version: 66.04
glider: 117
mission: 24
dive: 67
start: 8 4 109 15 13 36
data:
$ID,117
$MISSION,24
$DIVE,67
$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,-107776.92
$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,25
$R_STBD_OVSHOOT,48
$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
$GPS1,150536,2154.064,-15943.008,11,1.1,27,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-54.3
$GPS2,151244,2154.127,-15943.154,16,1.5,16,9.8
$SPEED_LIMITS,0.100,0.311
$TGT_NAME,BobSW
$TGT_LATLONG,2153.790,-15942.207
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.286,-0.123
$KALMAN_X,-80584.1,1511.9,198.2,80873.2,-1323.7
$KALMAN_Y,29315.4,-565.7,8.6,-31695.4,555.5
$MHEAD_RNG_PITCHd_Wd,103.5,1744,-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,14,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,-91.00,0.000,2,0.000,0.000,404,1977,3121
$GC,115,-1.40,-219.0,3.1,-6.2,15,142,10.77,0.00,-13.20,0.000,6,0.176,0.000,2229,1977,3812
$GC,214,-1.40,-219.0,24.8,-18.6,30,216,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,1977,3813
$GC,278,-1.40,-219.0,37.6,-20.7,36,279,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,1979,3813
$GC,342,-1.40,-219.0,49.6,-19.5,42,346,0.00,2.55,0.00,0.000,4,0.000,0.056,2230,562,3813
$GC,393,-1.40,-219.0,60.3,-20.3,46,398,0.00,2.38,0.00,0.000,6,0.000,0.028,2230,1973,3813
$GC,463,-1.40,-219.0,72.4,-16.3,52,467,0.00,2.45,0.00,0.000,4,0.000,0.049,2229,3360,3813
$GC,507,-1.40,-219.0,80.0,-17.1,55,514,0.00,2.38,0.00,0.000,6,0.000,0.032,2230,1966,3813
$GC,577,-1.40,-219.0,91.4,-16.4,62,578,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,1966,3814
$GC,641,-1.40,-219.0,100.6,-14.4,68,642,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,1966,3815
$GC,705,-1.40,-219.0,110.0,-14.8,74,709,0.00,2.53,0.00,0.000,4,0.000,0.059,2230,563,3815
$GC,756,-1.40,-219.0,117.4,-15.3,78,761,0.00,2.38,0.00,0.000,6,0.000,0.030,2229,1970,3815
$GC,826,-1.40,-219.0,127.2,-13.6,84,831,0.00,2.47,0.00,0.000,4,0.000,0.052,2229,3367,3816
$GC,877,-1.40,-219.0,134.4,-13.9,88,881,0.00,2.40,0.00,0.000,6,0.000,0.035,2230,1966,3816
$GC,947,-1.40,-219.0,144.5,-14.5,94,951,0.00,2.47,0.00,0.000,4,0.000,0.050,2230,3360,3816
$GC,986,-1.40,-219.0,150.3,-15.6,97,990,0.00,2.38,0.00,0.000,6,0.000,0.034,2230,1972,3816
$GC,1056,-1.40,-219.0,160.8,-15.3,103,1057,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,1972,3816
$GC,1120,-1.40,-219.0,169.9,-14.0,109,1124,0.00,2.55,0.00,0.000,4,0.000,0.061,2230,564,3816
$GC,1159,-1.40,-219.0,175.7,-14.6,112,1164,0.00,2.38,0.00,0.000,6,0.000,0.031,2229,1968,3816
$STATE,1195,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1195,begin apogee
$GC,1200,-0.38,0.0,181.1,14.6,115,1379,1.10,0.00,173.12,0.611,6,0.094,0.000,2452,1973,2917
$STATE,1380,end apogee,CONTROL_FINISHED_OK
$STATE,1381,begin climb
$GC,1383,1.40,219.0,190.7,0.0,133,1562,1.80,0.00,172.75,0.601,6,0.060,0.000,2851,1972,2024
$GC,1626,1.50,300.6,178.8,7.5,157,1696,0.00,0.00,66.93,0.584,6,0.000,0.000,2851,1972,1690
$GC,1759,1.59,375.7,168.2,7.7,170,1829,0.17,0.00,62.83,0.579,6,0.036,0.000,2912,1972,1384
