version: 66.04
glider: 117
mission: 24
dive: 42
start: 8 2 109 19 58 5
data:
$ID,117
$MISSION,24
$DIVE,42
$D_SURF,2
$D_FLARE,3
$D_TGT,450
$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,150
$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,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,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,-107216.79
$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,34
$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
$GPS1,194919,2154.062,-15941.642,11,1.6,28,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-56.8
$GPS2,195714,2154.084,-15941.824,12,2.0,12,9.8
$SPEED_LIMITS,0.100,0.326
$TGT_NAME,BobSW
$TGT_LATLONG,2153.790,-15942.207
$TGT_RADIUS,400.000
$KALMAN_CONTROL,0.134,-0.125
$KALMAN_X,-49634.6,1010.0,-73.5,52970.1,-1859.3
$KALMAN_Y,12441.6,-351.9,185.8,-15284.0,580.0
$MHEAD_RNG_PITCHd_Wd,123.3,854,-26.4,-10.000
$D_GRID,450
$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,-2.12,-70.0,0.0,0.0,0,104,0.00,0.00,-84.00,0.000,6,0.000,0.000,405,1959,3204
$GC,107,-2.15,-97.8,3.6,-7.3,14,128,9.98,2.53,-2.15,0.000,4,0.181,0.069,2065,570,3319
$GC,162,-2.15,-97.8,20.2,-26.1,23,169,0.00,2.38,0.00,0.000,6,0.000,0.030,2065,1979,3321
$GC,359,-2.15,-97.8,63.3,-23.2,42,363,0.00,2.55,0.00,0.000,4,0.000,0.058,2064,569,3321
$GC,515,-2.15,-97.8,94.6,-17.9,55,523,0.00,2.35,0.00,0.000,6,0.000,0.030,2065,1962,3322
$GC,841,-2.15,-97.8,150.5,-15.9,86,845,0.00,2.50,0.00,0.000,4,0.000,0.051,2065,3374,3324
$GC,914,-2.15,-97.8,162.9,-16.9,92,918,0.00,2.40,0.00,0.000,6,0.000,0.035,2065,1971,3324
$GC,1240,-2.15,-97.8,209.8,-14.2,122,1244,0.00,2.55,0.00,0.000,4,0.000,0.064,2065,566,3325
$GC,1324,-2.15,-97.8,222.0,-14.4,129,1328,0.00,2.40,0.00,0.000,6,0.000,0.033,2065,1975,3325
$GC,1650,-2.15,-97.8,270.8,-14.9,159,1651,0.00,0.00,0.00,0.000,6,0.000,0.000,2065,1976,3325
$GC,1967,-2.15,-97.8,314.9,-12.5,189,1968,0.00,0.00,0.00,0.000,6,0.000,0.000,2065,1976,3325
$GC,2286,-2.15,-97.8,357.7,-13.0,219,2290,0.00,2.60,0.00,0.000,4,0.000,0.068,2065,567,3324
$GC,2340,-2.15,-97.8,364.8,-12.1,223,2348,0.00,2.42,0.00,0.000,6,0.000,0.038,2065,1972,3324
$GC,2667,-2.15,-97.8,402.6,-12.3,254,2671,0.00,2.53,0.00,0.000,4,0.000,0.063,2065,3366,3321
$GC,2717,-2.15,-97.8,409.0,-12.3,258,2722,0.00,2.45,0.00,0.000,6,0.000,0.042,2065,1965,3321
$GC,3044,-2.15,-97.8,446.4,-12.4,288,3048,0.00,2.58,0.00,0.000,4,0.000,0.064,2065,3372,3318
$STATE,3073,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3074,begin apogee
$GC,3082,-0.38,0.0,450.5,11.4,290,3173,2.03,0.00,85.47,0.861,6,0.128,0.000,2453,1992,2917
$STATE,3174,end apogee,CONTROL_FINISHED_OK
$STATE,3174,begin climb
