version: 66.04
glider: 117
mission: 24
dive: 70
start: 8 4 109 18 44 40
data:
$ID,117
$MISSION,24
$DIVE,70
$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,-107872.95
$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,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
$GPS1,182557,2154.419,-15943.831,29,3.1,48,9.8
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-53.1
$GPS2,184349,2154.515,-15944.172,13,1.8,30,9.8
$SPEED_LIMITS,0.100,0.311
$TGT_NAME,BobSW
$TGT_LATLONG,2153.790,-15942.207
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.288,-0.118
$KALMAN_X,-83990.6,772.2,-449.2,83919.4,-1211.3
$KALMAN_Y,30981.9,-347.7,192.3,-33044.7,492.9
$MHEAD_RNG_PITCHd_Wd,102.4,3633,-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,-219.0,0.0,0.0,0,118,0.00,0.00,-96.80,0.000,2,0.000,0.000,405,1977,3359
$GC,121,-1.40,-219.0,3.7,-7.9,16,142,10.75,0.00,-7.55,0.000,6,0.175,0.000,2233,1977,3812
$GC,210,-1.40,-219.0,26.8,-19.3,28,211,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,1977,3813
$GC,272,-1.40,-219.0,39.0,-19.1,34,276,0.00,2.53,0.00,0.000,4,0.000,0.056,2233,569,3813
$GC,304,-1.40,-219.0,45.2,-18.2,36,311,0.00,2.35,0.00,0.000,6,0.000,0.029,2233,1966,3813
$GC,374,-1.40,-219.0,57.5,-17.9,43,375,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,1970,3813
$GC,438,-1.40,-219.0,68.6,-17.5,49,442,0.00,2.50,0.00,0.000,4,0.000,0.057,2233,569,3813
$GC,481,-1.40,-219.0,75.8,-15.2,52,488,0.00,2.38,0.00,0.000,6,0.000,0.029,2233,1987,3813
$GC,552,-1.40,-219.0,86.4,-15.4,59,556,0.00,2.42,0.00,0.000,4,0.000,0.050,2233,3363,3813
$GC,591,-1.40,-219.0,92.3,-15.3,62,595,0.00,2.38,0.00,0.000,6,0.000,0.033,2233,1966,3813
$GC,661,-1.40,-219.0,103.2,-15.4,68,662,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,1966,3814
$GC,724,-1.40,-219.0,113.4,-15.5,74,729,0.00,2.50,0.00,0.000,4,0.000,0.059,2233,571,3814
$GC,768,-1.40,-219.0,120.2,-14.7,77,775,0.00,2.35,0.00,0.000,6,0.000,0.030,2233,1967,3814
$GC,838,-1.40,-219.0,130.2,-14.3,84,840,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,1969,3814
$GC,902,-1.40,-219.0,139.0,-13.7,90,906,0.00,2.50,0.00,0.000,4,0.000,0.057,2232,572,3814
$GC,964,-1.40,-219.0,148.0,-15.4,95,968,0.00,2.35,0.00,0.000,6,0.000,0.031,2233,1969,3814
$GC,1034,-1.40,-219.0,158.7,-15.1,101,1035,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,1971,3814
$GC,1097,-1.40,-219.0,167.9,-14.2,107,1101,0.00,2.47,0.00,0.000,4,0.000,0.052,2233,3367,3815
$GC,1174,-1.40,-219.0,179.4,-13.5,113,1181,0.00,2.40,0.00,0.000,6,0.000,0.035,2233,1964,3815
$STATE,1189,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1189,begin apogee
$GC,1195,-0.38,0.0,181.5,13.0,115,1373,1.08,0.00,171.57,0.605,6,0.093,0.000,2453,1963,2916
$STATE,1374,end apogee,CONTROL_FINISHED_OK
$STATE,1374,begin climb
$GC,1377,1.40,219.0,188.8,0.0,133,1558,1.80,2.60,171.32,0.593,4,0.058,0.054,2847,3385,2024
$GC,1600,1.49,288.3,177.2,7.9,153,1662,0.00,2.42,56.47,0.575,6,0.000,0.037,2847,1991,1741
$GC,1726,1.57,352.9,167.5,8.0,164,1790,0.15,2.60,53.85,0.571,4,0.039,0.055,2904,3387,1477