$GC,1892,1.60,379.2,155.1,9.9,183,1904,0.12,0.00,3.90,0.364,6,0.077,0.000,2886,1972,1370
$GC,1966,1.64,415.8,148.6,8.9,190,2006,0.00,0.00,32.25,0.565,6,0.000,0.000,2886,1972,1220
$GC,2069,1.64,415.8,138.0,10.7,200,2073,0.00,2.58,0.00,0.000,4,0.000,0.056,2886,3390,1218
$GC,2112,1.64,415.8,133.3,10.5,203,2119,0.00,2.42,0.00,0.000,6,0.000,0.036,2886,1995,1218
$GC,2182,1.64,415.8,126.3,10.3,210,2184,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,1994,1217
$GC,2247,1.65,422.5,119.9,9.8,216,2257,0.00,0.00,6.25,0.455,6,0.000,0.000,2886,1995,1194
$GC,2320,1.67,437.3,112.8,9.5,223,2344,0.00,2.62,13.98,0.531,4,0.000,0.061,2886,595,1133
$GC,2393,1.67,437.3,105.2,10.4,229,2401,0.00,2.40,0.00,0.000,6,0.000,0.032,2886,2000,1132
$GC,2464,1.71,468.6,99.0,9.0,236,2500,0.12,2.47,27.98,0.550,4,0.048,0.054,2937,3382,1005
$GC,2534,1.71,468.6,90.4,13.4,242,2539,0.12,2.42,0.00,0.000,6,0.080,0.036,2911,1987,1003
$GC,2604,1.71,468.6,82.7,10.6,248,2605,0.00,0.00,0.00,0.000,6,0.000,0.000,2911,1987,1002
$GC,2668,1.71,468.6,75.8,10.8,254,2672,0.00,2.58,0.00,0.000,4,0.000,0.061,2911,591,1001
$GC,2696,1.71,468.6,72.8,11.2,256,2700,0.00,2.40,0.00,0.000,6,0.000,0.031,2911,2003,1001
$GC,2765,1.71,468.6,64.5,11.6,262,2767,0.00,0.00,0.00,0.000,6,0.000,0.000,2911,2005,1001
$GC,2829,1.71,468.6,57.9,10.0,268,2830,0.00,0.00,0.00,0.000,6,0.000,0.000,2911,2007,1000
$GC,2893,1.73,484.9,51.8,9.5,274,2916,0.00,2.53,13.93,0.507,4,0.000,0.052,2911,3380,940
$GC,2951,1.73,484.9,46.0,10.5,279,2955,0.00,2.40,0.00,0.000,6,0.000,0.034,2911,1990,938
$GC,3021,1.77,518.9,39.8,9.0,285,3057,0.00,2.58,29.62,0.522,4,0.000,0.061,2911,588,801
$GC,3095,1.77,518.9,32.7,10.4,291,3102,0.00,2.40,0.00,0.000,6,0.000,0.030,2911,2002,799
$GC,3166,1.81,554.0,26.3,8.9,298,3186,0.12,0.00,12.68,0.481,6,0.044,0.000,2962,2002,745
$GC,3250,1.81,554.0,16.3,12.7,308,3257,0.12,2.58,0.00,0.000,4,0.074,0.057,2935,588,744
$GC,3286,1.81,554.0,12.0,11.2,314,3293,0.00,2.38,0.00,0.000,6,0.000,0.029,2935,1992,743
$GC,3361,1.81,554.0,4.1,11.2,327,3367,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,1992,743
$STATE,3382,end climb,SURFACE_DEPTH_REACHED
$STATE,3382,begin surface coast
$FINISH,0.4,1.023038
$STATE,3400,end surface coast,CONTROL_FINISHED_OK
$STATE,3401,begin surface
$SM_CCo,3482,0.00,0.000,0,0,740,534.26
$SM_GC,1.16,10.98,0.00,0.00,0.028,0.000,0.000,404,1996,740,-9.78,0.74,534.26
$IRIDIUM_FIX,2145.77,-15943.76,291098,141438
$TT8_MAMPS,0.071331
$HUMID,1870
$INTERNAL_PRESSURE,7.57842
$TCM_TEMP,25.00
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.8,17.023
$10V_AH,10.1,7.294
$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,25.450,64.050,616.200,0.000,0.000,28.091,31.640,230.461,0.000,0.000,200.325,16.167,632.883,1480.321,701.225,633.903,472.217,33.340,1153.410,0.000,601.968,0.000,0.000,0.000
$DEVICE_MAMPS,175.643,61.360,610.532,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,222.154,0.000,0.000,0.000,0.000,0.000,54.360,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,9551,334
$CAP_FILE_SIZE,63514,0
$CFSIZE,260165632,251187200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040809,161226,2154.155,-15943.253,14,1.6,14,9.8