version: 66.04
glider: 117
mission: 24
dive: 41
start: 8 2 109 18 25 8
data:
$ID,117
$MISSION,24
$DIVE,41
$D_SURF,2
$D_FLARE,3
$D_TGT,270
$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,90
$T_MISSION,120
$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,175
$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,400
$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,-107203.48
$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,26
$R_STBD_OVSHOOT,40
$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
$GPS1,181514,2154.701,-15940.883,11,1.7,11,9.8
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-55.7
$GPS2,182419,2154.653,-15940.930,17,1.7,34,9.8
$SPEED_LIMITS,0.100,0.279
$TGT_NAME,BobSW
$TGT_LATLONG,2153.790,-15942.207
$TGT_RADIUS,400.000
$KALMAN_CONTROL,-0.066,-0.271
$KALMAN_X,-49090.8,1489.0,71.8,53328.4,-1166.9
$KALMAN_Y,12170.5,-473.7,170.4,-13823.9,348.1
$MHEAD_RNG_PITCHd_Wd,184.0,2715,-16.8,-10.000
$D_GRID,270
$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,14,begin dive
$GC,16,-1.50,-170.3,0.0,0.0,0,105,0.00,0.00,-84.90,0.000,2,0.000,0.000,403,2004,3370
$GC,108,-1.50,-170.3,4.0,-8.6,14,129,10.80,2.62,-4.15,0.000,4,0.180,0.068,2209,560,3615
$GC,230,-1.50,-170.3,35.6,-21.4,28,237,0.00,2.40,0.00,0.000,6,0.000,0.030,2209,1976,3617
$GC,427,-1.50,-170.3,74.6,-18.4,47,429,0.00,0.00,0.00,0.000,6,0.000,0.000,2209,1980,3617
$GC,746,-1.50,-170.3,126.8,-12.0,77,747,0.00,0.00,0.00,0.000,6,0.000,0.000,2209,1981,3619
$GC,1064,-1.50,-170.3,168.7,-12.7,107,1066,0.00,0.00,0.00,0.000,6,0.000,0.000,2208,1981,3619
$GC,1383,-1.50,-170.3,214.8,-13.8,137,1387,0.00,2.47,0.00,0.000,4,0.000,0.054,2209,3364,3620
$GC,1416,-1.50,-170.3,219.5,-13.7,139,1423,0.00,2.40,0.00,0.000,6,0.000,0.035,2209,1966,3621
$GC,1743,-1.50,-170.3,258.8,-11.6,170,1744,0.00,0.00,0.00,0.000,6,0.000,0.000,2208,1967,3621
$STATE,1845,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1845,begin apogee
$GC,1850,-0.38,0.0,270.9,11.5,180,1999,1.20,0.00,140.55,0.678,6,0.098,0.000,2451,1966,2917
$STATE,2000,end apogee,CONTROL_FINISHED_OK
$STATE,2000,begin climb
$GC,2002,1.50,170.3,276.1,0.0,195,2151,1.92,2.65,138.68,0.667,4,0.058,0.061,2870,3391,2221
$GC,2215,1.55,207.9,263.5,8.5,213,2256,0.00,2.47,31.80,0.640,6,0.000,0.040,2870,1990,2068
$GC,2574,1.67,300.9,235.6,6.3,247,2658,0.15,2.65,77.38,0.658,4,0.044,0.069,2919,592,1690
$GC,2719,1.67,300.9,221.3,11.9,259,2726,0.00,2.45,0.00,0.000,6,0.000,0.037,2919,1997,1685
$GC,3046,1.67,300.9,182.4,12.1,290,3050,0.00,2.55,0.00,0.000,4,0.000,0.061,2919,3396,1680
$GC,3096,1.67,300.9,175.9,12.0,294,3101,0.00,2.47,0.00,0.000,6,0.000,0.039,2919,1984,1679
$GC,3423,1.68,315.0,142.7,9.4,324,3439,0.00,2.60,11.00,0.577,4,0.000,0.064,2919,583,1632
$GC,3512,1.70,327.1,133.7,9.5,331,3531,0.00,2.42,11.50,0.571,6,0.000,0.034,2919,1996,1583
$GC,3848,1.70,327.1,99.6,12.9,363,3852,0.00,2.50,0.00,0.000,4,0.000,0.057,2919,3386,1580
$GC,3915,1.70,327.1,91.4,11.5,368,3922,0.00,2.42,0.00,0.000,6,0.000,0.035,2920,1983,1579
$GC,4242,1.75,371.7,63.4,8.2,399,4288,0.00,2.58,38.03,0.568,4,0.000,0.053,2919,3388,1401
$GC,4316,1.82,430.5,57.0,7.7,405,4371,0.00,2.42,50.03,0.555,6,0.000,0.034,2919,1988,1162
$GC,4697,1.82,430.5,22.0,11.0,441,4701,0.00,2.53,0.00,0.000,4,0.000,0.059,2919,592,1155
$GC,4798,1.87,468.9,12.6,8.5,456,4838,0.12,2.40,32.17,0.514,6,0.041,0.030,2967,2005,1005
$STATE,4893,end climb,SURFACE_DEPTH_REACHED
$STATE,4893,begin surface coast
$FINISH,0.5,1.022861
$STATE,4907,end surface coast,CONTROL_FINISHED_OK
$STATE,4907,begin surface
$SM_CCo,4989,0.00,0.000,0,0,999,470.73
$SM_GC,1.18,11.18,0.00,0.00,0.028,0.000,0.000,405,1959,999,-9.78,-0.28,470.73
$IRIDIUM_FIX,2145.77,-15942.95,271098,161629
$TT8_MAMPS,0.066729
$HUMID,1864
$INTERNAL_PRESSURE,7.56865
$TCM_TEMP,24.90
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,24.0,13.186
$10V_AH,10.2,5.738
$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,25.375,45.075,531.125,0.000,0.000,25.608,27.774,335.717,0.000,0.000,61.259,34.057,849.641,2705.138,545.646,881.473,559.605,33.338,1060.889,0.000,824.126,0.000,0.000,0.000
$DEVICE_MAMPS,180.245,113.516,678.028,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,318.702,0.000,0.000,0.000,0.000,0.000,76.867,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,15861,474
$CAP_FILE_SIZE,58308,0
$CFSIZE,260165632,253165568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020809,194919,2154.062,-15941.642,11,1.6,28,9.8