$GC,1825,1.57,352.9,157.7,10.9,173,1829,0.00,2.42,0.00,0.000,6,0.000,0.037,2904,1993,1474
$GC,1894,1.57,352.9,150.6,10.1,179,1896,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,1993,1473
$GC,1958,1.57,352.9,143.9,10.3,185,1959,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,1993,1472
$GC,2022,1.57,352.9,137.4,10.5,191,2026,0.00,2.55,0.00,0.000,4,0.000,0.062,2904,594,1472
$GC,2099,1.57,352.9,129.4,10.1,197,2106,0.00,2.40,0.00,0.000,6,0.000,0.033,2904,2001,1470
$GC,2171,1.61,389.1,123.1,8.9,204,2204,0.00,0.00,30.40,0.555,6,0.000,0.000,2904,2001,1330
$GC,2267,1.61,389.1,113.8,10.4,213,2271,0.00,2.58,0.00,0.000,4,0.000,0.058,2904,585,1326
$GC,2306,1.61,389.1,110.1,10.8,216,2310,0.00,2.40,0.00,0.000,6,0.000,0.032,2904,1995,1325
$GC,2376,1.61,389.1,103.2,10.1,222,2380,0.00,2.50,0.00,0.000,4,0.000,0.056,2904,3387,1325
$GC,2415,1.61,390.1,99.3,10.0,225,2420,0.00,2.40,0.00,0.000,6,0.000,0.036,2904,1991,1324
$GC,2485,1.61,390.1,92.0,10.5,231,2486,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,1991,1324
$GC,2549,1.61,390.1,84.6,11.8,237,2553,0.00,2.50,0.00,0.000,4,0.000,0.054,2904,3383,1323
$GC,2581,1.61,390.1,80.7,11.6,239,2588,0.00,2.40,0.00,0.000,6,0.000,0.035,2904,1987,1323
$GC,2651,1.61,390.1,73.1,11.2,246,2652,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,1987,1322
$GC,2715,1.61,390.1,66.0,10.4,252,2716,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,1987,1322
$GC,2779,1.69,455.6,60.9,8.0,258,2840,0.00,2.58,55.78,0.537,4,0.000,0.061,2903,588,1058
$GC,2898,1.69,455.6,48.7,10.8,268,2902,0.00,2.38,0.00,0.000,6,0.000,0.030,2904,2002,1056
$GC,2975,1.72,477.7,41.4,9.3,275,2996,0.00,0.00,19.20,0.500,6,0.000,0.000,2904,2003,968
$GC,3057,1.73,485.5,33.6,9.8,283,3068,0.00,0.00,7.28,0.433,6,0.000,0.000,2904,2003,937
$GC,3131,1.79,534.3,27.0,8.5,290,3179,0.12,2.65,40.10,0.505,4,0.043,0.058,2958,595,746
$GC,3208,1.79,534.3,17.9,13.0,298,3215,0.12,2.38,0.00,0.000,6,0.074,0.029,2931,2001,744
$GC,3284,1.80,540.6,9.6,9.8,311,3290,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2001,742
$STATE,3357,end climb,SURFACE_DEPTH_REACHED
$STATE,3357,begin surface coast
$FINISH,0.3,1.015256
$STATE,3373,end surface coast,CONTROL_FINISHED_OK
$STATE,3374,begin surface
$SM_CCo,3455,0.00,0.000,0,0,739,534.02
$SM_GC,1.09,10.82,0.00,0.00,0.022,0.000,0.000,400,2006,739,-9.78,1.02,534.02
$IRIDIUM_FIX,2145.77,-15943.76,291098,181809
$TT8_MAMPS,0.068263
$HUMID,1877
$INTERNAL_PRESSURE,7.62725
$TCM_TEMP,25.30
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,24.1,17.467
$10V_AH,10.1,7.510
$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,24.850,68.875,605.975,0.000,0.000,191.753,54.984,461.171,0.000,0.000,29.959,30.894,632.176,1641.112,649.180,698.747,915.668,33.333,1131.350,0.000,640.365,0.000,0.000,0.000
$DEVICE_MAMPS,174.876,62.127,605.163,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,216.737,0.000,0.000,0.000,0.000,0.000,200.989,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,9596,327
$CAP_FILE_SIZE,71902,0
$CFSIZE,260165632,250966016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040809,194310,2154.650,-15944.423,13,1.3,21,9.8