version: 66.04
glider: 117
mission: 24
dive: 108
start: 8 7 109 23 6 0
data:
$ID,117
$MISSION,24
$DIVE,108
$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,-108599.97
$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,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
$GPS1,225738,2156.074,-15945.968,13,1.6,13,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-53.7
$GPS2,230508,2156.139,-15946.166,16,1.4,16,9.8
$SPEED_LIMITS,0.120,0.347
$TGT_NAME,BobNE
$TGT_LATLONG,2154.185,-15941.805
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.316,-0.145
$KALMAN_X,-163532.1,989.5,-204.6,159577.3,-516.3
$KALMAN_Y,70937.3,-689.0,136.5,-69592.2,238.3
$MHEAD_RNG_PITCHd_Wd,104.9,8323,-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,-243.3,0.0,0.0,0,116,0.00,0.00,-96.80,0.000,2,0.000,0.000,400,2006,3343
$GC,119,-1.56,-243.3,3.6,-7.6,16,147,10.52,2.55,-9.70,0.000,4,0.172,0.065,2196,563,3910
$GC,366,-1.56,-243.3,61.1,-21.0,42,373,0.00,2.35,0.00,0.000,6,0.000,0.028,2197,1966,3911
$GC,435,-1.56,-243.3,73.2,-16.5,49,437,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,1967,3911
$GC,500,-1.56,-243.3,82.5,-14.4,55,505,0.00,2.50,0.00,0.000,4,0.000,0.054,2197,569,3911
$GC,522,-1.56,-243.3,85.8,-13.3,56,529,0.00,2.35,0.00,0.000,6,0.000,0.028,2197,1976,3911
$STATE,558,end dive,TARGET_DEPTH_EXCEEDED
$STATE,558,begin apogee
$GC,564,-0.38,0.0,90.7,13.5,60,755,1.25,0.00,185.82,0.532,6,0.098,0.000,2450,1980,2916
$STATE,756,end apogee,CONTROL_FINISHED_OK
$STATE,756,begin climb
$GC,759,1.56,243.3,97.5,0.0,79,960,1.98,2.58,186.50,0.518,4,0.058,0.055,2882,594,1924
$GC,966,1.64,312.6,86.9,9.7,97,1029,0.00,2.38,55.83,0.499,6,0.000,0.029,2883,1992,1641
$GC,1092,1.75,395.6,74.9,9.2,109,1171,0.17,2.58,67.68,0.495,4,0.034,0.054,2954,3385,1303
$GC,1311,1.78,425.6,47.6,11.0,128,1342,0.12,2.40,25.50,0.472,6,0.078,0.033,2927,1988,1182
$GC,1404,1.91,533.6,39.4,8.4,137,1496,0.15,0.00,88.85,0.479,6,0.040,0.000,2984,1988,746
$GC,1558,1.91,533.6,21.1,13.1,152,1560,0.12,0.00,0.00,0.000,6,0.074,0.000,2956,1988,742
$GC,1625,1.92,534.9,12.9,12.0,163,1630,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,1988,741
$GC,1699,1.92,536.1,3.8,12.0,176,1706,0.00,2.53,0.00,0.000,4,0.000,0.059,2956,593,741
$STATE,1715,end climb,SURFACE_DEPTH_REACHED
$STATE,1715,begin surface coast
$FINISH,0.5,1.012276
$STATE,1733,end surface coast,CONTROL_FINISHED_OK
$STATE,1733,begin surface
$SM_CCo,1818,0.00,0.000,0,0,738,534.51
$SM_GC,1.07,11.07,0.00,0.00,0.028,0.000,0.000,401,1987,738,-9.78,0.48,534.51
$IRIDIUM_FIX,2145.77,-15945.93,011198,222253
$TT8_MAMPS,0.082069
$HUMID,1816
$INTERNAL_PRESSURE,7.62725
$TCM_TEMP,25.40
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.9,24.472
$10V_AH,10.2,10.812
$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,25.400,24.575,610.175,0.000,0.000,26.285,36.055,259.731,0.000,0.000,45.391,17.925,298.134,525.368,619.966,396.714,442.518,33.325,931.205,0.000,372.954,0.000,0.000,0.000
$DEVICE_MAMPS,171.808,65.195,531.531,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,119.201,0.000,0.000,0.000,0.000,0.000,73.465,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,3326,182
$CAP_FILE_SIZE,34549,0
$CFSIZE,260165632,247201792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070809,233702,2156.308,-15946.590,10,1.5,10,9.8