version: 66.04
glider: 117
mission: 24
dive: 57
start: 8 3 109 19 54 54
data:
$ID,117
$MISSION,24
$DIVE,57
$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,-107511.39
$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,25
$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
$GPS1,194620,2153.919,-15942.300,13,1.3,13,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-55.6
$GPS2,195401,2153.932,-15942.446,13,1.5,13,9.8
$SPEED_LIMITS,0.100,0.311
$TGT_NAME,BobNE
$TGT_LATLONG,2154.185,-15941.805
$TGT_RADIUS,400.000
$KALMAN_CONTROL,0.300,-0.085
$KALMAN_X,-64780.2,770.8,-396.3,67613.1,-1402.5
$KALMAN_Y,22311.2,-587.1,39.5,-25053.8,551.0
$MHEAD_RNG_PITCHd_Wd,96.0,1198,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.40,-219.0,0.0,0.0,0,105,0.00,0.00,-84.80,0.000,2,0.000,0.000,403,1998,3174
$GC,108,-1.40,-219.0,3.2,-5.9,14,136,10.80,2.65,-11.62,0.000,4,0.176,0.067,2234,562,3812
$GC,165,-1.40,-219.0,17.8,-20.3,23,172,0.00,2.38,0.00,0.000,6,0.000,0.031,2234,1967,3813
$GC,242,-1.40,-219.0,32.4,-18.6,31,243,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,1971,3814
$GC,305,-1.40,-219.0,44.0,-18.0,37,306,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,1971,3814
$GC,369,-1.40,-219.0,55.1,-17.3,43,370,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,1971,3814
$GC,433,-1.40,-219.0,66.9,-19.0,49,434,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,1971,3814
$GC,497,-1.40,-219.0,78.6,-18.0,55,501,0.00,2.53,0.00,0.000,4,0.000,0.058,2234,568,3814
$GC,517,-1.40,-219.0,82.2,-16.4,56,525,0.00,2.38,0.00,0.000,6,0.000,0.030,2234,1980,3814
$GC,589,-1.40,-219.0,93.2,-15.7,63,590,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,1985,3814
$GC,651,-1.40,-219.0,104.2,-17.3,69,655,0.00,2.55,0.00,0.000,4,0.000,0.058,2233,567,3814
$GC,712,-1.40,-219.0,113.9,-14.9,74,719,0.00,2.38,0.00,0.000,6,0.000,0.031,2234,1976,3815
$GC,783,-1.40,-219.0,122.8,-12.9,81,784,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,1976,3816
$GC,846,-1.40,-219.0,130.5,-12.2,87,850,0.00,2.45,0.00,0.000,4,0.000,0.052,2233,3360,3816
$GC,878,-1.40,-219.0,134.7,-12.5,89,885,0.00,2.40,0.00,0.000,6,0.000,0.035,2233,1957,3817
$GC,948,-1.40,-219.0,142.7,-11.4,96,950,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,1957,3817
$GC,1012,-1.40,-219.0,150.0,-11.9,102,1016,0.00,2.50,0.00,0.000,4,0.000,0.051,2234,3364,3817
$GC,1045,-1.40,-219.0,154.1,-12.0,104,1052,0.00,2.40,0.00,0.000,6,0.000,0.036,2234,1963,3818
$GC,1117,-1.40,-219.0,161.3,-9.8,111,1118,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,1963,3818
$GC,1178,-1.40,-219.0,168.9,-12.2,117,1182,0.00,2.50,0.00,0.000,4,0.000,0.054,2234,3366,3818
$GC,1212,-1.40,-219.0,173.5,-13.9,120,1217,0.00,2.40,0.00,0.000,6,0.000,0.037,2234,1967,3818
$GC,1282,-1.40,-219.0,183.2,-14.0,126,1283,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,1967,3818
$GC,1346,-1.40,-219.0,192.1,-14.1,132,1350,0.00,2.55,0.00,0.000,4,0.000,0.063,2234,562,3818
