version: 66.04
glider: 117
mission: 24
dive: 66
start: 8 4 109 14 6 24
data:
$ID,117
$MISSION,24
$DIVE,66
$D_SURF,2
$D_FLARE,3
$D_TGT,180
$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,80
$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,225
$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,-107760.12
$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,28
$R_STBD_OVSHOOT,41
$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
$GPS1,135231,2153.728,-15942.627,9,1.6,13,9.8
$_CALLS,3
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-54.6
$GPS2,140532,2153.876,-15942.864,11,1.6,11,9.8
$SPEED_LIMITS,0.100,0.311
$TGT_NAME,BobSW
$TGT_LATLONG,2153.790,-15942.207
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.297,-0.092
$KALMAN_X,-78920.8,1356.3,208.3,79860.5,-739.9
$KALMAN_Y,28430.3,-464.3,28.1,-31399.8,287.4
$MHEAD_RNG_PITCHd_Wd,97.4,1141,-14.7,-10.000
$D_GRID,180
$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,-1.40,-219.0,0.0,0.0,0,112,0.00,0.00,-91.03,0.000,2,0.000,0.000,402,2000,3240
$GC,115,-1.40,-219.0,3.2,-5.9,15,141,10.95,0.00,-10.20,0.000,6,0.179,0.000,2232,2001,3812
$GC,208,-1.40,-219.0,24.9,-18.7,29,210,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,2001,3813
$GC,272,-1.40,-219.0,36.4,-18.0,35,273,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,2001,3813
$GC,336,-1.40,-219.0,47.0,-16.3,41,340,0.00,2.58,0.00,0.000,4,0.000,0.054,2232,570,3813
$GC,379,-1.40,-219.0,54.6,-16.5,44,386,0.00,2.35,0.00,0.000,6,0.000,0.028,2233,1967,3813
$GC,449,-1.40,-219.0,64.3,-13.8,51,454,0.00,2.47,0.00,0.000,4,0.000,0.050,2232,3365,3814
$GC,493,-1.40,-219.0,71.2,-16.1,54,500,0.00,2.40,0.00,0.000,6,0.000,0.034,2232,1965,3815
$GC,564,-1.40,-219.0,80.7,-13.0,61,568,0.00,2.50,0.00,0.000,4,0.000,0.050,2232,3370,3815
$GC,592,-1.40,-219.0,84.6,-13.9,63,596,0.00,2.40,0.00,0.000,6,0.000,0.034,2232,1970,3815
$GC,662,-1.40,-219.0,94.0,-13.5,69,666,0.00,2.53,0.00,0.000,4,0.000,0.059,2232,567,3815
$GC,705,-1.40,-219.0,100.0,-13.4,72,712,0.00,2.38,0.00,0.000,6,0.000,0.030,2233,1970,3815
$GC,775,-1.40,-219.0,108.9,-13.1,79,780,0.00,2.47,0.00,0.000,4,0.000,0.052,2232,3360,3815
$GC,831,-1.40,-219.0,116.2,-12.6,83,838,0.00,2.40,0.00,0.000,6,0.000,0.033,2233,1955,3816
$GC,901,-1.40,-219.0,124.9,-12.5,90,905,0.00,2.50,0.00,0.000,4,0.000,0.049,2232,3362,3816
$GC,944,-1.40,-219.0,130.6,-12.1,93,951,0.00,2.40,0.00,0.000,6,0.000,0.035,2232,1965,3816
$GC,1014,-1.40,-219.0,139.0,-11.9,100,1019,0.00,2.55,0.00,0.000,4,0.000,0.061,2232,560,3816
$GC,1077,-1.40,-219.0,148.3,-15.0,105,1081,0.00,2.38,0.00,0.000,6,0.000,0.031,2232,1975,3816
$GC,1154,-1.40,-219.0,158.3,-13.0,112,1155,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,1975,3816
$GC,1216,-1.40,-219.0,166.3,-12.5,118,1217,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,1978,3816
$GC,1280,-1.40,-219.0,174.3,-12.4,124,1281,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,1978,3816
$STATE,1330,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1331,begin apogee
$GC,1336,-0.38,0.0,181.0,12.7,129,1515,1.08,0.00,173.75,0.609,6,0.092,0.000,2452,1978,2917
$STATE,1516,end apogee,CONTROL_FINISHED_OK
$STATE,1516,begin climb
$GC,1519,1.40,219.0,188.6,0.0,147,1698,1.80,0.00,173.73,0.598,6,0.060,0.000,2850,1978,2024