$GC,3176,2.15,97.8,453.4,0.0,299,3273,2.58,0.00,86.75,0.838,6,0.061,0.000,3015,1992,2518
$GC,3591,2.16,103.0,417.2,9.5,339,3603,0.00,2.62,4.65,0.580,4,0.000,0.068,3016,3389,2497
$GC,3855,2.16,103.0,388.4,10.9,362,3862,0.00,2.47,0.00,0.000,6,0.000,0.044,3016,1993,2493
$GC,4182,2.16,103.0,354.0,10.2,393,4186,0.00,2.58,0.00,0.000,4,0.000,0.064,3015,3389,2490
$GC,4439,2.17,111.8,328.2,9.2,415,4452,0.00,2.47,7.50,0.710,6,0.000,0.044,3015,1991,2461
$GC,4770,2.17,111.8,295.8,10.3,446,4775,0.00,2.58,0.00,0.000,4,0.000,0.063,3016,3389,2457
$GC,4923,2.19,130.6,281.9,8.2,459,4947,0.00,2.47,16.77,0.779,6,0.000,0.044,3015,1992,2384
$GC,5264,2.21,141.5,251.2,9.0,491,5276,0.00,0.00,9.82,0.719,6,0.000,0.000,3015,1992,2340
$GC,5594,2.22,148.3,218.6,9.3,522,5607,0.00,2.58,7.00,0.654,4,0.000,0.061,3015,3390,2312
$GC,5781,2.22,148.3,197.8,11.9,538,5788,0.00,2.47,0.00,0.000,6,0.000,0.041,3016,1987,2310
$GC,6108,2.23,159.9,166.8,8.9,569,6123,0.00,2.60,10.55,0.676,4,0.000,0.058,3015,3391,2265
$GC,6168,2.25,178.7,161.5,8.2,574,6191,0.00,2.47,17.27,0.695,6,0.000,0.039,3015,1986,2188
$GC,6511,2.25,178.7,126.8,11.0,606,6512,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,1986,2183
$GC,6829,2.25,178.7,96.9,10.5,636,6834,0.00,2.55,0.00,0.000,4,0.000,0.056,3015,3391,2180
$GC,7087,2.25,178.7,69.5,10.6,658,7094,0.00,2.42,0.00,0.000,6,0.000,0.035,3015,1990,2180
$GC,7414,2.33,239.3,47.5,4.2,689,7472,0.15,2.60,49.45,0.591,4,0.048,0.061,3059,588,1939
$GC,7725,2.33,239.3,17.6,13.0,718,7732,0.00,2.42,0.00,0.000,6,0.000,0.030,3059,2020,1934
$GC,7800,2.33,239.3,8.4,12.7,731,7806,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2020,1933
$STATE,7861,end climb,SURFACE_DEPTH_REACHED
$STATE,7861,begin surface coast
$FINISH,0.4,1.009022
$STATE,7879,end surface coast,CONTROL_FINISHED_OK
$STATE,7879,begin surface
$SM_CCo,7901,76.45,0.525,0,0,1285,400.08
$SM_GC,1.23,0.00,0.00,76.45,0.000,0.000,0.525,409,1959,1285,-9.81,-0.31,400.08
$IRIDIUM_FIX,2145.77,-15940.77,271098,181858
$TT8_MAMPS,0.065195
$HUMID,1940
$INTERNAL_PRESSURE,7.55888
$TCM_TEMP,24.60
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.9,13.311
$10V_AH,10.2,5.814
$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,26.350,70.075,295.250,76.450,0.000,23.665,26.062,284.546,0.000,0.000,105.096,12.674,1421.993,4591.540,483.165,1401.519,567.236,33.327,1202.346,0.000,1360.919,0.000,0.000,0.000
$DEVICE_MAMPS,181.012,81.302,860.574,524.628,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,514.654,0.000,0.000,0.000,0.000,0.000,112.462,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,25259,745
$CAP_FILE_SIZE,82675,0
$CFSIZE,260165632,253050880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020809,221207,2154.217,-15941.957,26,1.4,26,9.8