$GC,1457,-1.40,-219.0,206.9,-13.0,141,1464,0.00,2.38,0.00,0.000,6,0.000,0.033,2233,1966,3818
$GC,1527,-1.40,-219.0,215.1,-11.8,148,1528,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,1966,3818
$GC,1591,-1.40,-219.0,222.0,-10.3,154,1595,0.00,2.50,0.00,0.000,4,0.000,0.055,2233,3367,3818
$GC,1630,-1.40,-219.0,226.2,-10.5,157,1634,0.00,2.40,0.00,0.000,6,0.000,0.037,2234,1971,3818
$GC,1700,-1.40,-219.0,232.9,-9.3,163,1701,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,1971,3818
$GC,1764,-1.40,-219.0,238.8,-9.4,169,1765,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,1971,3818
$GC,1828,-1.40,-219.0,244.7,-9.1,175,1829,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,1971,3818
$GC,1891,-1.40,-219.0,250.9,-9.7,181,1896,0.00,2.50,0.00,0.000,4,0.000,0.055,2233,3365,3818
$GC,1924,-1.40,-219.0,254.6,-10.3,183,1931,0.00,2.42,0.00,0.000,6,0.000,0.038,2234,1959,3818
$GC,1995,-1.40,-219.0,261.8,-10.6,190,1999,0.00,2.55,0.00,0.000,4,0.000,0.067,2233,569,3818
$GC,2038,-1.40,-219.0,266.4,-10.0,193,2045,0.00,2.40,0.00,0.000,6,0.000,0.035,2233,1973,3818
$STATE,2075,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2075,begin apogee
$GC,2081,-0.38,0.0,270.1,10.2,197,2268,1.08,0.00,178.80,0.690,6,0.091,0.000,2454,1976,2916
$STATE,2269,end apogee,CONTROL_FINISHED_OK
$STATE,2269,begin climb
$GC,2272,1.40,219.0,274.4,0.0,216,2459,1.77,0.00,178.23,0.673,6,0.059,0.000,2848,1977,2023
$GC,2524,1.43,242.2,255.6,9.3,241,2546,0.00,0.00,20.25,0.629,6,0.000,0.000,2848,1977,1929
$GC,2606,1.48,279.0,248.0,8.9,249,2644,0.00,2.62,31.60,0.644,4,0.000,0.066,2848,600,1779
$GC,2679,1.55,337.4,241.6,8.2,255,2736,0.15,2.42,50.70,0.651,6,0.041,0.037,2900,2003,1541
$GC,2800,1.55,337.4,230.1,10.9,266,2805,0.12,2.55,0.00,0.000,4,0.081,0.062,2875,3388,1536
$GC,2877,1.55,337.4,222.0,10.3,272,2885,0.00,2.45,0.00,0.000,6,0.000,0.041,2876,1997,1534
$GC,2948,1.58,360.2,215.7,9.3,279,2969,0.00,0.00,19.67,0.626,6,0.000,0.000,2875,1998,1448
$GC,3032,1.62,393.5,208.0,9.0,287,3064,0.00,0.00,30.00,0.637,6,0.000,0.000,2875,1997,1313
$GC,3125,1.62,393.5,198.5,10.6,296,3127,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,1997,1308
$GC,3189,1.62,393.5,191.8,10.4,302,3190,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,1997,1307
$GC,3253,1.63,405.9,185.6,9.6,308,3269,0.00,2.65,11.02,0.587,4,0.000,0.070,2875,586,1262
$GC,3297,1.66,427.9,181.6,9.3,311,3327,0.12,2.45,20.98,0.622,6,0.051,0.037,2923,1999,1171
$GC,3389,1.66,427.9,171.6,11.4,320,3391,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,1999,1168
$GC,3453,1.66,427.9,163.8,12.6,326,3457,0.00,2.53,0.00,0.000,4,0.000,0.058,2924,3390,1166
$GC,3481,1.66,427.9,160.2,13.2,328,3485,0.00,2.45,0.00,0.000,6,0.000,0.040,2923,1995,1166
$GC,3550,1.66,427.9,150.7,13.9,334,3552,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,1995,1165
$GC,3614,1.66,427.9,142.4,12.7,340,3616,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,1995,1164
