version: 66.04
glider: 117
mission: 24
dive: 69
start: 8 4 109 17 27 19
data:
$ID,117
$MISSION,24
$DIVE,69
$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,-107841.42
$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,46
$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
$GPS1,171858,2154.183,-15943.483,13,3.1,32,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-52.8
$GPS2,172628,2154.229,-15943.614,11,2.9,30,9.8
$SPEED_LIMITS,0.100,0.311
$TGT_NAME,BobSW
$TGT_LATLONG,2153.790,-15942.207
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.291,-0.112
$KALMAN_X,-82538.7,1116.8,-279.5,82895.6,-1245.0
$KALMAN_Y,30208.2,-461.1,171.7,-32656.9,468.5
$MHEAD_RNG_PITCHd_Wd,101.2,2551,-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,-219.0,0.0,0.0,0,118,0.00,0.00,-96.95,0.000,2,0.000,0.000,401,1948,3337
$GC,121,-1.40,-219.0,3.9,-8.5,16,147,10.80,0.00,-8.00,0.000,6,0.176,0.000,2232,1948,3813
$GC,219,-1.40,-219.0,28.8,-20.3,29,224,0.00,2.45,0.00,0.000,4,0.000,0.056,2232,583,3813
$GC,252,-1.40,-219.0,35.8,-20.0,31,259,0.00,2.35,0.00,0.000,6,0.000,0.028,2233,1976,3813
$GC,324,-1.40,-219.0,49.4,-19.7,38,325,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,1979,3813
$GC,386,-1.40,-219.0,61.5,-18.5,44,390,0.00,2.50,0.00,0.000,4,0.000,0.055,2232,580,3813
$GC,441,-1.40,-219.0,72.3,-19.3,48,448,0.00,2.35,0.00,0.000,6,0.000,0.029,2232,1977,3813
$GC,511,-1.40,-219.0,83.4,-16.1,55,515,0.00,2.45,0.00,0.000,4,0.000,0.051,2232,3366,3813
$GC,565,-1.40,-219.0,92.2,-14.9,59,573,0.00,2.35,0.00,0.000,6,0.000,0.034,2232,1985,3813
$GC,636,-1.40,-219.0,102.4,-15.1,66,637,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,1985,3813
$GC,699,-1.40,-219.0,112.3,-15.8,72,701,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,1985,3814
$GC,763,-1.40,-219.0,122.6,-16.7,78,767,0.00,2.55,0.00,0.000,4,0.000,0.059,2232,565,3814
$GC,814,-1.40,-219.0,130.8,-16.4,82,818,0.00,2.38,0.00,0.000,6,0.000,0.031,2232,1978,3814
$GC,883,-1.40,-219.0,141.4,-15.0,88,885,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,1978,3815
$GC,947,-1.40,-219.0,151.2,-15.3,94,951,0.00,2.55,0.00,0.000,4,0.000,0.057,2232,561,3815
$GC,977,-1.40,-219.0,155.6,-15.7,96,981,0.00,2.38,0.00,0.000,6,0.000,0.031,2232,1969,3815
$GC,1047,-1.40,-219.0,164.8,-13.2,102,1051,0.00,2.47,0.00,0.000,4,0.000,0.052,2232,3368,3815
$GC,1135,-1.40,-219.0,176.9,-12.8,109,1142,0.00,2.40,0.00,0.000,6,0.000,0.035,2232,1963,3816
$STATE,1161,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1161,begin apogee
$GC,1166,-0.38,0.0,180.2,12.4,112,1345,1.08,0.00,171.73,0.605,6,0.094,0.000,2451,1963,2916
$STATE,1346,end apogee,CONTROL_FINISHED_OK
$STATE,1346,begin climb
$GC,1349,1.40,219.0,188.0,0.0,130,1531,1.77,2.62,171.57,0.592,4,0.058,0.055,2848,3392,2022
$GC,1616,1.49,293.2,172.2,7.7,154,1683,0.00,2.42,60.40,0.576,6,0.000,0.037,2847,1997,1720
$GC,1755,1.60,376.8,162.0,7.4,167,1832,0.17,2.50,68.90,0.574,4,0.035,0.055,2907,3395,1380
$GC,1894,1.60,376.8,147.4,10.6,179,1901,0.00,2.45,0.00,0.000,6,0.000,0.037,2907,1989,1376
