version: 66.04
glider: 117
mission: 24
dive: 68
start: 8 4 109 16 20 41
data:
$ID,117
$MISSION,24
$DIVE,68
$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,-107809.05
$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,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
$GPS1,161226,2154.155,-15943.253,14,1.6,14,9.8
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-53.9
$GPS2,161949,2154.185,-15943.366,14,1.7,31,9.8
$SPEED_LIMITS,0.100,0.311
$TGT_NAME,BobSW
$TGT_LATLONG,2153.790,-15942.207
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.276,-0.144
$KALMAN_X,-81707.3,1427.5,3.5,81900.7,-1587.9
$KALMAN_Y,29847.1,-601.0,71.5,-32138.7,736.0
$MHEAD_RNG_PITCHd_Wd,107.7,2122,-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,14,begin dive
$GC,16,-1.40,-219.0,0.0,0.0,0,117,0.00,0.00,-96.85,0.000,2,0.000,0.000,404,1995,3351
$GC,120,-1.40,-219.0,4.1,-9.2,16,141,10.85,0.00,-7.65,0.000,6,0.178,0.000,2233,1996,3813
$GC,209,-1.40,-219.0,27.1,-19.3,28,213,0.00,2.58,0.00,0.000,4,0.000,0.056,2233,570,3815
$GC,252,-1.40,-219.0,35.8,-18.6,31,259,0.00,2.38,0.00,0.000,6,0.000,0.030,2233,1975,3815
$GC,322,-1.40,-219.0,48.7,-18.3,38,323,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,1978,3815
$GC,387,-1.40,-219.0,60.5,-18.3,44,389,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,1978,3815
$GC,450,-1.40,-219.0,70.7,-15.6,50,454,0.00,2.47,0.00,0.000,4,0.000,0.051,2234,3369,3815
$GC,487,-1.40,-219.0,77.6,-17.9,53,494,0.00,2.40,0.00,0.000,6,0.000,0.034,2234,1965,3815
$GC,558,-1.40,-219.0,88.7,-15.5,60,559,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,1965,3816
$GC,621,-1.40,-219.0,99.4,-17.2,66,622,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,1964,3816
$GC,685,-1.40,-219.0,110.1,-16.6,72,689,0.00,2.53,0.00,0.000,4,0.000,0.059,2233,569,3816
$GC,713,-1.40,-219.0,114.8,-16.8,74,717,0.00,2.38,0.00,0.000,6,0.000,0.030,2233,1976,3816
$GC,783,-1.40,-219.0,125.3,-15.0,80,784,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,1976,3816
$GC,846,-1.40,-219.0,134.5,-14.3,86,850,0.00,2.53,0.00,0.000,4,0.000,0.058,2232,569,3817
$GC,907,-1.40,-219.0,143.5,-14.3,91,914,0.00,2.38,0.00,0.000,6,0.000,0.031,2233,1979,3817
$GC,977,-1.40,-219.0,153.0,-13.3,98,981,0.00,2.45,0.00,0.000,4,0.000,0.052,2233,3362,3818
$GC,1033,-1.40,-219.0,160.6,-13.6,102,1039,0.00,2.40,0.00,0.000,6,0.000,0.035,2233,1964,3818
$GC,1103,-1.40,-219.0,170.0,-13.2,109,1104,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,1964,3817
$GC,1166,-1.40,-219.0,178.5,-13.2,115,1171,0.00,2.55,0.00,0.000,4,0.000,0.061,2233,562,3818
$STATE,1181,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1182,begin apogee
$GC,1190,-0.38,0.0,180.5,12.2,116,1368,1.08,0.00,172.55,0.610,6,0.090,0.000,2453,2007,2917
$STATE,1369,end apogee,CONTROL_FINISHED_OK
$STATE,1369,begin climb
$GC,1372,1.40,219.0,189.0,0.0,134,1555,1.77,0.00,172.30,0.597,6,0.058,0.000,2848,2009,2023
$GC,1620,1.49,288.3,175.3,7.9,158,1684,0.00,2.53,56.85,0.579,4,0.000,0.058,2848,3383,1740
$GC,1712,1.56,349.0,168.0,8.1,166,1768,0.15,2.42,50.30,0.575,6,0.039,0.037,2902,1993,1494
$GC,1833,1.56,350.5,156.7,10.0,177,1835,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,1993,1490
