version: 66.04
glider: 117
mission: 24
dive: 97
start: 8 7 109 0 53 30
data:
$ID,117
$MISSION,24
$DIVE,97
$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,-108394.53
$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,32
$R_STBD_OVSHOOT,43
$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
$GPS1,004443,2155.458,-15945.335,9,1.7,14,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-55.0
$GPS2,005238,2155.564,-15945.566,12,1.7,12,9.8
$SPEED_LIMITS,0.150,0.374
$TGT_NAME,BobNE
$TGT_LATLONG,2154.185,-15941.805
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.320,-0.194
$KALMAN_X,-136371.8,-1256.1,-117.7,135591.5,-1105.2
$KALMAN_Y,57368.6,419.0,-14.7,-58045.7,680.0
$MHEAD_RNG_PITCHd_Wd,111.4,6950,-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,-243.3,0.0,0.0,0,111,0.00,0.00,-91.10,0.000,2,0.000,0.000,404,1964,3346
$GC,114,-1.81,-243.3,3.8,-8.1,15,140,10.20,0.00,-9.68,0.000,6,0.176,0.000,2140,1964,3910
$GC,213,-1.81,-243.3,31.6,-24.8,28,214,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,1964,3912
$GC,275,-1.81,-243.3,46.2,-22.4,34,276,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,1964,3912
$GC,339,-1.81,-243.3,59.8,-21.6,40,340,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,1964,3913
$GC,403,-1.81,-243.3,72.1,-19.3,46,404,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,1964,3913
$GC,466,-1.81,-243.3,84.6,-19.5,52,467,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,1964,3914
$GC,530,-1.81,-243.3,97.1,-19.7,58,531,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,1964,3914
$GC,594,-1.81,-243.3,108.4,-18.0,64,598,0.00,2.47,0.00,0.000,4,0.000,0.050,2140,3361,3914
$GC,622,-1.81,-243.3,113.9,-20.1,66,626,0.00,2.38,0.00,0.000,6,0.000,0.033,2140,1965,3915
$GC,698,-1.81,-243.3,128.4,-18.9,73,702,0.00,2.53,0.00,0.000,4,0.000,0.061,2140,567,3915
$GC,740,-1.81,-243.3,137.3,-22.5,76,744,0.00,2.35,0.00,0.000,6,0.000,0.030,2140,1964,3915
$GC,809,-1.81,-243.3,151.7,-20.1,82,814,0.00,2.47,0.00,0.000,4,0.000,0.051,2140,3363,3916
$GC,860,-1.81,-243.3,161.6,-19.5,86,864,0.00,2.40,0.00,0.000,6,0.000,0.034,2140,1959,3916
$GC,930,-1.81,-243.3,174.7,-18.2,92,934,0.00,2.53,0.00,0.000,4,0.000,0.061,2140,562,3916
$GC,969,-1.81,-243.3,181.8,-17.8,95,974,0.00,2.38,0.00,0.000,6,0.000,0.030,2140,1971,3916
$GC,1039,-1.81,-243.3,193.5,-16.9,101,1043,0.00,2.53,0.00,0.000,4,0.000,0.058,2140,572,3916
$GC,1090,-1.81,-243.3,202.3,-17.6,105,1094,0.00,2.38,0.00,0.000,6,0.000,0.031,2140,1977,3917
$GC,1160,-1.81,-243.3,214.9,-18.0,111,1161,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,1978,3917
$GC,1224,-1.81,-243.3,225.5,-16.2,117,1228,0.00,2.47,0.00,0.000,4,0.000,0.054,2140,3367,3917
$GC,1256,-1.81,-243.3,231.4,-17.3,119,1263,0.00,2.40,0.00,0.000,6,0.000,0.035,2140,1969,3917
$GC,1326,-1.81,-243.3,242.2,-15.5,126,1327,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,1969,3917
$GC,1390,-1.81,-243.3,252.2,-15.8,132,1394,0.00,2.50,0.00,0.000,4,0.000,0.053,2140,3368,3917
$GC,1411,-1.81,-243.3,255.6,-15.5,133,1418,0.00,2.40,0.00,0.000,6,0.000,0.036,2140,1971,3917
$GC,1482,-1.81,-243.3,265.9,-15.2,140,1484,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,1971,3917
$STATE,1511,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1511,begin apogee
$GC,1516,-0.38,0.0,270.6,14.9,143,1724,1.55,0.00,197.15,0.693,6,0.104,0.000,2450,1971,2917
