version: 66.04
glider: 116
mission: 22
dive: 97
start: 8 6 109 21 32 19
data:
$ID,116
$MISSION,22
$DIVE,97
$D_SURF,4
$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,51716
$NAV_MODE,1
$FERRY_MAX,0
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-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,30
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-59534.984
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,132
$PITCH_MAX,3449
$C_PITCH,3095
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,12
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,140
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,155
$ROLL_MAX,3900
$ROLL_DEG,40
$C_ROLL_DIVE,2628
$C_ROLL_CLIMB,2530
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,48
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,770
$VBD_MAX,3955
$C_VBD,2936
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,3
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,150
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-0.46644667
$PRESSURE_SLOPE,0.0001158926
$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,90
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,12
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,2
$XPDR_VALID,0
$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,0.0043738699
$SEABIRD_T_H,0.00063649943
$SEABIRD_T_I,2.5189185e-05
$SEABIRD_T_J,2.7386873e-06
$SEABIRD_C_G,-9.8703537
$SEABIRD_C_H,1.1242318
$SEABIRD_C_I,-0.0015997718
$SEABIRD_C_J,0.00020779716
$GPS1,211722,2154.782,-15944.088,11,6.1,31,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-65.2
$GPS2,213128,2154.915,-15944.465,14,2.7,33,9.8
$SPEED_LIMITS,0.150,0.374
$TGT_NAME,BobNE
$TGT_LATLONG,2154.185,-15941.805
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.335,-0.166
$KALMAN_X,-159975.2,265.4,-528.3,155964.6,-1368.6
$KALMAN_Y,47682.3,-159.4,159.2,-49808.6,647.0
$MHEAD_RNG_PITCHd_Wd,106.6,4766,-19.1,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.89,-243.3,0.0,0.0,0,116,0.00,0.00,-93.55,0.000,2,0.000,0.000,124,2636,3367
$GC,118,-1.89,-243.3,3.9,-9.1,14,147,15.30,0.00,-8.00,0.000,6,0.179,0.000,2674,2636,3929
$GC,217,-1.89,-243.3,36.0,-23.8,25,220,0.00,2.38,0.00,0.000,4,0.000,0.031,2675,1236,3936
$GC,250,-1.89,-243.3,44.1,-23.4,28,255,0.00,2.42,0.00,0.000,6,0.000,0.037,2674,2632,3937
$GC,321,-1.89,-243.3,61.8,-26.4,34,325,0.00,2.30,0.00,0.000,4,0.000,0.063,2675,3893,3936
$GC,388,-1.89,-243.3,81.3,-29.5,39,395,0.00,2.12,0.00,0.000,6,0.000,0.028,2675,2611,3936
$GC,457,-1.89,-243.3,98.9,-24.1,46,458,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2611,3941
$GC,522,-1.89,-243.3,114.0,-24.1,52,526,0.00,2.33,0.00,0.000,4,0.000,0.031,2675,1237,3941
$GC,542,-1.89,-243.3,119.2,-21.7,53,550,0.00,2.45,0.00,0.000,6,0.000,0.036,2674,2631,3941
$GC,614,-1.89,-243.3,134.3,-22.0,60,618,0.00,2.35,0.00,0.000,4,0.000,0.031,2675,1245,3941
$GC,634,-1.89,-243.3,138.8,-18.8,61,642,0.00,2.42,0.00,0.000,6,0.000,0.036,2675,2627,3941
$GC,706,-1.89,-243.3,150.6,-17.6,68,707,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2627,3941
$GC,770,-1.89,-243.3,162.0,-18.3,74,774,0.00,2.38,0.00,0.000,4,0.000,0.032,2674,1235,3941
$GC,833,-1.89,-243.3,172.9,-17.0,79,837,0.00,2.42,0.00,0.000,6,0.000,0.037,2674,2634,3941
$GC,903,-1.89,-243.3,184.5,-16.0,85,907,0.00,2.33,0.00,0.000,4,0.000,0.068,2674,3896,3942
$GC,968,-1.89,-243.3,195.4,-17.3,90,972,0.00,2.10,0.00,0.000,6,0.000,0.028,2675,2632,3941
$GC,1043,-1.89,-243.3,208.8,-16.2,97,1047,0.00,2.38,0.00,0.000,4,0.000,0.034,2675,1234,3941
$GC,1094,-1.89,-243.3,216.2,-15.1,101,1098,0.00,2.42,0.00,0.000,6,0.000,0.037,2674,2631,3941
$GC,1165,-1.89,-243.3,227.8,-16.6,107,1166,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2632,3941