$GC,3678,1.66,427.9,134.4,12.6,346,3679,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,1995,1164
$GC,3742,1.66,427.9,126.3,12.8,352,3746,0.00,2.53,0.00,0.000,4,0.000,0.057,2923,3386,1163
$GC,3770,1.66,427.9,122.4,14.7,354,3774,0.00,2.42,0.00,0.000,6,0.000,0.038,2923,1991,1163
$GC,3846,1.66,427.9,112.6,13.4,361,3851,0.00,2.58,0.00,0.000,4,0.000,0.066,2923,588,1162
$GC,3886,1.66,427.9,106.8,14.4,364,3890,0.00,2.42,0.00,0.000,6,0.000,0.035,2923,2001,1162
$GC,3956,1.66,427.9,97.1,13.6,370,3957,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2002,1161
$GC,4019,1.66,427.9,89.2,12.1,376,4021,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2001,1161
$GC,4083,1.66,427.9,82.3,10.5,382,4088,0.00,2.58,0.00,0.000,4,0.000,0.061,2922,595,1161
$GC,4116,1.66,427.9,78.7,10.5,384,4123,0.00,2.40,0.00,0.000,6,0.000,0.034,2923,1996,1161
$GC,4186,1.66,427.9,71.4,10.5,391,4187,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,1996,1161
$GC,4250,1.66,427.9,64.6,10.9,397,4254,0.00,2.53,0.00,0.000,4,0.000,0.061,2923,3391,1160
$GC,4305,1.66,427.9,58.7,11.1,401,4312,0.00,2.42,0.00,0.000,6,0.000,0.036,2923,1990,1160
$GC,4375,1.66,427.9,51.6,10.5,408,4376,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,1990,1160
$GC,4438,1.66,427.9,45.2,10.1,414,4443,0.00,2.55,0.00,0.000,4,0.000,0.063,2923,587,1160
$GC,4493,1.66,427.9,39.2,10.8,418,4501,0.00,2.40,0.00,0.000,6,0.000,0.031,2923,2004,1160
$GC,4564,1.66,429.7,32.3,9.9,425,4568,0.00,2.47,0.00,0.000,4,0.000,0.055,2923,3387,1160
$GC,4597,1.69,453.0,29.0,9.3,427,4627,0.00,2.40,20.67,0.541,6,0.000,0.035,2923,1992,1069
$GC,4690,1.69,453.0,20.2,10.0,436,4691,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,1992,1067
$GC,4757,1.70,461.1,13.5,9.8,447,4770,0.00,0.00,7.72,0.467,6,0.000,0.000,2923,1992,1037
$GC,4838,1.70,461.1,5.4,10.5,461,4844,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,1992,1035
$STATE,4876,end climb,SURFACE_DEPTH_REACHED
$STATE,4876,begin surface coast
$FINISH,0.6,1.022831
$STATE,4894,end surface coast,CONTROL_FINISHED_OK
$STATE,4894,begin surface
$SM_CCo,4975,0.00,0.000,0,0,1033,462.15
$SM_GC,1.17,10.88,0.00,0.00,0.027,0.000,0.000,407,1990,1033,-9.77,0.57,462.15
$IRIDIUM_FIX,2145.77,-15942.95,281098,181827
$TT8_MAMPS,0.072098
$HUMID,1914
$INTERNAL_PRESSURE,7.58818
$TCM_TEMP,24.70
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,24.0,15.442
$10V_AH,10.2,6.622
$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,24.925,99.025,569.650,0.000,0.000,30.076,27.053,274.893,0.000,0.000,35.553,13.994,944.826,2367.151,681.482,886.701,566.788,33.359,1279.959,0.000,852.326,0.000,0.000,0.000
$DEVICE_MAMPS,176.410,69.797,690.300,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,317.145,0.000,0.000,0.000,0.000,0.000,67.255,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,15829,471
$CAP_FILE_SIZE,89641,0
$CFSIZE,260165632,252014592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030809,211855,2154.020,-15942.325,16,1.7,33,9.8