version: 66.04
glider: 117
mission: 24
dive: 109
start: 8 7 109 23 44 55
data:
$ID,117
$MISSION,24
$DIVE,109
$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,-108616.44
$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,27
$R_STBD_OVSHOOT,46
$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
$GPS1,233702,2156.308,-15946.590,10,1.5,10,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-52.6
$GPS2,234402,2156.391,-15946.768,15,1.6,15,9.8
$SPEED_LIMITS,0.120,0.347
$TGT_NAME,BobNE
$TGT_LATLONG,2154.185,-15941.805
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.336,-0.088
$KALMAN_X,-164549.2,699.9,-273.9,159920.8,-776.5
$KALMAN_Y,71360.6,-543.4,189.7,-69751.7,263.3
$MHEAD_RNG_PITCHd_Wd,95.0,9456,-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,-97.78,0.000,2,0.000,0.000,401,1987,3387
$GC,120,-1.56,-243.3,3.8,-8.3,16,147,10.52,2.42,-8.65,0.000,4,0.173,0.058,2197,3356,3911
$GC,339,-1.56,-243.3,55.6,-18.3,39,343,0.00,2.38,0.00,0.000,6,0.000,0.033,2197,1966,3911
$GC,408,-1.56,-243.3,68.3,-18.3,45,413,0.00,2.53,0.00,0.000,4,0.000,0.058,2197,561,3911
$GC,437,-1.56,-243.3,73.6,-18.5,47,441,0.00,2.35,0.00,0.000,6,0.000,0.029,2197,1965,3912
$GC,507,-1.56,-243.3,85.5,-17.8,53,511,0.00,2.45,0.00,0.000,4,0.000,0.048,2197,3362,3912
$STATE,533,end dive,TARGET_DEPTH_EXCEEDED
$STATE,533,begin apogee
$GC,541,-0.38,0.0,90.8,19.7,55,732,1.27,0.00,186.07,0.536,6,0.097,0.000,2453,1989,2917
$STATE,734,end apogee,CONTROL_FINISHED_OK
$STATE,734,begin climb
$GC,736,1.56,243.3,102.6,0.0,74,933,1.92,2.55,186.73,0.525,4,0.059,0.052,2881,3391,1924
$GC,992,1.78,421.8,94.9,6.1,97,1142,0.20,2.40,142.95,0.513,6,0.035,0.034,2948,1991,1196
$GC,1214,1.78,421.8,70.5,14.0,117,1218,0.00,2.55,0.00,0.000,4,0.000,0.060,2948,592,1193
$GC,1253,1.78,421.8,65.0,14.2,120,1257,0.00,2.38,0.00,0.000,6,0.000,0.030,2948,1997,1192
$GC,1323,1.78,421.8,55.8,13.3,126,1324,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2001,1191
$GC,1387,1.80,437.7,48.0,11.5,132,1410,0.00,2.60,13.52,0.458,4,0.000,0.057,2948,598,1131
$GC,1473,1.81,446.2,38.0,11.7,139,1491,0.00,2.38,8.57,0.425,6,0.000,0.029,2947,2006,1097
$GC,1554,1.84,473.2,28.9,11.1,147,1588,0.00,2.47,23.55,0.472,4,0.000,0.051,2948,3385,986
$GC,1615,1.86,485.4,21.5,11.6,152,1634,0.00,2.40,11.38,0.439,6,0.000,0.033,2947,1991,938
$GC,1703,1.89,509.7,11.6,11.2,166,1730,0.00,2.58,21.12,0.458,4,0.000,0.060,2947,590,839
$GC,1764,1.89,509.7,4.3,12.4,176,1771,0.00,2.38,0.00,0.000,6,0.000,0.029,2948,1998,837
$STATE,1786,end climb,SURFACE_DEPTH_REACHED
$STATE,1786,begin surface coast
$FINISH,0.7,1.022899
$STATE,1804,end surface coast,CONTROL_FINISHED_OK
$STATE,1804,begin surface
$SM_CCo,1885,0.00,0.000,0,0,834,510.96
$SM_GC,1.07,10.95,0.00,0.00,0.024,0.000,0.000,403,2003,834,-9.77,0.93,510.96
$IRIDIUM_FIX,2148.09,-15952.48,011198,232327
$TT8_MAMPS,0.062127
$HUMID,1833
$INTERNAL_PRESSURE,7.63701
$TCM_TEMP,25.40
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,24.1,24.589
$10V_AH,10.2,10.851
$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,24.875,39.175,593.900,0.000,0.000,22.612,26.420,248.938,0.000,0.000,47.966,15.842,313.465,567.421,604.813,414.261,420.508,33.333,934.429,0.000,391.395,0.000,0.000,0.000
$DEVICE_MAMPS,172.575,59.826,536.133,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,120.036,0.000,0.000,0.000,0.000,0.000,65.187,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,6466,183
$CAP_FILE_SIZE,37441,0
$CFSIZE,260165632,247148544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080809,001736,2156.615,-15947.236,36,1.3,42,9.8