version: 66.04
glider: 117
mission: 24
dive: 55
start: 8 3 109 16 40 10
data:
$ID,117
$MISSION,24
$DIVE,55
$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,225
$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,-107485.1
$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,32
$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
$GPS1,163040,2154.144,-15941.938,13,1.7,15,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-55.1
$GPS2,163919,2154.204,-15942.022,17,1.4,34,9.8
$SPEED_LIMITS,0.100,0.311
$TGT_NAME,BobSW
$TGT_LATLONG,2153.790,-15942.207
$TGT_RADIUS,400.000
$KALMAN_CONTROL,0.216,-0.224
$KALMAN_X,-62143.3,1356.5,-103.8,64825.5,-1421.0
$KALMAN_Y,21178.3,-854.0,311.0,-23421.7,602.9
$MHEAD_RNG_PITCHd_Wd,126.3,829,-14.7,-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,18,-1.40,-219.0,0.0,0.0,0,101,0.00,0.00,-79.80,0.000,2,0.000,0.000,407,1960,3173
$GC,104,-1.40,-219.0,3.4,-6.6,13,131,11.00,0.00,-11.52,0.000,6,0.183,0.000,2231,1960,3812
$GC,198,-1.40,-219.0,24.5,-18.9,27,199,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,1960,3813
$GC,389,-1.40,-219.0,59.3,-17.8,45,393,0.00,2.53,0.00,0.000,4,0.000,0.059,2231,564,3814
$GC,432,-1.40,-219.0,67.3,-17.8,48,439,0.00,2.38,0.00,0.000,6,0.000,0.031,2231,1971,3814
$GC,758,-1.40,-219.0,118.6,-16.3,79,762,0.00,2.47,0.00,0.000,4,0.000,0.052,2231,3366,3816
$GC,853,-1.40,-219.0,133.0,-13.7,87,857,0.00,2.40,0.00,0.000,6,0.000,0.036,2231,1970,3816
$GC,1179,-1.40,-219.0,179.2,-12.9,117,1180,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,1970,3817
$GC,1496,-1.40,-219.0,219.0,-13.1,147,1497,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,1968,3818
$GC,1815,-1.40,-219.0,256.2,-11.4,177,1816,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,1968,3818
$STATE,1929,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1930,begin apogee
$GC,1935,-0.38,0.0,270.1,11.8,188,2123,1.08,0.00,179.50,0.689,6,0.093,0.000,2452,1968,2916
$STATE,2124,end apogee,CONTROL_FINISHED_OK
$STATE,2124,begin climb
$GC,2126,1.40,219.0,278.2,0.0,207,2314,1.77,0.00,178.62,0.675,6,0.059,0.000,2848,1968,2023
$GC,2632,1.44,252.5,244.7,9.0,256,2667,0.00,2.55,28.40,0.655,4,0.000,0.058,2848,3383,1886
$GC,2725,1.47,274.1,236.4,9.3,264,2749,0.00,2.45,19.23,0.633,6,0.000,0.041,2847,1991,1798
$GC,3066,1.55,337.1,208.8,8.1,296,3127,0.15,0.00,54.15,0.663,6,0.044,0.000,2897,1991,1541
$GC,3445,1.58,362.3,173.0,9.2,332,3468,0.00,0.00,21.05,0.629,6,0.000,0.000,2897,1991,1440
$GC,3785,1.58,362.3,138.5,11.0,364,3789,0.00,2.53,0.00,0.000,4,0.000,0.054,2896,3389,1434
$GC,3824,1.58,362.3,133.9,11.0,367,3828,0.00,2.45,0.00,0.000,6,0.000,0.038,2897,1984,1433
$GC,4150,1.61,390.4,101.9,9.1,397,4181,0.00,2.50,24.17,0.598,4,0.000,0.053,2897,3386,1324
$GC,4221,1.65,417.5,95.2,9.2,403,4251,0.00,2.42,24.67,0.584,6,0.000,0.036,2897,1991,1214
$GC,4568,1.69,450.1,62.5,9.0,436,4599,0.00,0.00,28.02,0.562,6,0.000,0.000,2897,1991,1082
$GC,4919,1.76,512.6,35.6,8.1,469,4977,0.12,2.65,52.45,0.539,4,0.043,0.062,2948,591,827
$GC,5023,1.76,512.6,24.0,11.7,478,5028,0.12,2.40,0.00,0.000,6,0.074,0.030,2922,2001,824
$GC,5228,1.76,512.6,3.2,10.1,510,5234,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,2001,822
$STATE,5244,end climb,SURFACE_DEPTH_REACHED
$STATE,5244,begin surface coast
$FINISH,0.4,1.009937
$STATE,5267,end surface coast,CONTROL_FINISHED_OK
$STATE,5268,begin surface
$SM_CCo,5349,0.00,0.000,0,0,819,514.64
$SM_GC,1.15,11.02,0.00,0.00,0.033,0.000,0.000,406,1949,819,-9.78,-0.59,514.64
$IRIDIUM_FIX,2148.09,-15945.13,281098,151505
$TT8_MAMPS,0.062127
$HUMID,1896
$INTERNAL_PRESSURE,7.56865
$TCM_TEMP,25.00
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,24.0,15.169
$10V_AH,10.2,6.515
$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,25.275,29.775,610.275,0.000,0.000,24.654,27.031,304.256,0.000,0.000,73.209,34.134,904.664,2915.169,634.149,888.918,534.341,33.340,1137.164,0.000,831.706,0.000,0.000,0.000
$DEVICE_MAMPS,183.313,105.846,688.766,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,348.181,0.000,0.000,0.000,0.000,0.000,78.087,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,15840,517
$CAP_FILE_SIZE,57316,0
$CFSIZE,260165632,252174336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030809,181030,2153.817,-15942.167,37,1.9,38,9.8