$STATE,1725,end apogee,CONTROL_FINISHED_OK
$STATE,1725,begin climb
$GC,1727,1.81,243.3,276.8,0.0,164,1932,2.20,0.00,196.82,0.676,6,0.058,0.000,2938,1971,1924
$GC,1995,1.88,297.8,254.4,12.8,189,2046,0.00,0.00,46.40,0.650,6,0.000,0.000,2938,1971,1702
$GC,2109,1.93,339.2,239.4,13.3,200,2150,0.10,0.00,35.85,0.640,6,0.054,0.000,2974,1971,1534
$GC,2213,1.94,351.6,224.3,14.5,210,2230,0.00,2.62,11.65,0.586,4,0.000,0.058,2974,3392,1482
$GC,2310,1.97,373.5,210.2,14.1,218,2336,0.00,2.45,19.70,0.621,6,0.000,0.039,2974,1996,1394
$GC,2407,1.98,381.7,196.4,14.7,227,2418,0.00,0.00,7.80,0.544,6,0.000,0.000,2974,1996,1361
$GC,2481,1.98,381.7,185.0,16.1,234,2482,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,1996,1359
$GC,2544,1.98,381.7,174.5,16.4,240,2549,0.00,2.60,0.00,0.000,4,0.000,0.066,2974,589,1358
$GC,2588,1.98,381.7,166.7,17.6,243,2595,0.00,2.42,0.00,0.000,6,0.000,0.035,2974,1996,1357
$GC,2659,1.98,381.7,155.6,15.6,250,2660,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2002,1357
$GC,2722,1.98,381.7,145.2,16.5,256,2723,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2001,1356
$GC,2786,1.98,381.7,135.0,16.1,262,2790,0.00,2.50,0.00,0.000,4,0.000,0.056,2974,3386,1356
$GC,2818,1.98,381.7,129.7,16.0,264,2825,0.00,2.45,0.00,0.000,6,0.000,0.038,2974,1984,1355
$GC,2888,1.98,381.7,118.9,16.2,271,2890,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,1984,1355
$GC,2952,1.98,381.7,109.3,15.0,277,2956,0.00,2.55,0.00,0.000,4,0.000,0.062,2974,585,1354
$GC,2995,1.98,381.7,101.9,18.2,280,3002,0.00,2.42,0.00,0.000,6,0.000,0.032,2974,2006,1353
$GC,3065,1.98,381.7,89.5,17.5,287,3070,0.00,2.47,0.00,0.000,4,0.000,0.057,2974,3383,1353
$GC,3132,1.98,381.7,77.9,16.9,292,3139,0.00,2.42,0.00,0.000,6,0.000,0.037,2974,1984,1353
$GC,3202,1.98,381.7,67.2,15.4,299,3203,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,1984,1352
$GC,3266,1.98,381.7,56.7,16.6,305,3270,0.00,2.53,0.00,0.000,4,0.000,0.054,2974,3385,1353
$GC,3328,2.01,406.9,47.0,14.0,310,3354,0.00,2.40,21.33,0.571,6,0.000,0.035,2974,1991,1258
$GC,3425,2.06,446.8,33.9,13.4,319,3471,0.00,2.65,35.12,0.563,4,0.000,0.061,2974,591,1094
$GC,3521,2.13,504.7,21.2,12.6,327,3578,0.15,2.40,48.67,0.544,6,0.041,0.030,3021,2005,858
$STATE,3644,end climb,SURFACE_DEPTH_REACHED
$STATE,3646,begin surface coast
$FINISH,0.4,1.022988
$STATE,3656,end surface coast,CONTROL_FINISHED_OK
$STATE,3657,begin surface
$SM_CCo,3739,0.00,0.000,0,0,850,507.04
$SM_GC,1.04,11.38,0.00,0.00,0.027,0.000,0.000,408,1950,850,-9.76,-0.54,507.04
$IRIDIUM_FIX,2148.09,-15942.95,311098,232331
$TT8_MAMPS,0.065962
$HUMID,2025
$INTERNAL_PRESSURE,7.52959
$TCM_TEMP,23.70
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,24.0,22.500
$10V_AH,10.1,9.928
$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,25.575,69.125,620.500,0.000,0.000,31.149,25.318,273.192,0.000,0.000,27.747,12.621,673.037,1652.256,674.972,692.532,530.788,33.347,1167.116,0.000,660.390,0.000,0.000,0.000
$DEVICE_MAMPS,176.410,107.380,693.368,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,235.202,0.000,0.000,0.000,0.000,0.000,103.494,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,9600,349
$CAP_FILE_SIZE,67963,0
$CFSIZE,260165632,248152064
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070809,015652,2155.580,-15945.637,9,2.9,28,9.8