version: 66.04
glider: 117
mission: 24
dive: 95
start: 8 6 109 22 28 25
data:
$ID,117
$MISSION,24
$DIVE,95
$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,-108365.2
$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,37
$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
$GPS1,221155,2155.065,-15944.531,43,1.1,43,9.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-54.5
$GPS2,222732,2155.233,-15944.991,15,1.1,15,9.8
$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,-133922.5,-187.2,-277.5,133232.7,-1440.7
$KALMAN_Y,56140.2,-267.6,28.5,-56784.6,747.0
$MHEAD_RNG_PITCHd_Wd,109.2,5808,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.81,-243.3,0.0,0.0,0,117,0.00,0.00,-96.90,0.000,2,0.000,0.000,404,1952,3419
$GC,120,-1.81,-243.3,4.3,-10.1,16,147,10.23,2.47,-8.02,0.000,4,0.176,0.066,2143,580,3912
$GC,170,-1.81,-243.3,21.3,-25.0,24,177,0.00,2.33,0.00,0.000,6,0.000,0.028,2143,1966,3913
$GC,240,-1.81,-243.3,37.7,-23.7,31,241,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,1967,3914
$GC,304,-1.81,-243.3,52.3,-22.6,37,308,0.00,2.47,0.00,0.000,4,0.000,0.049,2143,3367,3914
$GC,355,-1.81,-243.3,64.4,-22.8,41,359,0.00,2.38,0.00,0.000,6,0.000,0.032,2143,1974,3914
$GC,424,-1.81,-243.3,79.1,-20.5,47,426,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,1974,3914
$GC,488,-1.81,-243.3,91.3,-19.5,53,489,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,1975,3914
$GC,552,-1.81,-243.3,103.7,-18.9,59,553,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,1976,3915
$GC,616,-1.81,-243.3,116.1,-19.6,65,620,0.00,2.55,0.00,0.000,4,0.000,0.061,2143,562,3915
$GC,689,-1.81,-243.3,130.2,-18.1,71,693,0.00,2.38,0.00,0.000,6,0.000,0.028,2143,1978,3916
$GC,758,-1.81,-243.3,142.3,-17.6,77,760,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,1980,3916
$GC,822,-1.81,-243.3,154.0,-18.6,83,823,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,1984,3916
$GC,886,-1.81,-243.3,165.6,-18.1,89,890,0.00,2.55,0.00,0.000,4,0.000,0.058,2143,563,3916
$GC,940,-1.81,-243.3,176.5,-19.5,93,948,0.00,2.38,0.00,0.000,6,0.000,0.029,2143,1976,3916
$GC,1011,-1.81,-243.3,189.2,-18.5,100,1015,0.00,2.45,0.00,0.000,4,0.000,0.051,2143,3361,3916
$GC,1050,-1.81,-243.3,196.7,-19.1,103,1054,0.00,2.38,0.00,0.000,6,0.000,0.033,2143,1966,3917
$GC,1120,-1.81,-243.3,209.6,-17.9,109,1121,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,1966,3917
$GC,1183,-1.81,-243.3,220.4,-17.1,115,1184,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,1966,3917
$GC,1247,-1.81,-243.3,232.2,-18.5,121,1251,0.00,2.53,0.00,0.000,4,0.000,0.061,2143,571,3917
$GC,1297,-1.81,-243.3,241.5,-18.0,125,1302,0.00,2.38,0.00,0.000,6,0.000,0.031,2143,1981,3917
$GC,1367,-1.81,-243.3,253.5,-17.0,131,1372,0.00,2.45,0.00,0.000,4,0.000,0.054,2143,3360,3917
$GC,1423,-1.81,-243.3,263.2,-16.9,135,1430,0.00,2.38,0.00,0.000,6,0.000,0.035,2143,1971,3917
$STATE,1469,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1469,begin apogee
$GC,1475,-0.38,0.0,270.3,14.7,140,1683,1.55,0.00,197.43,0.680,6,0.102,0.000,2453,1970,2917
$STATE,1684,end apogee,CONTROL_FINISHED_OK
$STATE,1684,begin climb
$GC,1687,1.81,243.3,278.7,0.0,161,1894,2.20,2.58,197.35,0.665,4,0.058,0.062,2940,592,1924
$GC,1987,1.89,308.3,253.8,12.3,189,2047,0.00,2.42,54.78,0.644,6,0.000,0.034,2940,1996,1660