$GC,1761,1.59,370.8,180.7,5.3,171,1889,0.17,0.00,124.28,0.591,6,0.035,0.000,2919,1978,1405
$GC,1949,1.64,415.7,166.0,8.6,189,1995,0.00,2.58,38.72,0.571,4,0.000,0.060,2920,592,1221
$GC,2018,1.65,421.4,159.6,9.8,195,2031,0.00,2.42,6.10,0.452,6,0.000,0.033,2920,1997,1199
$GC,2093,1.65,421.4,150.9,12.6,202,2098,0.00,2.53,0.00,0.000,4,0.000,0.058,2920,3386,1196
$GC,2122,1.65,421.4,147.3,13.1,204,2126,0.00,2.42,0.00,0.000,6,0.000,0.037,2919,1996,1195
$GC,2192,1.65,421.4,139.4,11.4,210,2196,0.00,2.60,0.00,0.000,4,0.000,0.064,2919,585,1194
$GC,2224,1.65,421.4,134.6,14.9,212,2231,0.00,2.42,0.00,0.000,6,0.000,0.033,2920,1997,1194
$GC,2294,1.65,421.4,124.5,14.5,219,2298,0.00,2.50,0.00,0.000,4,0.000,0.054,2920,3385,1193
$GC,2360,1.65,421.4,114.9,14.0,224,2367,0.00,2.42,0.00,0.000,6,0.000,0.036,2920,1993,1192
$GC,2430,1.65,421.4,105.2,14.1,231,2431,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,1993,1192
$GC,2494,1.65,421.4,96.8,12.7,237,2498,0.00,2.53,0.00,0.000,4,0.000,0.054,2920,3386,1192
$GC,2526,1.65,421.4,92.3,12.7,239,2533,0.00,2.42,0.00,0.000,6,0.000,0.035,2920,1990,1191
$GC,2596,1.65,421.4,84.1,12.1,246,2600,0.00,2.58,0.00,0.000,4,0.000,0.062,2920,584,1191
$GC,2624,1.65,421.4,80.4,13.3,248,2628,0.00,2.42,0.00,0.000,6,0.000,0.031,2920,2001,1191
$GC,2694,1.65,421.4,71.5,12.8,254,2698,0.00,2.50,0.00,0.000,4,0.000,0.057,2920,3384,1191
$GC,2722,1.65,421.4,68.1,12.0,256,2726,0.00,2.42,0.00,0.000,6,0.000,0.036,2919,1986,1192
$GC,2792,1.65,421.4,60.7,10.3,262,2793,0.00,0.00,0.00,0.000,6,0.000,0.000,2920,1986,1190
$GC,2855,1.65,421.4,53.6,11.1,268,2856,0.00,0.00,0.00,0.000,6,0.000,0.000,2920,1986,1190
$GC,2919,1.65,421.4,46.1,11.6,274,2920,0.00,0.00,0.00,0.000,6,0.000,0.000,2920,1986,1190
$GC,2983,1.65,421.4,39.4,10.1,280,2984,0.00,0.00,0.00,0.000,6,0.000,0.000,2920,1986,1189
$GC,3047,1.69,455.3,33.7,9.0,286,3082,0.00,2.58,28.67,0.528,4,0.000,0.061,2920,588,1060
$GC,3105,1.72,473.6,28.0,9.4,291,3129,0.00,2.42,16.70,0.501,6,0.000,0.030,2920,2011,986
$GC,3192,1.73,484.7,20.1,9.7,299,3208,0.00,0.00,10.60,0.472,6,0.000,0.000,2919,2011,939
$GC,3277,1.73,484.7,12.4,10.1,313,3282,0.00,0.00,0.00,0.000,6,0.000,0.000,2920,2014,937
$GC,3352,1.79,538.3,5.5,8.4,326,3392,0.00,0.38,36.03,0.501,3,0.000,0.041,2920,1798,746
$STATE,3392,end climb,SURFACE_DEPTH_REACHED
$STATE,3392,begin surface coast
$FINISH,0.3,1.010765
$STATE,3409,end surface coast,CONTROL_FINISHED_OK
$STATE,3409,begin surface
$SM_CCo,3491,0.00,0.000,0,0,740,533.77
$SM_GC,1.23,10.93,0.00,0.00,0.026,0.000,0.000,404,1977,740,-9.76,0.20,533.77
$IRIDIUM_FIX,2138.81,-15452.26,291098,121228
$TT8_MAMPS,0.072865
$HUMID,1893
$INTERNAL_PRESSURE,7.55888
$TCM_TEMP,24.70
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.7,16.850
$10V_AH,10.0,7.251
$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,24.925,74.725,608.575,0.000,0.000,133.063,118.676,277.683,0.000,0.000,214.419,11.238,637.977,1600.002,679.671,649.887,714.689,33.340,1146.276,0.000,619.979,0.000,0.000,0.000
$DEVICE_MAMPS,179.478,63.661,608.998,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,222.931,0.000,0.000,0.000,0.000,0.000,58.975,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,9603,335
$CAP_FILE_SIZE,66837,0
$CFSIZE,260165632,251240448
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040809,150536,2154.064,-15943.008,11,1.1,27,9.8