$GC,1229,-1.89,-243.3,236.8,-13.7,113,1233,0.00,2.33,0.00,0.000,4,0.000,0.070,2675,3890,3941
$GC,1306,-1.89,-243.3,249.3,-15.0,119,1314,0.00,2.12,0.00,0.000,6,0.000,0.029,2674,2620,3941
$GC,1376,-1.89,-243.3,258.7,-13.4,126,1381,0.00,2.38,0.00,0.000,4,0.000,0.037,2674,1235,3941
$GC,1433,-1.89,-243.3,266.7,-14.3,130,1440,0.00,2.45,0.00,0.000,6,0.000,0.040,2675,2637,3941
$STATE,1458,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1458,begin apogee
$GC,1463,-0.42,0.0,270.7,14.9,133,1784,1.55,0.00,313.88,0.608,6,0.086,0.000,2999,2534,2936
$STATE,1787,end apogee,CONTROL_FINISHED_OK
$STATE,1787,begin climb
$GC,1788,1.89,243.3,284.6,0.0,165,2111,1.98,2.60,306.33,0.601,4,0.047,0.070,3453,3880,1943
$GC,2361,1.96,304.0,233.4,12.5,214,2445,0.00,2.35,77.88,0.591,6,0.000,0.033,3453,2529,1696
$GC,2509,2.02,351.6,215.9,13.0,227,2581,0.00,2.60,62.00,0.584,4,0.000,0.068,3452,3891,1502
$GC,2616,2.02,351.6,199.6,16.3,236,2620,0.00,2.35,0.00,0.000,6,0.000,0.033,3453,2528,1500
$GC,2687,2.07,389.1,189.5,13.4,242,2738,0.00,0.00,49.35,0.571,6,0.000,0.000,3453,2525,1349
$GC,2799,2.10,414.7,173.8,13.9,253,2838,0.00,2.55,33.85,0.559,4,0.000,0.066,3452,3887,1245
$GC,2866,2.11,426.7,163.8,14.5,258,2889,0.00,2.35,16.62,0.532,6,0.000,0.032,3453,2515,1196
$GC,2960,2.18,483.4,151.5,12.6,267,3044,0.00,2.42,72.82,0.558,4,0.000,0.040,3453,1138,965
$GC,3091,2.23,520.5,135.0,13.5,278,3150,0.00,2.45,47.88,0.545,6,0.000,0.038,3453,2531,814
$GC,3213,2.26,543.6,117.6,14.0,289,3233,0.00,0.00,14.77,0.509,6,0.000,0.000,3452,2531,770
$GC,3296,2.26,549.2,105.4,14.8,297,3297,0.00,0.00,0.00,0.000,6,0.000,0.000,3453,2531,768
$GC,3360,2.26,549.2,95.6,15.0,303,3361,0.00,0.00,0.00,0.000,6,0.000,0.000,3453,2531,768
$GC,3424,2.26,549.4,86.0,15.0,309,3426,0.00,0.00,0.00,0.000,6,0.000,0.000,3453,2531,768
$GC,3488,2.31,589.4,77.4,13.3,315,3489,0.00,0.00,0.00,0.000,6,0.000,0.000,3453,2531,767
$GC,3552,2.42,678.1,69.9,11.3,321,3553,0.00,0.00,0.00,0.000,6,0.000,0.000,3453,2531,768
$GC,3615,2.54,771.5,63.3,11.1,327,3619,0.00,2.42,0.00,0.000,4,0.000,0.036,3453,1136,767
$GC,3644,2.58,809.6,59.4,13.4,329,3648,0.00,2.42,0.00,0.000,6,0.000,0.031,3452,2544,767
$GC,3715,2.64,853.8,50.2,13.2,335,3719,0.00,2.45,0.00,0.000,4,0.000,0.061,3452,3887,766
$GC,3770,2.70,905.6,43.0,12.9,339,3778,0.00,2.30,0.00,0.000,6,0.000,0.030,3453,2516,766
$GC,3840,2.76,952.9,34.1,13.0,346,3841,0.00,0.00,0.00,0.000,6,0.000,0.000,3453,2516,766
$GC,3905,2.80,984.4,25.0,13.7,352,3906,0.00,0.00,0.00,0.000,6,0.000,0.000,3453,2516,766
$GC,3969,2.86,1031.6,16.6,13.0,360,3975,0.00,0.00,0.00,0.000,6,0.000,0.000,3453,2516,766
$GC,4044,2.91,1074.6,7.1,13.2,373,4050,0.00,0.00,0.00,0.000,6,0.000,0.000,3452,2516,766
$STATE,4071,end climb,SURFACE_DEPTH_REACHED
$STATE,4071,begin surface coast
$FINISH,0.2,1.003281
$STATE,4100,end surface coast,CONTROL_FINISHED_OK
$STATE,4100,begin surface
$SM_CCo,4185,0.00,0.000,0,0,765,532.55
$SM_GC,0.98,14.62,0.00,0.00,0.041,0.000,0.000,122,2639,765,-13.59,0.31,532.55
$IRIDIUM_FIX,2148.09,-15942.95,311098,212135
$TT8_MAMPS,0.068263
$HUMID,1887
$INTERNAL_PRESSURE,11.436
$TCM_TEMP,23.90
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.6,26.924
$10V_AH,9.7,9.946
$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,33.450,71.700,995.375,0.000,0.000,62.488,57.178,514.864,0.000,0.000,62.385,33.951,711.346,1558.186,930.424,861.651,973.059,33.336,1587.194,0.000,790.138,0.000,0.000,0.000
$DEVICE_MAMPS,179.478,69.797,608.231,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,243.780,0.000,0.000,0.000,0.000,0.000,167.137,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,12703,383
$CAP_FILE_SIZE,176167,0
$CFSIZE,260034560,245202944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060809,224250,2155.023,-15944.752,12,1.6,13,9.8