version: 66.04
glider: 117
mission: 24
dive: 93
start: 8 6 109 19 57 29
data:
$ID,117
$MISSION,24
$DIVE,93
$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,-108336.88
$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,36
$R_STBD_OVSHOOT,38
$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
$GPS1,194638,2154.768,-15943.461,9,2.0,9,9.8
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,1
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-53.9
$GPS2,195637,2154.876,-15943.766,13,2.0,31,9.8
$SPEED_LIMITS,0.150,0.374
$TGT_NAME,BobNE
$TGT_LATLONG,2154.185,-15941.805
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.338,-0.161
$KALMAN_X,-130496.3,931.9,-394.6,130905.7,-1599.1
$KALMAN_Y,54743.1,-881.5,158.6,-55569.3,724.7
$MHEAD_RNG_PITCHd_Wd,105.7,3605,-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,14,begin dive
$GC,16,-1.81,-243.3,0.0,0.0,0,111,0.00,0.00,-90.88,0.000,2,0.000,0.000,404,1955,3236
$GC,114,-1.81,-243.3,3.2,-5.7,15,141,10.32,0.00,-12.20,0.000,6,0.179,0.000,2140,1955,3911
$GC,208,-1.81,-243.3,28.4,-24.1,28,213,0.00,2.47,0.00,0.000,4,0.000,0.055,2140,579,3913
$GC,230,-1.81,-243.3,34.5,-24.7,29,237,0.00,2.35,0.00,0.000,6,0.000,0.028,2140,1976,3913
$GC,300,-1.81,-243.3,51.7,-25.1,36,301,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,1980,3913
$GC,364,-1.81,-243.3,66.8,-23.6,42,368,0.00,2.45,0.00,0.000,4,0.000,0.048,2140,3363,3913
$GC,425,-1.81,-243.3,80.8,-20.6,47,430,0.00,2.38,0.00,0.000,6,0.000,0.031,2140,1968,3913
$GC,502,-1.81,-243.3,96.1,-20.6,54,503,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,1968,3914
$GC,564,-1.81,-243.3,109.8,-22.1,60,566,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,1968,3914
$GC,628,-1.81,-243.3,123.9,-22.1,66,633,0.00,2.53,0.00,0.000,4,0.000,0.058,2140,566,3915
$GC,702,-1.81,-243.3,139.7,-19.9,72,706,0.00,2.35,0.00,0.000,6,0.000,0.028,2140,1967,3915
$GC,772,-1.81,-243.3,152.4,-18.2,78,773,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,1969,3915
$GC,835,-1.81,-243.3,164.5,-19.0,84,839,0.00,2.53,0.00,0.000,4,0.000,0.057,2140,567,3916
$GC,896,-1.81,-243.3,177.1,-19.9,89,903,0.00,2.38,0.00,0.000,6,0.000,0.029,2140,1978,3916
$GC,966,-1.81,-243.3,189.8,-18.6,96,970,0.00,2.47,0.00,0.000,4,0.000,0.053,2140,3371,3917
$GC,1010,-1.81,-243.3,198.2,-18.7,99,1017,0.00,2.40,0.00,0.000,6,0.000,0.033,2140,1963,3916
$GC,1080,-1.81,-243.3,210.0,-16.8,106,1082,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,1963,3917
$GC,1144,-1.81,-243.3,220.6,-16.9,112,1145,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,1963,3916
$GC,1208,-1.81,-243.3,231.1,-16.2,118,1212,0.00,2.50,0.00,0.000,4,0.000,0.051,2140,3368,3917
$GC,1258,-1.81,-243.3,239.3,-16.6,122,1263,0.00,2.40,0.00,0.000,6,0.000,0.034,2140,1965,3917
$GC,1328,-1.81,-243.3,250.2,-15.9,128,1332,0.00,2.55,0.00,0.000,4,0.000,0.062,2140,562,3917
$GC,1405,-1.81,-243.3,263.3,-16.8,134,1412,0.00,2.38,0.00,0.000,6,0.000,0.031,2140,1969,3917
$STATE,1452,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1452,begin apogee
$GC,1457,-0.38,0.0,270.9,16.3,139,1666,1.55,0.00,198.25,0.681,6,0.104,0.000,2449,1971,2916
$STATE,1667,end apogee,CONTROL_FINISHED_OK
$STATE,1667,begin climb