$GC,1897,1.56,350.5,150.4,10.1,183,1901,0.00,2.53,0.00,0.000,4,0.000,0.054,2902,3387,1488
$GC,1940,1.56,350.5,145.9,10.1,186,1947,0.00,2.42,0.00,0.000,6,0.000,0.036,2902,1991,1489
$GC,2011,1.59,368.9,139.1,9.4,193,2031,0.00,0.00,16.98,0.544,6,0.000,0.000,2902,1991,1413
$GC,2095,1.59,375.0,130.9,9.8,201,2107,0.00,2.58,6.70,0.464,4,0.000,0.062,2902,589,1387
$GC,2124,1.59,375.0,127.8,10.4,203,2131,0.00,2.42,0.00,0.000,6,0.000,0.032,2902,1999,1388
$GC,2194,1.59,375.0,120.8,10.3,210,2198,0.00,2.58,0.00,0.000,4,0.000,0.060,2902,592,1385
$GC,2222,1.59,375.0,118.2,10.2,212,2226,0.00,2.40,0.00,0.000,6,0.000,0.032,2902,1998,1385
$GC,2292,1.64,411.3,111.6,8.9,218,2325,0.00,0.00,31.52,0.558,6,0.000,0.000,2902,2002,1240
$GC,2385,1.71,469.9,103.9,8.2,227,2438,0.00,0.00,50.20,0.558,6,0.000,0.000,2902,2003,1001
$GC,2499,1.76,507.3,94.5,8.9,238,2537,0.10,2.65,31.83,0.539,4,0.047,0.059,2948,593,847
$GC,2559,1.76,507.3,87.2,12.8,243,2567,0.12,2.40,0.00,0.000,6,0.078,0.031,2922,1994,845
$GC,2630,1.76,507.3,79.3,11.1,250,2634,0.00,2.50,0.00,0.000,4,0.000,0.054,2922,3384,844
$GC,2662,1.76,507.3,75.6,10.5,252,2669,0.00,2.42,0.00,0.000,6,0.000,0.035,2922,1984,843
$GC,2732,1.76,507.3,67.8,11.7,259,2733,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,1985,842
$GC,2796,1.76,507.3,60.9,10.4,265,2800,0.00,2.53,0.00,0.000,4,0.000,0.053,2921,3387,842
$GC,2836,1.85,580.6,57.5,7.7,268,2862,0.00,2.40,21.45,0.518,6,0.000,0.035,2922,1992,745
$GC,2933,1.89,613.9,49.3,9.0,277,2938,0.15,2.55,0.00,0.000,4,0.041,0.060,2976,592,743
$GC,3000,1.89,613.9,40.9,12.1,282,3008,0.12,2.38,0.00,0.000,6,0.077,0.030,2950,1996,742
$GC,3070,1.89,613.9,32.7,11.8,289,3072,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,1996,741
$GC,3134,1.89,613.9,25.6,11.2,295,3135,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,1998,740
$GC,3198,1.89,613.9,18.0,11.3,302,3205,0.00,2.55,0.00,0.000,4,0.000,0.058,2949,597,741
$GC,3234,1.89,613.9,13.8,13.0,308,3241,0.00,2.38,0.00,0.000,6,0.000,0.029,2949,2006,740
$GC,3309,1.89,613.9,4.6,11.8,321,3315,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2006,740
$STATE,3330,end climb,SURFACE_DEPTH_REACHED
$STATE,3330,begin surface coast
$FINISH,0.4,1.022845
$STATE,3348,end surface coast,CONTROL_FINISHED_OK
$STATE,3349,begin surface
$SM_CCo,3430,0.00,0.000,0,0,737,534.75
$SM_GC,1.16,11.00,0.00,0.00,0.027,0.000,0.000,401,1948,737,-9.78,-0.62,534.75
$IRIDIUM_FIX,2148.09,-15945.13,291098,151528
$TT8_MAMPS,0.185614
$HUMID,1862
$INTERNAL_PRESSURE,7.60771
$TCM_TEMP,25.00
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.8,17.194
$10V_AH,10.1,7.343
$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,25.350,74.175,610.675,0.000,0.000,25.470,25.950,239.958,0.000,0.000,194.408,31.495,624.023,1442.425,683.375,655.925,478.238,33.335,1145.850,0.000,606.471,0.000,0.000,0.000
$DEVICE_MAMPS,177.944,106.613,609.765,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,217.739,0.000,0.000,0.000,0.000,0.000,75.394,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,9608,328
$CAP_FILE_SIZE,64662,0
$CFSIZE,260165632,251125760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040809,171858,2154.183,-15943.483,13,3.1,32,9.8