version: 66.04
glider: 117
mission: 24
dive: 92
start: 8 6 109 18 44 41
data:
$ID,117
$MISSION,24
$DIVE,92
$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,60
$T_MISSION,125
$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,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,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,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-108304.33
$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,26
$R_STBD_OVSHOOT,41
$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
$GPS1,183354,2154.500,-15942.921,37,1.4,38,9.8
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-54.2
$GPS2,184349,2154.595,-15943.253,11,1.3,11,9.8
$SPEED_LIMITS,0.150,0.374
$TGT_NAME,BobNE
$TGT_LATLONG,2154.185,-15941.805
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.344,-0.148
$KALMAN_X,-128858.1,1273.9,-308.5,129724.7,-1456.0
$KALMAN_Y,53887.3,-1053.7,174.0,-55075.9,598.1
$MHEAD_RNG_PITCHd_Wd,103.4,2602,-19.7,-15.000
$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,-1.81,-243.3,0.0,0.0,0,117,0.00,0.00,-97.40,0.000,2,0.000,0.000,405,1993,3320
$GC,120,-1.81,-243.3,3.9,-7.9,16,146,10.32,0.00,-10.05,0.000,6,0.178,0.000,2144,1993,3911
$GC,218,-1.81,-243.3,32.0,-24.9,29,222,0.00,2.58,0.00,0.000,4,0.000,0.055,2144,562,3912
$GC,250,-1.81,-243.3,40.6,-25.6,31,257,0.00,2.38,0.00,0.000,6,0.000,0.028,2144,1976,3912
$GC,322,-1.81,-243.3,56.9,-22.9,38,326,0.00,2.45,0.00,0.000,4,0.000,0.048,2144,3365,3912
$GC,362,-1.81,-243.3,66.6,-23.2,41,367,0.00,2.40,0.00,0.000,6,0.000,0.031,2144,1958,3913
$GC,432,-1.81,-243.3,82.6,-22.1,47,433,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,1958,3913
$GC,496,-1.81,-243.3,96.0,-20.8,53,497,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,1958,3913
$GC,560,-1.81,-243.3,108.4,-18.3,59,561,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,1957,3914
$GC,623,-1.81,-243.3,120.7,-18.7,65,624,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,1957,3914
$GC,687,-1.81,-243.3,133.0,-19.2,71,688,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,1957,3914
$GC,751,-1.81,-243.3,145.8,-20.1,77,755,0.00,2.50,0.00,0.000,4,0.000,0.059,2144,572,3915
$GC,828,-1.81,-243.3,162.3,-22.1,83,835,0.00,2.35,0.00,0.000,6,0.000,0.029,2144,1970,3915
$GC,900,-1.81,-243.3,175.9,-19.4,90,904,0.00,2.47,0.00,0.000,4,0.000,0.051,2144,3370,3916
$GC,941,-1.81,-243.3,183.9,-18.7,93,945,0.00,2.40,0.00,0.000,6,0.000,0.033,2144,1963,3915
$GC,1011,-1.81,-243.3,197.4,-18.1,99,1012,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,1963,3916
$GC,1074,-1.81,-243.3,208.6,-17.8,105,1075,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,1963,3917
$GC,1138,-1.81,-243.3,220.0,-18.0,111,1139,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,1963,3916
$GC,1202,-1.81,-243.3,229.3,-14.2,117,1206,0.00,2.50,0.00,0.000,4,0.000,0.051,2144,3367,3916
$GC,1235,-1.81,-243.3,234.2,-14.5,119,1241,0.00,2.40,0.00,0.000,6,0.000,0.034,2143,1965,3916
$GC,1304,-1.81,-243.3,245.1,-15.2,126,1309,0.00,2.55,0.00,0.000,4,0.000,0.064,2144,566,3917
$GC,1360,-1.81,-243.3,253.9,-15.3,130,1367,0.00,2.40,0.00,0.000,6,0.000,0.032,2144,1976,3917
$GC,1430,-1.81,-243.3,264.5,-15.5,137,1434,0.00,2.50,0.00,0.000,4,0.000,0.057,2144,3370,3917
$STATE,1467,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1467,begin apogee
