version: 66.04
glider: 117
mission: 24
dive: 84
start: 8 6 109 2 7 40
data:
$ID,117
$MISSION,24
$DIVE,84
$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,-108173.63
$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,35
$R_STBD_OVSHOOT,47
$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
$GPS1,015950,2154.591,-15942.988,10,1.7,10,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,1
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-51.2
$GPS2,020650,2154.696,-15943.155,15,1.7,15,9.8
$SPEED_LIMITS,0.100,0.326
$TGT_NAME,BobSW
$TGT_LATLONG,2153.790,-15942.207
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.273,-0.177
$KALMAN_X,-110835.5,-1386.2,-148.4,114371.5,-530.5
$KALMAN_Y,44935.2,786.3,124.1,-47734.5,358.5
$MHEAD_RNG_PITCHd_Wd,113.2,2339,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.37,-243.3,0.0,0.0,0,119,0.00,0.00,-97.43,0.000,2,0.000,0.000,402,1958,3368
$GC,122,-1.37,-243.3,3.8,-8.1,16,149,10.80,2.50,-8.93,0.000,4,0.175,0.067,2240,569,3910
$GC,178,-1.37,-243.3,20.4,-19.1,25,185,0.00,2.35,0.00,0.000,6,0.000,0.028,2240,1965,3910
$GC,248,-1.37,-243.3,34.4,-19.1,32,252,0.00,2.47,0.00,0.000,4,0.000,0.049,2240,3367,3910
$GC,276,-1.37,-243.3,39.2,-17.1,34,280,0.00,2.38,0.00,0.000,6,0.000,0.033,2240,1977,3910
$GC,346,-1.37,-243.3,51.3,-17.5,40,347,0.00,0.00,0.00,0.000,6,0.000,0.000,2241,1976,3910
$GC,409,-1.37,-243.3,62.5,-17.9,46,414,0.00,2.53,0.00,0.000,4,0.000,0.058,2241,569,3910
$GC,440,-1.37,-243.3,67.0,-16.2,48,444,0.00,2.35,0.00,0.000,6,0.000,0.028,2240,1974,3910
$GC,509,-1.37,-243.3,77.4,-14.6,54,513,0.00,2.45,0.00,0.000,4,0.000,0.050,2241,3365,3911
$GC,526,-1.37,-243.3,79.8,-14.1,55,531,0.00,2.40,0.00,0.000,6,0.000,0.033,2240,1956,3911
$GC,596,-1.37,-243.3,88.8,-13.0,61,600,0.00,2.50,0.00,0.000,4,0.000,0.048,2241,3368,3911
$STATE,605,end dive,TARGET_DEPTH_EXCEEDED
$STATE,605,begin apogee
$GC,612,-0.38,0.0,90.4,12.9,61,804,1.02,0.00,185.90,0.529,6,0.093,0.000,2451,1991,2917
$STATE,805,end apogee,CONTROL_FINISHED_OK
$STATE,805,begin climb
$GC,807,1.37,243.3,98.6,0.0,80,1000,1.75,0.00,186.98,0.515,6,0.058,0.000,2842,1991,1925
$GC,1065,1.51,362.8,87.2,6.7,104,1167,0.15,2.62,95.45,0.502,4,0.041,0.058,2907,592,1437
$GC,1246,1.51,362.8,69.8,11.0,120,1251,0.17,2.40,0.00,0.000,6,0.067,0.031,2869,1997,1434
$GC,1316,1.54,383.6,63.1,9.4,126,1340,0.00,2.53,17.88,0.469,4,0.000,0.055,2869,3395,1352
$GC,1375,1.62,449.9,58.0,8.2,131,1437,0.12,2.42,55.70,0.490,6,0.044,0.035,2921,1991,1082
$GC,1501,1.71,518.0,47.8,8.1,142,1563,0.00,2.58,56.05,0.483,4,0.000,0.060,2921,592,804
$GC,1626,1.73,541.4,36.5,9.4,152,1645,0.00,2.40,13.15,0.443,6,0.000,0.031,2921,2004,745
$GC,1708,1.79,587.5,29.1,8.7,160,1709,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,2004,744
$GC,1771,1.82,609.1,23.1,9.4,166,1772,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,2004,742
$GC,1837,1.88,655.9,17.1,8.7,175,1844,0.12,0.00,0.00,0.000,6,0.043,0.000,2977,2004,741
$GC,1912,1.88,655.9,7.8,12.8,188,1919,0.12,2.55,0.00,0.000,4,0.074,0.054,2948,588,741
$GC,1942,1.88,655.9,3.8,13.3,193,1949,0.00,2.38,0.00,0.000,6,0.000,0.030,2949,1994,741
$STATE,1958,end climb,SURFACE_DEPTH_REACHED
$STATE,1959,begin surface coast
$FINISH,0.5,1.022805
$STATE,1971,end surface coast,CONTROL_FINISHED_OK
$STATE,1971,begin surface
$SM_CCo,2052,0.00,0.000,0,0,739,534.26
$SM_GC,1.12,10.95,0.00,0.00,0.025,0.000,0.000,402,1997,739,-9.77,0.76,534.26
$IRIDIUM_FIX,2145.77,-15943.76,311098,010150
$TT8_MAMPS,0.072865
$HUMID,1836
$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,24.2,20.265
$10V_AH,10.2,8.807
$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,25.225,44.175,611.100,0.000,0.000,30.879,28.039,227.126,0.000,0.000,21.739,15.467,353.288,660.870,621.951,424.566,423.580,33.338,964.905,0.000,397.387,0.000,0.000,0.000
$DEVICE_MAMPS,174.876,66.729,529.230,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,130.053,0.000,0.000,0.000,0.000,0.000,87.128,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,6465,198
$CAP_FILE_SIZE,42440,0
$CFSIZE,260165632,249446400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060809,024238,2154.820,-15943.459,12,1.4,12,9.8