version: 66.04
glider: 117
mission: 24
dive: 83
start: 8 6 109 1 24 43
data:
$ID,117
$MISSION,24
$DIVE,83
$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,-108157.53
$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,45
$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
$GPS1,011426,2154.288,-15942.540,77,3.0,96,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-54.1
$GPS2,012352,2154.423,-15942.745,12,3.4,31,9.8
$SPEED_LIMITS,0.100,0.326
$TGT_NAME,BobSW
$TGT_LATLONG,2153.790,-15942.207
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.255,-0.202
$KALMAN_X,-109979.1,-1213.6,-146.7,114045.5,-304.9
$KALMAN_Y,44297.8,682.0,107.1,-47479.5,166.3
$MHEAD_RNG_PITCHd_Wd,118.6,1493,-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,-243.3,0.0,0.0,0,111,0.00,0.00,-91.47,0.000,2,0.000,0.000,400,2004,3331
$GC,114,-1.37,-243.3,3.7,-8.1,15,140,10.82,0.00,-9.90,0.000,6,0.176,0.000,2240,2005,3911
$GC,212,-1.37,-243.3,26.7,-19.0,29,213,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,2004,3912
$GC,276,-1.37,-243.3,38.3,-17.8,35,277,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,2005,3912
$GC,339,-1.37,-243.3,49.4,-17.3,41,341,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,2005,3912
$GC,403,-1.37,-243.3,60.4,-17.7,47,404,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,2004,3912
$GC,467,-1.37,-243.3,70.3,-14.7,53,468,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,2005,3912
$GC,531,-1.37,-243.3,79.9,-15.1,59,532,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,2004,3913
$GC,595,-1.37,-243.3,88.9,-13.6,65,596,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,2005,3913
$STATE,603,end dive,TARGET_DEPTH_EXCEEDED
$STATE,603,begin apogee
$GC,608,-0.38,0.0,90.2,13.1,66,799,1.05,0.00,186.00,0.528,6,0.094,0.000,2454,2005,2917
$STATE,800,end apogee,CONTROL_FINISHED_OK
$STATE,800,begin climb
$GC,803,1.37,243.3,98.2,0.0,85,1002,1.75,2.60,187.10,0.512,4,0.062,0.055,2841,586,1924
$GC,1027,1.49,340.1,85.3,7.3,107,1111,0.12,2.40,77.60,0.499,6,0.041,0.030,2898,2001,1530
$GC,1177,1.59,427.8,74.1,7.6,120,1257,0.00,2.47,72.18,0.494,4,0.000,0.054,2898,3387,1170
$GC,1314,1.77,572.4,65.1,6.0,132,1408,0.12,2.40,86.12,0.489,6,0.042,0.035,2950,1993,745
$GC,1480,1.77,572.4,50.2,10.7,147,1485,0.12,2.55,0.00,0.000,4,0.072,0.059,2922,589,742
$GC,1547,1.78,575.7,42.9,9.9,152,1553,0.00,2.38,0.00,0.000,6,0.000,0.030,2922,1996,741
$GC,1617,1.82,613.5,36.7,9.0,159,1618,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,2001,740
$GC,1680,1.82,613.5,29.9,10.7,165,1681,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,2001,740
$GC,1744,1.84,625.7,23.6,9.7,171,1745,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,2001,740
$GC,1809,1.84,625.7,17.4,10.5,179,1815,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,2001,739
$GC,1883,1.84,626.7,9.8,10.0,192,1890,0.00,2.55,0.00,0.000,4,0.000,0.057,2922,589,739
$GC,1930,1.85,637.2,5.2,9.7,200,1937,0.10,2.38,0.00,0.000,6,0.048,0.029,2972,2005,738
$STATE,1964,end climb,SURFACE_DEPTH_REACHED
$STATE,1964,begin surface coast
$FINISH,0.5,1.021924
$STATE,1982,end surface coast,CONTROL_FINISHED_OK
$STATE,1982,begin surface
$SM_CCo,2064,0.00,0.000,0,0,736,535.00
$SM_GC,1.16,11.02,0.00,0.00,0.024,0.000,0.000,402,1958,736,-9.78,-0.34,535.00
$IRIDIUM_FIX,2145.77,-15940.77,311098,010108
$TT8_MAMPS,0.065962
$HUMID,1826
$INTERNAL_PRESSURE,7.62725
$TCM_TEMP,25.40
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,24.1,20.156
$10V_AH,10.1,8.762
$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,25.125,19.775,609.000,0.000,0.000,58.317,55.971,240.966,0.000,0.000,46.785,32.610,352.169,761.430,618.617,420.797,490.396,33.332,933.857,0.000,377.384,0.000,0.000,0.000
$DEVICE_MAMPS,175.643,114.283,527.696,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,137.291,0.000,0.000,0.000,0.000,0.000,55.741,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,6462,209
$CAP_FILE_SIZE,38893,0
$CFSIZE,260165632,249499648
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060809,015950,2154.591,-15942.988,10,1.7,10,9.8