,0.000,0.000
$DEVICE_MAMPS,182.546,104.312,691.834,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,324.461,0.000,0.000,0.000,0.000,0.000,91.540,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,15882,481
$CAP_FILE_SIZE,59397,0
$CFSIZE,260165632,252239872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030809,163040,2154.144,-15941.938,13,1.7,15,9.8