version: 66.04
glider: 117
mission: 24
dive: 53
start: 8 3 109 13 29 23
data:
$ID,117
$MISSION,24
$DIVE,53
$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,-107437.93
$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,31
$R_STBD_OVSHOOT,39
$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
$GPS1,131637,2153.539,-15940.308,43,1.4,43,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-50.4
$GPS2,132832,2153.594,-15940.477,16,1.5,16,9.8
$SPEED_LIMITS,0.100,0.279
$TGT_NAME,BobSW
$TGT_LATLONG,2153.790,-15942.207
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.270,-0.068
$KALMAN_X,-59311.1,925.7,127.4,64845.9,-595.8
$KALMAN_Y,19814.2,-572.3,-10.7,-23147.9,619.6
$MHEAD_RNG_PITCHd_Wd,246.1,2995,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.50,-170.3,0.0,0.0,0,93,0.00,0.00,-72.75,0.000,2,0.000,0.000,405,1961,3189
$GC,96,-1.50,-170.3,3.3,-6.0,12,123,10.88,2.55,-7.90,0.000,4,0.183,0.069,2208,566,3615
$GC,375,-1.50,-170.3,58.0,-16.2,42,382,0.00,2.40,0.00,0.000,6,0.000,0.031,2207,1981,3618
$GC,700,-1.50,-170.3,109.0,-15.2,73,705,0.00,2.55,0.00,0.000,4,0.000,0.058,2207,576,3620
$GC,812,-1.50,-170.3,125.3,-14.0,82,819,0.00,2.38,0.00,0.000,6,0.000,0.031,2207,1974,3620
$GC,1138,-1.50,-170.3,165.8,-12.2,113,1140,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,1978,3621
$GC,1455,-1.50,-170.3,207.5,-14.3,143,1460,0.00,2.50,0.00,0.000,4,0.000,0.055,2207,3367,3622
$GC,1544,-1.50,-170.3,220.4,-14.1,150,1551,0.00,2.42,0.00,0.000,6,0.000,0.038,2207,1966,3622
$GC,1871,-1.50,-170.3,259.5,-10.6,181,1872,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,1966,3622
$STATE,1974,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1974,begin apogee
$GC,1979,-0.38,0.0,270.0,9.6,191,2127,1.23,0.00,141.27,0.694,6,0.099,0.000,2452,1966,2917
$STATE,2128,end apogee,CONTROL_FINISHED_OK
$STATE,2128,begin climb
$GC,2131,1.50,170.3,273.2,0.0,206,2280,1.92,2.65,139.82,0.676,4,0.060,0.068,2867,596,2222
$GC,2316,1.65,285.2,265.7,5.5,222,2420,0.15,2.45,96.30,0.667,6,0.043,0.037,2914,1991,1754
$GC,2736,1.65,285.2,224.1,11.9,261,2740,0.00,2.60,0.00,0.000,4,0.000,0.065,2913,3397,1745
$GC,2835,1.65,285.2,212.0,12.5,269,2843,0.00,2.47,0.00,0.000,6,0.000,0.041,2914,1997,1744
$GC,3162,1.65,286.3,176.6,10.0,300,3163,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,1996,1742
$GC,3479,1.65,286.3,144.1,10.8,330,3483,0.00,2.55,0.00,0.000,4,0.000,0.058,2914,3390,1740
$GC,3508,1.65,286.3,141.1,10.9,332,3512,0.00,2.45,0.00,0.000,6,0.000,0.040,2914,1993,1740
$GC,3835,1.66,295.7,108.2,9.6,362,3845,0.00,0.00,7.68,0.535,6,0.000,0.000,2914,1993,1711
$GC,4163,1.67,306.1,80.4,9.6,393,4179,0.00,2.60,10.25,0.551,4,0.000,0.058,2914,3388,1669
$GC,4246,1.70,332.2,72.4,9.0,400,4277,0.00,2.45,23.70,0.581,6,0.000,0.037,2914,1985,1562
$GC,4594,1.72,349.1,40.9,9.3,433,4617,0.00,2.60,15.05,0.538,4,0.000,0.064,2913,592,1492
$GC,4656,1.79,404.0,35.3,7.8,438,4710,0.00,2.42,47.70,0.548,6,0.000,0.032,2914,2004,1269
$GC,4902,1.91,498.2,18.3,6.3,463,4991,0.17,2.67,78.15,0.525,4,0.039,0.061,2976,594,885
$GC,5025,1.91,498.2,4.6,12.5,483,5032,0.00,2.40,0.00,0.000,6,0.000,0.031,2976,1995,883
$STATE,5042,end climb,SURFACE_DEPTH_REACHED
$STATE,5042,begin surface coast
$FINISH,0.7,1.022841
$STATE,5054,end surface coast,CONTROL_FINISHED_OK
$STATE,5054,begin surface
$SM_CCo,5136,0.00,0.000,0,0,878,499.92
$SM_GC,1.12,11.25,0.00,0.00,0.028,0.000,0.000,406,1998,878,-9.78,0.82,499.92
$IRIDIUM_FIX,2145.77,-15940.77,281098,101045
$TT8_MAMPS,0.058292
$HUMID,1890
$INTERNAL_PRESSURE,7.51982
$TCM_TEMP,24.40
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.9,14.857
$10V_AH,10.1,6.402
$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,25.600,45.125,559.925,0.000,0.000,25.519,27.741,479.329,0.000,0.000,173.490,16.323,870.030,2770.943,563.940,909.048,736.814,33.346,1097.959,0.000,863.367,0.000,0.000,0.000
$DEVICE_MAMPS,182.546,69.030,694.135,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,329.619,0.000,0.000,0.000,0.000,0.000,91.221,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,15871,488
$CAP_FILE_SIZE,63212,0
$CFSIZE,260165632,252309504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030809,145604,2153.711,-15941.965,12,2.1,31,9.8