$GC,1669,1.81,243.3,280.5,0.0,160,1881,2.20,2.67,197.80,0.667,4,0.057,0.059,2939,3385,1924
$GC,1944,1.88,302.7,259.5,12.5,185,2002,0.00,2.42,50.53,0.645,6,0.000,0.037,2939,1997,1683
$GC,2065,1.97,374.5,245.0,12.0,196,2134,0.15,2.58,61.58,0.644,4,0.044,0.064,2987,590,1389
$GC,2204,1.97,374.5,222.6,18.9,208,2208,0.00,2.42,0.00,0.000,6,0.000,0.033,2987,1996,1386
$GC,2274,1.97,374.5,210.5,16.9,214,2275,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,1997,1383
$GC,2338,1.97,374.6,200.6,15.0,220,2339,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,1997,1382
$GC,2401,1.97,374.6,190.3,15.7,226,2403,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2002,1381
$GC,2465,1.97,374.6,179.9,16.3,232,2469,0.00,2.53,0.00,0.000,4,0.000,0.056,2987,3393,1380
$GC,2515,1.97,374.6,171.6,16.5,236,2520,0.00,2.45,0.00,0.000,6,0.000,0.036,2987,1988,1380
$GC,2586,1.97,374.6,161.0,15.0,242,2590,0.00,2.58,0.00,0.000,4,0.000,0.063,2987,582,1379
$GC,2629,1.97,374.6,153.7,16.7,245,2637,0.00,2.42,0.00,0.000,6,0.000,0.032,2987,1998,1378
$GC,2700,1.97,374.6,142.1,16.8,252,2701,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,1998,1378
$GC,2763,1.97,374.6,131.3,16.2,258,2764,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2003,1377
$GC,2828,2.01,402.6,122.2,13.8,264,2853,0.00,0.00,23.12,0.595,6,0.000,0.000,2987,2003,1275
$GC,2914,2.01,406.8,110.3,14.8,272,2924,0.00,0.00,4.93,0.440,6,0.000,0.000,2988,2002,1257
$GC,2987,2.01,406.8,98.7,16.0,279,2988,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2003,1255
$GC,3051,2.01,406.8,88.2,17.1,285,3052,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2003,1254
$GC,3115,2.01,406.8,77.7,16.3,291,3119,0.00,2.58,0.00,0.000,4,0.000,0.058,2987,585,1253
$GC,3166,2.10,475.7,71.1,12.2,295,3234,0.00,2.40,59.25,0.571,6,0.000,0.031,2987,1992,976
$GC,3297,2.17,534.3,55.4,12.6,307,3354,0.12,2.58,47.75,0.546,4,0.044,0.054,3034,3385,745
$GC,3435,2.17,534.3,30.4,21.6,319,3440,0.00,2.42,0.00,0.000,6,0.000,0.034,3034,1985,741
$GC,3506,2.17,534.3,17.7,18.0,326,3513,0.00,2.55,0.00,0.000,4,0.000,0.060,3034,585,740
$GC,3575,2.17,534.3,3.7,20.1,338,3582,0.00,2.40,0.00,0.000,6,0.000,0.028,3034,2005,740
$STATE,3586,end climb,SURFACE_DEPTH_REACHED
$STATE,3586,begin surface coast
$FINISH,0.7,1.022924
$STATE,3593,end surface coast,CONTROL_FINISHED_OK
$STATE,3593,begin surface
$SM_CCo,3676,0.00,0.000,0,0,738,534.51
$SM_GC,1.09,11.43,0.00,0.00,0.027,0.000,0.000,401,1950,738,-9.78,-0.57,534.51
$IRIDIUM_FIX,2148.09,-15942.95,311098,181806
$TT8_MAMPS,0.065962
$HUMID,1928
$INTERNAL_PRESSURE,7.55888
$TCM_TEMP,24.30
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,24.0,21.902
$10V_AH,10.1,9.658
$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,25.775,69.175,643.200,0.000,0.000,25.515,29.753,373.951,0.000,0.000,53.978,31.932,653.429,1586.132,681.522,735.250,628.763,33.328,1188.967,0.000,677.856,0.000,0.000,0.000
$DEVICE_MAMPS,178.711,98.943,681.096,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,228.682,0.000,0.000,0.000,0.000,0.000,95.263,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,9601,341
$CAP_FILE_SIZE,68175,0
$CFSIZE,260165632,248487936
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060809,205938,2154.969,-15944.021,13,1.5,19,9.8