version: 66.04
glider: 118
mission: 21
dive: 54
start: 8 2 109 18 41 59
data:
$ID,118
$MISSION,21
$DIVE,54
$D_SURF,4
$D_FLARE,3
$D_TGT,300
$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,120
$T_MISSION,175
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51726
$NAV_MODE,1
$FERRY_MAX,45
$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,450
$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,30
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-86984.828
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,428
$PITCH_MAX,3730
$C_PITCH,2946
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,10
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,311
$ROLL_MAX,3943
$ROLL_DEG,10
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,3050
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,17
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,46
$ROLL_AD_RATE,325
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,582
$VBD_MAX,3956
$C_VBD,2937
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-8.3219604
$PRESSURE_SLOPE,0.000115925
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,150
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.4
$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,0.0043077655
$SEABIRD_T_H,0.00063814409
$SEABIRD_T_I,2.4031482e-05
$SEABIRD_T_J,2.4698193e-06
$SEABIRD_C_G,-9.9826059
$SEABIRD_C_H,1.1260695
$SEABIRD_C_I,-0.0021108589
$SEABIRD_C_J,0.00021799213
$GPS1,182622,2153.231,-15941.671,56,1.6,71,9.8
$_CALLS,1
$_XMS_NAKs,20
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-60.6
$GPS2,184110,2153.216,-15941.998,15,3.1,34,9.8
$SPEED_LIMITS,0.083,0.245
$TGT_NAME,BobSW
$TGT_LATLONG,2153.790,-15942.207
$TGT_RADIUS,400.000
$KALMAN_CONTROL,0.244,0.016
$KALMAN_X,-85646.4,321.1,-207.6,85458.6,-2471.3
$KALMAN_Y,39714.2,-718.5,298.3,-44606.1,917.4
$MHEAD_RNG_PITCHd_Wd,76.4,1122,-15.5,-8.333
$D_GRID,300
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,25,-1.73,-146.0,0.0,0.0,0,104,0.00,0.00,-76.82,0.000,2,0.000,0.000,418,2518,3275
$GC,111,-1.73,-146.0,3.6,-5.6,11,133,11.12,0.45,-4.00,0.000,4,0.125,0.091,2565,2874,3534
$GC,397,-1.73,-146.0,60.2,-16.0,39,400,0.00,0.57,0.00,0.000,6,0.000,0.031,2564,2476,3535
$GC,730,-1.73,-146.0,107.5,-15.0,70,737,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2476,3536
$GC,1059,-1.73,-146.0,149.9,-11.1,101,1065,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2476,3536
$GC,1387,-1.73,-146.0,186.6,-11.0,132,1391,0.00,0.52,0.00,0.000,4,0.000,0.031,2565,2859,3536
$GC,1655,-1.73,-146.0,217.4,-11.8,155,1659,0.00,0.52,0.00,0.000,6,0.000,0.035,2565,2492,3536
$GC,1989,-1.73,-146.0,250.6,-9.7,186,1992,0.00,0.52,0.00,0.000,4,0.000,0.033,2565,2865,3536
$GC,2256,-1.73,-146.0,277.0,-9.3,209,2260,0.00,0.52,0.00,0.000,6,0.000,0.037,2565,2505,3536
$STATE,2500,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2500,begin apogee
$GC,2513,-0.50,0.0,300.2,9.5,232,2633,1.23,0.00,110.60,0.636,6,0.066,0.000,2832,3047,2936
$STATE,2639,end apogee,CONTROL_FINISHED_OK
$STATE,2639,begin climb
$GC,2644,1.73,146.0,303.9,0.0,244,2765,2.12,0.50,110.03,0.630,4,0.041,0.029,3331,2699,2340
$GC,2920,1.81,208.7,293.0,5.9,266,2979,0.00,0.52,48.17,0.618,6,0.000,0.037,3331,3052,2085
$GC,3297,1.81,208.7,260.8,9.2,301,3303,0.00,0.00,0.00,0.000,6,0.000,0.000,3331,3052,2082
$GC,3626,1.82,218.1,232.8,8.0,332,3638,0.00,0.52,7.85,0.515,4,0.000,0.043,3331,3388,2047
$GC,3904,1.83,222.6,211.6,8.2,355,3913,0.00,0.50,4.65,0.428,6,0.000,0.030,3330,3035,2029
$GC,4233,1.87,253.7,186.5,7.1,386,4261,0.00,0.00,24.88,0.578,6,0.000,0.000,3331,3034,1901
$GC,4581,1.87,253.7,155.8,9.2,419,4588,0.00,0.00,0.00,0.000,6,0.000,0.000,3330,3029,1898
$GC,4910,1.87,253.7,125.3,10.3,450,4913,0.00,0.55,0.00,0.000,4,0.000,0.039,3330,3391,1897
$GC,5177,1.89,271.1,104.3,7.7,473,5195,0.08,0.47,14.23,0.500,6,0.033,0.028,3372,3039,1831
$GC,5517,1.89,271.1,72.3,9.2,504,5521,0.00,0.52,0.00,0.000,4,0.000,0.037,3372,3389,1828
$GC,5740,1.90,283.1,52.7,7.9,523,5754,0.00,0.45,10.65,0.439,6,0.000,0.027,3372,3052,1782
$GC,6073,1.90,283.1,29.7,8.9,554,6077,0.00,0.52,0.00,0.000,4,0.000,0.036,3372,3394,1780
$GC,6348,1.92,297.9,6.8,7.8,590,6369,0.00,0.47,13.00,0.407,6,0.000,0.026,3372,3039,1720
$STATE,6384,end climb,SURFACE_DEPTH_REACHED
$STATE,6384,begin surface coast
$FINISH,0.3,1.011544
$STATE,6438,end surface coast,CONTROL_FINISHED_OK
$STATE,6438,begin surface
$SM_CCo,6471,71.05,0.423,0,0,1101,450.13
$SM_GC,0.91,0.00,0.00,71.05,0.000,0.000,0.423,418,2530,1101,-11.62,0.85,450.13
$IRIDIUM_FIX,2145.77,-15943.76,271098,161611
$TT8_MAMPS,0.065962
$HUMID,1737
$INTERNAL_PRESSURE,10.0722
$TCM_TEMP,24.60
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,24.1,24.589
$10V_AH,10.1,27.282
$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,27.250,9.750,344.050,71.050,0.000,31.640,25.882,528.798,0.000,0.000,80.084,35.617,1199.289,3060.955,442.883,1198.797,1524.076,33.345,1082.662,0.000,1140.872,0.000,0.000,0.000
$DEVICE_MAMPS,125.021,90.506,635.843,422.617,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,408.693,0.000,0.000,0.000,0.000,0.000,103.397,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,19005,604
$CAP_FILE_SIZE,222198,0
$CFSIZE,-70647808,-93913088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020809,203222,2153.607,-15942.606,10,2.4,29,9.8