$GC,2118,1.98,379.1,238.4,12.1,201,2187,0.15,2.58,60.55,0.638,4,0.041,0.059,2989,3390,1369
$GC,2211,1.98,379.1,223.7,17.6,209,2215,0.00,2.45,0.00,0.000,6,0.000,0.037,2990,1995,1368
$GC,2281,1.98,379.1,211.3,17.4,215,2285,0.00,2.60,0.00,0.000,4,0.000,0.064,2989,583,1364
$GC,2335,1.98,379.1,201.2,16.8,219,2343,0.00,2.45,0.00,0.000,6,0.000,0.032,2990,2008,1363
$GC,2406,1.98,379.1,190.1,16.2,226,2407,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2008,1362
$GC,2469,1.98,379.1,179.7,16.1,232,2470,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2009,1362
$GC,2533,1.98,379.1,169.3,16.1,238,2537,0.00,2.47,0.00,0.000,4,0.000,0.055,2989,3385,1361
$GC,2595,1.98,379.1,159.4,15.5,243,2599,0.00,2.42,0.00,0.000,6,0.000,0.035,2989,1985,1360
$GC,2665,1.98,379.1,148.9,15.1,249,2669,0.00,2.55,0.00,0.000,4,0.000,0.061,2989,585,1360
$GC,2697,1.98,379.1,143.6,16.6,251,2704,0.00,2.40,0.00,0.000,6,0.000,0.031,2989,1996,1359
$GC,2767,1.98,379.1,132.9,15.1,258,2768,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,1996,1359
$GC,2831,1.98,379.1,122.6,16.3,264,2832,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,1996,1359
$GC,2895,1.98,379.1,112.1,15.9,270,2896,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,1996,1358
$GC,2958,2.03,419.4,103.4,13.3,276,2997,0.00,2.60,33.05,0.591,4,0.000,0.058,2989,594,1207
$GC,3036,2.03,422.0,92.2,14.9,282,3043,0.00,2.40,0.00,0.000,6,0.000,0.031,2991,1994,1205
$GC,3106,2.03,422.0,81.6,15.7,289,3107,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,1994,1203
$GC,3170,2.05,440.7,72.1,14.2,295,3194,0.00,2.62,18.70,0.555,4,0.000,0.058,2989,593,1120
$GC,3216,2.05,440.7,64.9,16.1,299,3224,0.00,2.42,0.00,0.000,6,0.000,0.031,2989,2001,1118
$GC,3287,2.08,464.4,54.5,14.0,306,3310,0.00,0.00,21.12,0.543,6,0.000,0.000,2989,2001,1023
$GC,3370,2.08,464.4,42.0,15.7,314,3374,0.00,2.53,0.00,0.000,4,0.000,0.057,2990,3398,1019
$GC,3437,2.08,464.4,32.4,15.0,319,3444,0.00,2.42,0.00,0.000,6,0.000,0.034,2989,1991,1019
$GC,3507,2.11,486.7,22.7,14.1,326,3532,0.00,2.62,19.35,0.521,4,0.000,0.058,2989,591,932
$GC,3566,2.11,486.7,13.5,16.1,334,3573,0.00,2.40,0.00,0.000,6,0.000,0.029,2989,2009,930
$STATE,3639,end climb,SURFACE_DEPTH_REACHED
$STATE,3639,begin surface coast
$FINISH,0.5,1.022969
$STATE,3652,end surface coast,CONTROL_FINISHED_OK
$STATE,3652,begin surface
$SM_CCo,3734,0.00,0.000,0,0,927,488.39
$SM_GC,1.19,11.35,0.00,0.00,0.034,0.000,0.000,409,1966,927,-9.76,-0.14,488.39
$IRIDIUM_FIX,2148.09,-15945.13,311098,222241
$TT8_MAMPS,0.068263
$HUMID,1966
$INTERNAL_PRESSURE,7.57842
$TCM_TEMP,24.30
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,24.0,22.218
$10V_AH,10.0,9.809
$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,25.475,79.050,602.325,0.000,0.000,77.375,88.251,480.501,0.000,0.000,35.176,15.023,676.270,1759.702,668.515,710.661,867.112,33.371,1164.622,0.000,672.286,0.000,0.000,0.000
$DEVICE_MAMPS,175.643,118.885,679.562,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,233.370,0.000,0.000,0.000,0.000,0.000,175.141,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,9594,349
$CAP_FILE_SIZE,74242,0
$CFSIZE,260165632,248307712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060809,233126,2155.260,-15945.099,13,1.8,13,9.8