$GC,1475,-0.38,0.0,270.9,16.8,140,1683,1.55,0.00,198.20,0.680,6,0.104,0.000,2451,1995,2916
$STATE,1684,end apogee,CONTROL_FINISHED_OK
$STATE,1684,begin climb
$GC,1686,1.81,243.3,279.9,0.0,161,1895,2.20,2.62,197.95,0.668,4,0.059,0.059,2937,3385,1924
$GC,1954,1.95,355.5,260.4,10.4,186,2056,0.12,2.45,94.45,0.655,6,0.046,0.038,2976,1994,1466
$GC,2122,1.95,359.7,237.6,14.8,201,2134,0.00,2.62,4.30,0.426,4,0.000,0.066,2976,591,1450
$GC,2173,1.95,359.7,229.0,17.2,205,2180,0.00,2.45,0.00,0.000,6,0.000,0.035,2977,2004,1448
$GC,2244,1.99,385.2,218.7,13.9,212,2272,0.00,2.55,23.35,0.621,4,0.000,0.058,2976,3389,1345
$GC,2345,2.02,411.4,203.9,13.9,220,2375,0.00,2.47,23.38,0.614,6,0.000,0.039,2977,1986,1240
$GC,2438,2.03,422.3,190.2,14.5,229,2453,0.00,2.60,10.45,0.565,4,0.000,0.064,2976,592,1195
$GC,2477,2.03,422.3,183.6,16.6,232,2484,0.00,2.42,0.00,0.000,6,0.000,0.034,2976,2004,1194
$GC,2547,2.03,422.3,171.6,17.5,239,2551,0.00,2.50,0.00,0.000,4,0.000,0.056,2976,3382,1192
$GC,2579,2.03,422.3,165.7,16.9,241,2586,0.00,2.45,0.00,0.000,6,0.000,0.037,2976,1982,1192
$GC,2649,2.03,422.3,154.6,16.2,248,2654,0.00,2.55,0.00,0.000,4,0.000,0.063,2977,592,1190
$GC,2689,2.03,422.3,147.9,16.6,251,2693,0.00,2.40,0.00,0.000,6,0.000,0.032,2977,1993,1190
$GC,2759,2.03,422.3,136.6,16.1,257,2763,0.00,2.58,0.00,0.000,4,0.000,0.060,2976,590,1190
$GC,2813,2.03,422.3,126.0,20.5,261,2821,0.00,2.40,0.00,0.000,6,0.000,0.032,2976,1988,1188
$GC,2884,2.03,422.3,114.1,17.2,268,2885,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,1989,1188
$GC,2948,2.04,432.2,103.7,14.6,274,2959,0.00,0.00,8.48,0.533,6,0.000,0.000,2977,1989,1155
$GC,3021,2.06,442.0,92.6,14.6,281,3033,0.00,0.00,9.90,0.535,6,0.000,0.000,2977,1988,1115
$GC,3095,2.06,444.8,81.5,14.9,288,3105,0.00,0.00,4.28,0.405,6,0.000,0.000,2977,1989,1102
$GC,3169,2.06,444.8,69.8,15.5,295,3173,0.00,2.55,0.00,0.000,4,0.000,0.058,2977,592,1101
$GC,3212,2.13,500.3,63.8,12.7,298,3266,0.12,2.40,47.85,0.569,6,0.045,0.031,3020,1996,877
$GC,3327,2.13,500.3,45.6,16.4,309,3332,0.00,2.53,0.00,0.000,4,0.000,0.055,3020,3395,874
$GC,3401,2.13,500.3,32.9,16.6,315,3405,0.00,2.42,0.00,0.000,6,0.000,0.034,3020,1992,872
$GC,3471,2.13,500.3,21.2,16.9,321,3475,0.00,2.55,0.00,0.000,4,0.000,0.060,3020,589,871
$GC,3516,2.13,500.3,13.3,17.3,327,3523,0.00,2.40,0.00,0.000,6,0.000,0.028,3020,2004,871
$STATE,3577,end climb,SURFACE_DEPTH_REACHED
$STATE,3577,begin surface coast
$FINISH,0.5,1.020294
$STATE,3591,end surface coast,CONTROL_FINISHED_OK
$STATE,3591,begin surface
$SM_CCo,3674,0.00,0.000,0,0,868,502.37
$SM_GC,1.23,11.30,0.00,0.00,0.025,0.000,0.000,404,1956,868,-9.76,-0.37,502.37
$IRIDIUM_FIX,2148.09,-15940.77,311098,171738
$TT8_MAMPS,0.060593
$HUMID,1954
$INTERNAL_PRESSURE,7.56865
$TCM_TEMP,24.30
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,24.0,21.745
$10V_AH,10.1,9.600
$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,25.625,84.250,622.575,0.000,0.000,22.735,32.247,381.468,0.000,0.000,28.231,12.026,664.636,1570.197,691.965,708.293,641.049,33.334,1192.547,0.000,670.248,0.000,0.000,0.000
$DEVICE_MAMPS,177.944,111.215,679.562,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,228.543,0.000,0.000,0.000,0.000,0.000,136.682,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,9603,340
$CAP_FILE_SIZE,71649,0
$CFSIZE,260165632,248569856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060809,194638,2154.768,-15943.461,9,2.0,9,9.8