version: 66.04
glider: 117
mission: 24
dive: 94
start: 8 6 109 21 10 13
data:
$ID,117
$MISSION,24
$DIVE,94
$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,-108349.54
$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,43
$R_STBD_OVSHOOT,42
$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
$GPS1,205938,2154.969,-15944.021,13,1.5,19,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-54.5
$GPS2,210919,2155.086,-15944.337,12,1.7,12,9.8
$SPEED_LIMITS,0.150,0.374
$TGT_NAME,BobNE
$TGT_LATLONG,2154.185,-15941.805
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.327,-0.182
$KALMAN_X,-132093.2,341.4,-373.3,132089.4,-1431.9
$KALMAN_Y,55482.5,-591.1,87.6,-56135.6,753.8
$MHEAD_RNG_PITCHd_Wd,109.3,4660,-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,-243.3,0.0,0.0,0,116,0.00,0.00,-96.80,0.000,2,0.000,0.000,400,1950,3295
$GC,119,-1.81,-243.3,3.6,-7.5,16,146,10.27,0.00,-10.77,0.000,6,0.177,0.000,2140,1950,3911
$GC,213,-1.81,-243.3,28.3,-23.0,29,214,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,1950,3913
$GC,276,-1.81,-243.3,43.8,-24.3,35,277,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,1950,3913
$GC,339,-1.81,-243.3,58.9,-23.0,41,343,0.00,2.50,0.00,0.000,4,0.000,0.048,2140,3361,3913
$GC,402,-1.81,-243.3,73.2,-23.9,46,406,0.00,2.35,0.00,0.000,6,0.000,0.032,2140,1986,3914
$GC,478,-1.81,-243.3,90.3,-21.1,53,483,0.00,2.55,0.00,0.000,4,0.000,0.057,2140,564,3914
$GC,511,-1.81,-243.3,97.2,-19.9,55,518,0.00,2.38,0.00,0.000,6,0.000,0.028,2140,1981,3914
$GC,583,-1.81,-243.3,112.1,-21.5,62,584,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,1984,3914
$GC,645,-1.81,-243.3,126.8,-23.6,68,649,0.00,2.55,0.00,0.000,4,0.000,0.058,2140,566,3915
$GC,685,-1.81,-243.3,135.7,-21.3,71,689,0.00,2.35,0.00,0.000,6,0.000,0.028,2140,1965,3915
$GC,755,-1.81,-243.3,149.0,-18.6,77,756,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,1967,3916
$GC,818,-1.81,-243.3,161.4,-19.2,83,822,0.00,2.53,0.00,0.000,4,0.000,0.057,2140,560,3916
$GC,886,-1.81,-243.3,175.1,-20.2,88,893,0.00,2.38,0.00,0.000,6,0.000,0.030,2141,1969,3916
$GC,956,-1.81,-243.3,187.9,-18.0,95,960,0.00,2.47,0.00,0.000,4,0.000,0.052,2140,3365,3916
$GC,1006,-1.81,-243.3,197.1,-18.2,99,1011,0.00,2.40,0.00,0.000,6,0.000,0.034,2140,1960,3916
$GC,1076,-1.81,-243.3,209.3,-17.6,105,1077,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,1960,3917
$GC,1140,-1.81,-243.3,219.7,-16.5,111,1141,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,1960,3917
$GC,1203,-1.81,-243.3,230.3,-16.8,117,1205,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,1960,3917
$GC,1267,-1.81,-243.3,240.9,-16.6,123,1271,0.00,2.50,0.00,0.000,4,0.000,0.053,2140,3366,3917
$GC,1318,-1.81,-243.3,249.2,-16.0,127,1325,0.00,2.40,0.00,0.000,6,0.000,0.036,2140,1970,3917
$GC,1388,-1.81,-243.3,260.2,-15.8,134,1392,0.00,2.55,0.00,0.000,4,0.000,0.063,2140,564,3917
$STATE,1448,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1448,begin apogee
$GC,1456,-0.38,0.0,270.6,17.3,139,1663,1.55,0.00,198.52,0.677,6,0.103,0.000,2451,1995,2916
$STATE,1664,end apogee,CONTROL_FINISHED_OK
$STATE,1665,begin climb
$GC,1667,1.81,243.3,280.7,0.0,160,1877,2.20,2.50,197.95,0.666,4,0.058,0.060,2939,3384,1924
