version: 66.04
glider: 117
mission: 24
dive: 86
start: 8 6 109 3 34 46
data:
$ID,117
$MISSION,24
$DIVE,86
$D_SURF,2
$D_FLARE,3
$D_TGT,90
$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,30
$T_MISSION,45
$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,375
$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,-108199.21
$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,27
$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
$GPS1,032650,2155.058,-15943.869,14,1.8,14,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-52.9
$GPS2,033355,2155.155,-15944.031,11,1.9,11,9.8
$SPEED_LIMITS,0.100,0.326
$TGT_NAME,BobSW
$TGT_LATLONG,2153.790,-15942.207
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.278,-0.170
$KALMAN_X,-112506.1,-1788.9,-376.9,115165.1,-529.4
$KALMAN_Y,45963.8,1031.4,278.9,-48307.6,328.6
$MHEAD_RNG_PITCHd_Wd,111.6,4028,-13.9,-10.000
$D_GRID,90
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.37,-243.3,0.0,0.0,0,118,0.00,0.00,-97.05,0.000,2,0.000,0.000,401,2005,3349
$GC,121,-1.37,-243.3,3.7,-8.4,16,148,10.68,2.55,-9.27,0.000,4,0.171,0.066,2236,564,3911
$GC,171,-1.37,-243.3,19.5,-20.7,24,178,0.00,2.38,0.00,0.000,6,0.000,0.028,2237,1977,3912
$GC,241,-1.37,-243.3,32.5,-18.9,31,242,0.00,0.00,0.00,0.000,6,0.000,0.000,2237,1982,3912
$GC,305,-1.37,-243.3,43.8,-17.9,37,309,0.00,2.45,0.00,0.000,4,0.000,0.051,2236,3362,3912
$GC,344,-1.37,-243.3,51.6,-20.3,40,348,0.00,2.40,0.00,0.000,6,0.000,0.033,2237,1957,3912
$GC,414,-1.37,-243.3,63.5,-16.8,46,418,0.00,2.50,0.00,0.000,4,0.000,0.058,2237,570,3912
$GC,487,-1.37,-243.3,75.5,-15.6,52,491,0.00,2.35,0.00,0.000,6,0.000,0.028,2237,1971,3912
$GC,563,-1.37,-243.3,88.6,-17.4,59,564,0.00,0.00,0.00,0.000,6,0.000,0.000,2236,1972,3912
$STATE,570,end dive,TARGET_DEPTH_EXCEEDED
$STATE,570,begin apogee
$GC,576,-0.38,0.0,90.2,16.5,60,767,1.05,0.00,186.18,0.534,6,0.094,0.000,2451,1976,2917
$STATE,768,end apogee,CONTROL_FINISHED_OK
$STATE,768,begin climb
$GC,771,1.37,243.3,101.8,0.0,79,969,1.75,0.00,187.40,0.521,6,0.058,0.000,2843,1976,1924
$GC,1033,1.55,388.0,92.4,6.0,105,1156,0.15,2.55,115.50,0.511,4,0.038,0.054,2910,3384,1334
$GC,1186,1.55,388.0,78.2,10.5,118,1193,0.15,2.40,0.00,0.000,6,0.074,0.034,2877,1992,1332
$GC,1256,1.63,453.6,71.9,8.2,125,1316,0.00,2.58,54.62,0.495,4,0.000,0.058,2877,589,1067
$GC,1361,1.80,593.5,65.0,6.1,134,1437,0.25,2.40,65.60,0.492,6,0.033,0.030,2962,2005,745
$GC,1500,1.81,606.6,51.5,9.6,147,1505,0.12,2.58,0.00,0.000,4,0.074,0.057,2936,590,742
$GC,1539,1.81,606.6,46.7,11.3,150,1543,0.00,2.38,0.00,0.000,6,0.000,0.030,2936,1995,742
$GC,1609,1.81,606.6,39.3,11.0,156,1613,0.00,2.47,0.00,0.000,4,0.000,0.052,2936,3385,740
$GC,1641,1.81,606.6,35.5,11.4,158,1648,0.00,2.40,0.00,0.000,6,0.000,0.032,2936,1986,740
$GC,1711,1.81,606.6,28.1,11.0,165,1712,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,1986,740
$GC,1775,1.81,606.6,21.2,10.2,171,1776,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,1986,740
$GC,1841,1.81,606.6,14.3,10.9,181,1847,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,1987,739
$GC,1915,1.81,606.6,6.0,11.0,194,1922,0.00,2.53,0.00,0.000,4,0.000,0.060,2936,587,739
$STATE,1954,end climb,SURFACE_DEPTH_REACHED
$STATE,1954,begin surface coast
$FINISH,1.1,1.022819
$STATE,1961,end surface coast,CONTROL_FINISHED_OK
$STATE,1961,begin surface
$SM_CCo,2044,0.00,0.000,0,0,737,535.00
$SM_GC,1.07,10.90,0.00,0.00,0.027,0.000,0.000,403,1958,737,-9.78,-0.34,535.00
$IRIDIUM_FIX,2148.09,-15942.95,311098,020226
$TT8_MAMPS,0.075166
$HUMID,1847
$INTERNAL_PRESSURE,7.63701
$TCM_TEMP,25.40
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,24.2,20.496
$10V_AH,10.2,8.884
$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,25.050,39.275,609.300,0.000,0.000,24.446,25.948,242.471,0.000,0.000,37.757,11.911,346.084,660.854,634.752,411.382,428.606,33.340,963.670,0.000,386.282,0.000,0.000,0.000
$DEVICE_MAMPS,171.041,65.962,533.832,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,132.615,0.000,0.000,0.000,0.000,0.000,54.387,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,6449,202
$CAP_FILE_SIZE,40244,0
$CFSIZE,260165632,249335808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060809,041001,2155.281,-15944.235,38,1.5,38,9.8