$GC,1964,1.60,376.8,140.5,10.0,186,1968,0.00,2.55,0.00,0.000,4,0.000,0.063,2906,593,1375
$GC,2019,1.60,376.8,134.5,10.7,190,2026,0.00,2.40,0.00,0.000,6,0.000,0.033,2907,1997,1374
$GC,2089,1.60,376.8,127.0,11.0,197,2090,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,1998,1373
$GC,2153,1.60,376.8,120.6,10.2,203,2154,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,1998,1373
$GC,2217,1.60,376.9,114.1,10.0,209,2221,0.00,2.58,0.00,0.000,4,0.000,0.059,2907,585,1372
$GC,2249,1.61,385.8,110.8,9.7,211,2262,0.00,2.40,7.53,0.477,6,0.000,0.032,2907,2001,1344
$GC,2326,1.64,413.0,103.9,9.2,218,2356,0.00,0.00,24.52,0.548,6,0.000,0.000,2907,2001,1232
$GC,2420,1.65,424.1,95.0,9.7,227,2433,0.00,0.00,10.60,0.506,6,0.000,0.000,2907,2002,1187
$GC,2494,1.66,432.0,87.7,9.8,234,2507,0.00,2.53,7.70,0.470,4,0.000,0.054,2907,3391,1156
$GC,2541,1.66,432.0,82.7,10.9,238,2545,0.00,2.42,0.00,0.000,6,0.000,0.035,2907,1990,1154
$GC,2611,1.69,456.2,76.2,9.3,244,2635,0.00,0.00,21.85,0.532,6,0.000,0.000,2907,1990,1057
$GC,2695,1.76,510.9,68.9,8.3,252,2745,0.00,0.00,46.40,0.538,6,0.000,0.000,2906,1990,834
$GC,2809,1.80,540.9,59.8,9.1,263,2834,0.12,2.58,19.05,0.510,4,0.046,0.061,2955,592,746
$GC,2872,1.80,540.9,51.9,12.6,268,2880,0.12,2.40,0.00,0.000,6,0.077,0.030,2929,2006,743
$GC,2943,1.80,540.9,44.3,10.3,275,2944,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2007,742
$GC,3006,1.80,540.9,37.8,10.0,281,3007,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2006,741
$GC,3070,1.80,540.9,31.3,10.4,287,3074,0.00,2.58,0.00,0.000,4,0.000,0.057,2929,586,741
$GC,3102,1.80,540.9,27.3,11.6,289,3109,0.00,2.38,0.00,0.000,6,0.000,0.029,2929,1994,741
$GC,3173,1.80,540.9,19.9,10.6,296,3178,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,1994,740
$GC,3248,1.82,560.8,12.5,9.4,309,3254,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,1994,740
$GC,3322,1.82,560.8,4.4,12.1,322,3329,0.00,2.55,0.00,0.000,4,0.000,0.058,2929,588,740
$STATE,3344,end climb,SURFACE_DEPTH_REACHED
$STATE,3344,begin surface coast
$FINISH,1.2,1.022852
$STATE,3351,end surface coast,CONTROL_FINISHED_OK
$STATE,3351,begin surface
$SM_CCo,3435,0.00,0.000,0,0,737,534.51
$SM_GC,1.03,10.80,0.00,0.00,0.023,0.000,0.000,405,1976,737,-9.76,0.20,534.51
$IRIDIUM_FIX,2145.77,-15943.76,291098,161608
$TT8_MAMPS,0.060593
$HUMID,1881
$INTERNAL_PRESSURE,7.61748
$TCM_TEMP,25.20
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,24.1,17.324
$10V_AH,10.0,7.420
$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,24.875,68.900,610.250,0.000,0.000,22.552,28.104,245.765,0.000,0.000,46.655,31.742,624.414,1436.998,679.855,679.964,473.602,33.335,1150.584,0.000,629.739,0.000,0.000,0.000
$DEVICE_MAMPS,175.643,62.894,605.163,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,216.830,0.000,0.000,0.000,0.000,0.000,172.872,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,9606,327
$CAP_FILE_SIZE,63085,0
$CFSIZE,260165632,251064320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040809,182557,2154.419,-15943.831,29,3.1,48,9.8