version: 66.04
glider: 117
mission: 24
dive: 107
start: 8 7 109 22 25 11
data:
$ID,117
$MISSION,24
$DIVE,107
$D_SURF,2
$D_FLARE,3
$D_TGT,90
$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,25
$T_MISSION,35
$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,-108581.41
$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,30
$R_STBD_OVSHOOT,45
$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
$GPS1,221602,2155.917,-15945.354,9,1.2,9,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-54.9
$GPS2,222420,2155.975,-15945.559,14,1.2,14,9.8
$SPEED_LIMITS,0.120,0.347
$TGT_NAME,BobNE
$TGT_LATLONG,2154.185,-15941.805
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.312,-0.154
$KALMAN_X,-162525.5,1266.3,-128.4,159257.2,-520.2
$KALMAN_Y,70593.3,-784.9,84.9,-69402.4,258.0
$MHEAD_RNG_PITCHd_Wd,106.5,7252,-16.4,-12.000
$D_GRID,90
$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,-1.56,-243.3,0.0,0.0,0,117,0.00,0.00,-97.18,0.000,2,0.000,0.000,402,2000,3343
$GC,120,-1.56,-243.3,3.3,-6.4,16,148,10.57,2.53,-9.82,0.000,4,0.174,0.064,2196,569,3910
$GC,339,-1.56,-243.3,55.9,-21.7,40,344,0.00,2.35,0.00,0.000,6,0.000,0.028,2196,1966,3911
$GC,409,-1.56,-243.3,70.3,-20.8,46,410,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,1971,3911
$GC,473,-1.56,-243.3,82.8,-19.4,52,477,0.00,2.50,0.00,0.000,4,0.000,0.054,2196,570,3910
$GC,494,-1.56,-243.3,87.0,-19.1,53,501,0.00,2.35,0.00,0.000,6,0.000,0.028,2196,1976,3911
$STATE,519,end dive,TARGET_DEPTH_EXCEEDED
$STATE,519,begin apogee
$GC,524,-0.38,0.0,91.8,18.0,56,716,1.27,0.00,186.23,0.538,6,0.103,0.000,2451,1979,2916
$STATE,717,end apogee,CONTROL_FINISHED_OK
$STATE,717,begin climb
$GC,720,1.56,243.3,105.7,0.0,75,920,1.95,2.58,187.12,0.523,4,0.061,0.054,2880,593,1924
$GC,994,1.69,354.1,94.3,8.3,100,1090,0.12,2.38,89.00,0.510,6,0.045,0.029,2938,1991,1473
$GC,1156,1.70,356.9,77.3,11.9,114,1158,0.12,0.00,0.00,0.000,6,0.073,0.000,2911,1990,1468
$GC,1217,1.77,412.1,70.4,10.2,120,1274,0.00,2.60,48.25,0.494,4,0.000,0.058,2911,588,1235
$GC,1298,1.82,456.4,62.1,10.5,127,1344,0.12,2.40,37.38,0.483,6,0.043,0.030,2966,1996,1055
$GC,1406,1.82,456.4,48.6,14.1,137,1408,0.15,0.00,0.00,0.000,6,0.070,0.000,2934,1996,1052
$GC,1470,1.82,456.4,40.7,12.3,143,1471,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,1996,1051
$GC,1534,1.87,500.2,33.9,10.6,149,1574,0.00,0.00,36.72,0.472,6,0.000,0.000,2934,1996,875
$GC,1638,1.94,556.8,23.2,10.1,159,1673,0.15,2.53,28.12,0.463,4,0.039,0.057,2996,596,745
$GC,1697,1.94,556.8,15.3,15.4,166,1704,0.15,2.38,0.00,0.000,6,0.073,0.028,2964,2001,744
$GC,1773,1.94,556.8,5.3,12.7,179,1778,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2002,742
$STATE,1801,end climb,SURFACE_DEPTH_REACHED
$STATE,1801,begin surface coast
$FINISH,0.5,1.010488
$STATE,1818,end surface coast,CONTROL_FINISHED_OK
$STATE,1818,begin surface
$SM_CCo,1900,0.00,0.000,0,0,739,534.26
$SM_GC,1.09,11.07,0.00,0.00,0.026,0.000,0.000,401,2005,739,-9.78,0.99,534.26
$IRIDIUM_FIX,2148.09,-15942.95,011198,212133
$TT8_MAMPS,0.073632
$HUMID,1804
$INTERNAL_PRESSURE,7.62725
$TCM_TEMP,25.60
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,24.1,24.354
$10V_AH,10.2,10.771
$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,25.700,24.575,612.825,0.000,0.000,30.758,29.633,301.466,0.000,0.000,48.296,14.694,315.297,584.838,614.799,406.306,490.233,33.325,937.586,0.000,378.753,0.000,0.000,0.000
$DEVICE_MAMPS,174.109,64.428,537.667,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,122.661,0.000,0.000,0.000,0.000,0.000,82.411,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,6462,187
$CAP_FILE_SIZE,37897,0
$CFSIZE,260165632,247242752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070809,225738,2156.074,-15945.968,13,1.6,13,9.8