version: 66.04
glider: 117
mission: 24
dive: 85
start: 8 6 109 2 50 41
data:
$ID,117
$MISSION,24
$DIVE,85
$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,-108186.66
$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,42
$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
$GPS1,024238,2154.820,-15943.459,12,1.4,12,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-53.1
$GPS2,024950,2154.924,-15943.640,12,1.6,12,9.8
$SPEED_LIMITS,0.100,0.326
$TGT_NAME,BobSW
$TGT_LATLONG,2153.790,-15942.207
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.262,-0.194
$KALMAN_X,-111695.1,-1615.4,-298.0,114777.6,-492.1
$KALMAN_Y,45452.5,902.3,195.2,-48011.5,366.3
$MHEAD_RNG_PITCHd_Wd,116.7,3236,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.37,-243.3,0.0,0.0,0,118,0.00,0.00,-97.22,0.000,2,0.000,0.000,403,1998,3373
$GC,121,-1.37,-243.3,4.1,-9.7,16,147,10.65,0.00,-8.60,0.000,6,0.170,0.000,2239,1999,3911
$GC,219,-1.37,-243.3,29.2,-19.2,29,220,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,1999,3912
$GC,283,-1.37,-243.3,40.3,-17.2,35,286,0.00,2.40,0.00,0.000,4,0.000,0.050,2240,3358,3912
$GC,305,-1.37,-243.3,44.5,-18.3,37,309,0.00,2.38,0.00,0.000,6,0.000,0.033,2240,1968,3911
$GC,375,-1.37,-243.3,56.8,-17.6,43,379,0.00,2.50,0.00,0.000,4,0.000,0.057,2239,570,3912
$GC,425,-1.37,-243.3,64.5,-13.9,47,430,0.00,2.35,0.00,0.000,6,0.000,0.029,2240,1970,3912
$GC,495,-1.37,-243.3,74.1,-13.6,53,496,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,1970,3912
$GC,559,-1.37,-243.3,82.2,-12.9,59,563,0.00,2.45,0.00,0.000,4,0.000,0.051,2239,3360,3912
$GC,591,-1.37,-243.3,87.0,-14.0,61,598,0.00,2.38,0.00,0.000,6,0.000,0.034,2239,1970,3912
$STATE,627,end dive,TARGET_DEPTH_EXCEEDED
$STATE,627,begin apogee
$GC,632,-0.38,0.0,90.9,11.0,65,824,1.02,0.00,186.07,0.532,6,0.092,0.000,2450,1969,2917
$STATE,825,end apogee,CONTROL_FINISHED_OK
$STATE,825,begin climb
$GC,827,1.37,243.3,100.0,0.0,84,1024,1.75,2.65,186.98,0.518,4,0.061,0.053,2839,3392,1925
$GC,1085,1.56,397.1,89.8,5.7,108,1217,0.17,2.42,122.90,0.509,6,0.035,0.035,2904,1989,1297
$GC,1279,1.63,459.9,75.5,8.3,126,1334,0.00,0.00,52.25,0.496,6,0.000,0.000,2904,1989,1042
$GC,1396,1.74,542.7,66.3,7.7,137,1460,0.00,0.00,60.85,0.492,6,0.000,0.000,2904,1989,745
$GC,1520,1.74,542.7,53.7,10.3,149,1525,0.00,2.55,0.00,0.000,4,0.000,0.060,2904,588,742
$GC,1560,1.83,616.6,50.4,8.0,152,1565,0.15,2.40,0.00,0.000,6,0.037,0.031,2967,2003,741
$GC,1630,1.83,616.6,42.3,13.1,158,1635,0.15,2.47,0.00,0.000,4,0.071,0.054,2935,3385,741
$GC,1662,1.83,616.6,38.2,11.8,160,1669,0.00,2.40,0.00,0.000,6,0.000,0.034,2935,1991,740
$GC,1733,1.83,616.6,31.0,10.7,167,1734,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,1991,740
$GC,1796,1.83,616.6,23.9,11.2,173,1797,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,1991,739
$GC,1861,1.87,648.1,17.9,9.1,180,1867,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,1991,739
$GC,1935,1.87,648.1,10.1,11.1,193,1942,0.00,2.53,0.00,0.000,4,0.000,0.060,2935,595,739
$GC,1983,1.87,653.0,5.6,9.9,201,1989,0.00,2.38,0.00,0.000,6,0.000,0.030,2935,2001,738
$STATE,2016,end climb,SURFACE_DEPTH_REACHED
$STATE,2016,begin surface coast
$FINISH,0.7,1.022824
$STATE,2040,end surface coast,CONTROL_FINISHED_OK
$STATE,2040,begin surface
$SM_CCo,2121,0.00,0.000,0,0,736,535.00
$SM_GC,0.99,10.82,0.00,0.00,0.023,0.000,0.000,401,2005,736,-9.77,0.99,535.00
$IRIDIUM_FIX,2145.77,-15943.76,311098,020239
$TT8_MAMPS,0.066729
$HUMID,1836
$INTERNAL_PRESSURE,7.63701
$TCM_TEMP,25.10
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.8,20.380
$10V_AH,10.2,8.848
$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,24.725,34.250,609.050,0.000,0.000,26.151,30.111,243.695,0.000,0.000,33.451,12.400,361.278,715.635,632.166,418.235,438.667,33.343,960.706,0.000,392.778,0.000,0.000,0.000
$DEVICE_MAMPS,170.274,59.826,531.531,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,138.726,0.000,0.000,0.000,0.000,0.000,69.168,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,6469,211
$CAP_FILE_SIZE,40477,0
$CFSIZE,260165632,249393152
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060809,032650,2155.058,-15943.869,14,1.8,14,9.8