$GC,1902,1.91,319.4,263.9,11.9,182,1974,0.00,2.45,64.30,0.647,6,0.000,0.038,2940,1991,1613
$GC,2045,2.04,427.2,247.8,10.6,195,2148,0.17,2.67,91.88,0.646,4,0.041,0.066,2997,589,1173
$GC,2177,2.04,427.2,227.3,17.0,206,2183,0.00,2.45,0.00,0.000,6,0.000,0.034,2997,2003,1171
$GC,2246,2.04,427.2,215.5,16.8,213,2251,0.00,2.62,0.00,0.000,4,0.000,0.062,2997,585,1169
$GC,2286,2.04,427.2,208.1,18.7,216,2291,0.00,2.42,0.00,0.000,6,0.000,0.034,2997,1992,1168
$GC,2356,2.04,427.2,195.3,17.6,222,2357,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,1992,1167
$GC,2420,2.04,427.2,184.0,17.7,228,2424,0.00,2.55,0.00,0.000,4,0.000,0.057,2997,3397,1167
$GC,2463,2.04,427.2,175.9,17.8,231,2470,0.00,2.47,0.00,0.000,6,0.000,0.038,2997,1984,1166
$GC,2533,2.04,427.2,164.0,18.0,238,2538,0.00,2.55,0.00,0.000,4,0.000,0.063,2997,592,1165
$GC,2577,2.04,427.2,156.2,18.0,241,2585,0.00,2.42,0.00,0.000,6,0.000,0.032,2997,2008,1165
$GC,2648,2.04,427.2,143.8,18.0,248,2649,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2007,1165
$GC,2711,2.04,427.2,132.1,18.7,254,2712,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2008,1164
$GC,2775,2.04,427.2,121.7,15.6,260,2780,0.00,2.60,0.00,0.000,4,0.000,0.058,2997,582,1163
$GC,2808,2.04,427.2,116.2,16.3,262,2815,0.00,2.42,0.00,0.000,6,0.000,0.031,2997,2001,1163
$GC,2879,2.04,427.2,104.5,17.6,269,2883,0.00,2.50,0.00,0.000,4,0.000,0.057,2997,3387,1163
$GC,2911,2.04,427.2,98.2,17.8,271,2918,0.00,2.42,0.00,0.000,6,0.000,0.035,2997,1986,1162
$GC,2982,2.04,427.2,86.2,17.2,278,2986,0.00,2.53,0.00,0.000,4,0.000,0.061,2997,594,1161
$GC,3044,2.05,434.5,76.6,14.7,283,3056,0.00,2.40,5.18,0.447,6,0.000,0.031,2997,2007,1145
$GC,3119,2.13,498.4,67.0,12.4,290,3184,0.00,2.58,54.97,0.570,4,0.000,0.054,2997,3390,883
$GC,3247,2.15,516.0,47.2,14.3,301,3268,0.00,2.42,15.70,0.524,6,0.000,0.034,2997,1990,812
$GC,3340,2.15,516.0,32.9,15.7,310,3344,0.00,2.55,0.00,0.000,4,0.000,0.060,2997,589,809
$GC,3402,2.15,516.0,22.5,16.3,315,3406,0.00,2.38,0.00,0.000,6,0.000,0.029,2997,2000,808
$GC,3475,2.15,516.0,10.5,15.7,326,3480,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2001,808
$STATE,3529,end climb,SURFACE_DEPTH_REACHED
$STATE,3530,begin surface coast
$FINISH,0.6,1.022970
$STATE,3542,end surface coast,CONTROL_FINISHED_OK
$STATE,3542,begin surface
$SM_CCo,3625,0.00,0.000,0,0,805,518.07
$SM_GC,1.12,11.30,0.00,0.00,0.030,0.000,0.000,403,1951,805,-9.78,-0.59,518.07
$IRIDIUM_FIX,2145.77,-15943.76,311098,191942
$TT8_MAMPS,0.058292
$HUMID,1951
$INTERNAL_PRESSURE,7.57842
$TCM_TEMP,24.50
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.8,22.062
$10V_AH,10.1,9.727
$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,25.500,84.325,628.500,0.000,0.000,24.401,27.955,370.268,0.000,0.000,68.889,12.029,654.618,1525.315,691.203,720.091,626.806,33.331,1202.927,0.000,678.981,0.000,0.000,0.000
$DEVICE_MAMPS,177.177,113.516,677.261,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,226.414,0.000,0.000,0.000,0.000,0.000,136.060,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,9603,338
$CAP_FILE_SIZE,68964,0
$CFSIZE,260165632,248397824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060809,221155,2155.065,-15944.531,43,1.1,43,9.8