version: 66.04
glider: 117
mission: 24
dive: 81
start: 8 5 109 23 51 35
data:
$ID,117
$MISSION,24
$DIVE,81
$D_SURF,2
$D_FLARE,3
$D_TGT,90
$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,30
$T_MISSION,45
$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,250
$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,-108107.67
$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,43
$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
$GPS1,234024,2154.117,-15941.529,30,1.7,35,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-53.6
$GPS2,235044,2154.216,-15941.746,15,1.2,15,9.8
$SPEED_LIMITS,0.100,0.326
$TGT_NAME,BobSW
$TGT_LATLONG,2153.790,-15942.207
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.144,-0.292
$KALMAN_X,-108507.2,-750.4,-90.2,113748.9,-479.8
$KALMAN_Y,43401.1,398.1,41.7,-46603.4,304.9
$MHEAD_RNG_PITCHd_Wd,143.9,1118,-13.9,-10.000
$D_GRID,90
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.37,-243.3,0.0,0.0,0,117,0.00,0.00,-97.22,0.000,2,0.000,0.000,406,1962,3300
$GC,120,-1.37,-243.3,3.8,-7.7,16,148,11.02,2.53,-10.27,0.000,4,0.183,0.067,2237,570,3912
$GC,160,-1.37,-243.3,16.8,-24.1,22,167,0.00,2.38,0.00,0.000,6,0.000,0.029,2238,1972,3913
$GC,232,-1.37,-243.3,30.2,-18.3,30,233,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,1977,3913
$GC,296,-1.37,-243.3,41.9,-18.6,36,300,0.00,2.53,0.00,0.000,4,0.000,0.054,2238,569,3913
$GC,328,-1.37,-243.3,47.8,-17.5,38,335,0.00,2.38,0.00,0.000,6,0.000,0.028,2238,1977,3914
$GC,398,-1.37,-243.3,58.7,-15.7,45,399,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,1978,3914
$GC,462,-1.37,-243.3,70.8,-18.8,51,463,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,1978,3914
$GC,526,-1.37,-243.3,80.6,-14.9,57,527,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,1978,3914
$STATE,587,end dive,TARGET_DEPTH_EXCEEDED
$STATE,587,begin apogee
$GC,593,-0.38,0.0,90.1,15.2,63,791,1.05,0.00,187.55,0.548,6,0.098,0.000,2450,1981,2917
$STATE,791,end apogee,CONTROL_FINISHED_OK
$STATE,792,begin climb
$GC,794,1.37,243.3,99.8,0.0,83,993,1.77,0.00,188.32,0.531,6,0.061,0.000,2843,1981,1923
$GC,1058,1.69,501.7,94.3,2.9,109,1275,0.30,2.60,208.98,0.515,4,0.028,0.053,2942,3404,870
$GC,1296,1.69,501.7,70.8,12.2,132,1304,0.17,2.45,0.00,0.000,6,0.074,0.033,2906,1991,868
$GC,1367,1.75,551.7,64.6,8.6,139,1402,0.00,2.58,26.55,0.482,4,0.000,0.059,2906,596,745
$GC,1436,1.83,618.8,59.0,8.1,145,1441,0.15,2.40,0.00,0.000,6,0.038,0.029,2969,2011,744
$GC,1506,1.83,618.8,52.2,10.8,151,1508,0.15,0.00,0.00,0.000,6,0.072,0.000,2938,2011,743
$GC,1570,1.85,636.9,46.0,9.5,157,1571,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2011,742
$GC,1634,1.90,678.7,40.4,8.8,163,1635,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2011,742
$GC,1697,1.90,678.7,34.1,10.0,169,1701,0.00,2.58,0.00,0.000,4,0.000,0.056,2938,595,742
$GC,1747,1.90,678.7,28.6,12.0,173,1752,0.00,2.38,0.00,0.000,6,0.000,0.029,2938,1999,742
$GC,1817,1.90,678.7,21.6,10.1,179,1819,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2000,741
$GC,1883,1.90,678.7,14.7,10.2,189,1889,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,1999,741
$GC,1957,1.90,678.7,7.0,10.3,202,1963,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2000,741
$STATE,2007,end climb,SURFACE_DEPTH_REACHED
$STATE,2007,begin surface coast
$FINISH,0.5,1.010469
$STATE,2025,end surface coast,CONTROL_FINISHED_OK
$STATE,2025,begin surface
$SM_CCo,2107,0.00,0.000,0,0,737,534.51
$SM_GC,1.24,11.05,0.00,0.00,0.031,0.000,0.000,404,2004,737,-9.78,0.93,534.51
$IRIDIUM_FIX,2145.77,-15938.60,301098,212113
$TT8_MAMPS,0.071331
$HUMID,1833
$INTERNAL_PRESSURE,7.59795
$TCM_TEMP,25.30
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,24.0,19.924
$10V_AH,10.1,8.681
$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,25.675,24.775,611.400,0.000,0.000,23.046,30.090,397.467,0.000,0.000,31.829,15.473,355.280,719.980,657.118,392.704,602.993,33.343,959.606,0.000,363.167,0.000,0.000,0.000
$DEVICE_MAMPS,182.546,66.729,547.638,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,141.420,0.000,0.000,0.000,0.000,0.000,58.337,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,6457,214
$CAP_FILE_SIZE,41741,0
$CFSIZE,260165632,249593856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060809,002814,2154.127,-15942.070,38,2.4,57,9.8