version: 66.04
glider: 117
mission: 24
dive: 60
start: 8 4 109 1 45 24
data:
$ID,117
$MISSION,24
$DIVE,60
$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,125
$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,-107608.94
$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,26
$R_STBD_OVSHOOT,36
$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
$GPS1,013107,2153.705,-15941.974,30,1.6,30,9.8
$_CALLS,2
$_XMS_NAKs,17
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-52.1
$GPS2,014432,2153.867,-15942.236,14,1.5,14,9.8
$SPEED_LIMITS,0.100,0.311
$TGT_NAME,BobNE
$TGT_LATLONG,2154.185,-15941.805
$TGT_RADIUS,400.000
$KALMAN_CONTROL,0.309,-0.040
$KALMAN_X,-68547.9,-1290.4,284.9,73113.7,-1034.0
$KALMAN_Y,23804.9,566.9,-119.2,-27661.1,716.2
$MHEAD_RNG_PITCHd_Wd,87.6,946,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.40,-219.0,0.0,0.0,0,117,0.00,0.00,-97.10,0.000,2,0.000,0.000,400,1987,3402
$GC,120,-1.40,-219.0,4.1,-9.7,16,147,11.05,2.50,-6.72,0.000,4,0.183,0.061,2230,3366,3813
$GC,170,-1.40,-219.0,20.4,-21.6,24,175,0.00,2.42,0.00,0.000,6,0.000,0.034,2230,1955,3815
$GC,240,-1.40,-219.0,33.8,-19.2,30,244,0.00,2.50,0.00,0.000,4,0.000,0.048,2230,3363,3815
$GC,272,-1.40,-219.0,40.0,-18.6,32,279,0.00,2.40,0.00,0.000,6,0.000,0.033,2230,1960,3815
$GC,342,-1.40,-219.0,51.5,-16.2,39,344,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,1960,3815
$GC,406,-1.40,-219.0,60.6,-14.4,45,407,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,1960,3815
$GC,471,-1.40,-219.0,70.0,-14.8,51,475,0.00,2.50,0.00,0.000,4,0.000,0.051,2230,3365,3816
$GC,560,-1.40,-219.0,82.9,-13.9,58,567,0.00,2.40,0.00,0.000,6,0.000,0.033,2230,1960,3816
$GC,630,-1.40,-219.0,92.7,-14.0,65,634,0.00,2.50,0.00,0.000,4,0.000,0.058,2230,572,3817
$GC,771,-1.40,-219.0,114.2,-16.3,77,775,0.00,2.38,0.00,0.000,6,0.000,0.030,2230,1982,3817
$GC,841,-1.40,-219.0,124.7,-15.0,83,845,0.00,2.45,0.00,0.000,4,0.000,0.052,2230,3363,3818
$GC,880,-1.40,-219.0,130.1,-14.3,86,884,0.00,2.40,0.00,0.000,6,0.000,0.035,2230,1961,3818
$GC,950,-1.40,-219.0,138.9,-12.7,92,951,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,1961,3819
$GC,1013,-1.40,-219.0,147.1,-12.6,98,1018,0.00,2.50,0.00,0.000,4,0.000,0.051,2230,3366,3819
$GC,1057,-1.40,-219.0,153.3,-13.5,101,1065,0.00,2.40,0.00,0.000,6,0.000,0.035,2230,1970,3819
$GC,1128,-1.40,-219.0,162.8,-14.0,108,1132,0.00,2.55,0.00,0.000,4,0.000,0.063,2230,560,3818
$GC,1194,-1.40,-219.0,172.1,-13.5,113,1200,0.00,2.40,0.00,0.000,6,0.000,0.031,2230,1980,3819
$GC,1264,-1.40,-219.0,181.4,-13.5,120,1268,0.00,2.45,0.00,0.000,4,0.000,0.053,2231,3361,3819
$GC,1303,-1.40,-219.0,187.4,-14.7,123,1308,0.00,2.40,0.00,0.000,6,0.000,0.036,2230,1963,3819
$GC,1373,-1.40,-219.0,197.3,-14.1,129,1374,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,1963,3819
$GC,1437,-1.40,-219.0,206.0,-13.9,135,1438,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,1963,3819
$GC,1500,-1.40,-219.0,214.2,-12.7,141,1502,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,1963,3819
$GC,1564,-1.40,-219.0,222.1,-12.7,147,1565,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,1963,3819
$GC,1628,-1.40,-219.0,229.7,-11.9,153,1632,0.00,2.50,0.00,0.000,4,0.000,0.053,2230,3360,3819
$GC,1656,-1.40,-219.0,233.3,-13.3,155,1660,0.00,2.40,0.00,0.000,6,0.000,0.036,2230,1966,3819
$GC,1726,-1.40,-219.0,241.7,-11.7,161,1727,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,1966,3819
$GC,1789,-1.40,-219.0,248.6,-10.9,167,1790,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,1966,3819
$GC,1853,-1.40,-219.0,255.1,-10.3,173,1854,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,1966,3819
$GC,1916,-1.40,-219.0,261.8,-10.5,179,1921,0.00,2.55,0.00,0.000,4,0.000,0.067,2230,573,3819
$GC,1972,-1.40,-219.0,267.7,-11.0,183,1979,0.00,2.40,0.00,0.000,6,0.000,0.035,2230,1976,3819
$STATE,1998,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1998,begin apogee
$GC,2003,-0.38,0.0,270.4,10.5,186,2191,1.10,0.00,179.35,0.693,6,0.093,0.000,2454,1976,2916
$STATE,2192,end apogee,CONTROL_FINISHED_OK
$STATE,2192,begin climb
$GC,2194,1.40,219.0,275.2,0.0,205,2379,1.77,0.00,178.90,0.676,6,0.058,0.000,2846,1978,2024
$GC,2441,1.47,272.4,257.8,8.4,229,2492,0.00,0.00,45.53,0.656,6,0.000,0.000,2846,1978,1805
$GC,2556,1.54,327.5,248.7,8.3,240,2608,0.12,0.00,47.75,0.656,6,0.046,0.000,2892,1978,1581
$GC,2670,1.54,327.5,236.5,11.8,251,2674,0.00,2.60,0.00,0.000,4,0.000,0.063,2892,3386,1576
$GC,2698,1.54,327.5,233.0,12.3,253,2702,0.00,2.45,0.00,0.000,6,0.000,0.041,2892,1999,1575
$GC,2767,1.54,327.5,225.1,11.0,259,2772,0.00,2.62,0.00,0.000,4,0.000,0.068,2892,589,1574
$GC,2795,1.54,327.5,221.8,11.5,261,2800,0.00,2.45,0.00,0.000,6,0.000,0.037,2892,2000,1573
$GC,2865,1.54,327.5,214.0,11.3,267,2866,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2001,1572
$GC,2929,1.54,327.5,207.4,10.4,273,2933,0.00,2.60,0.00,0.000,4,0.000,0.064,2892,593,1571
$GC,2946,1.59,368.6,206.0,8.7,274,2986,0.00,2.45,34.70,0.649,6,0.000,0.037,2892,2005,1414
$GC,3049,1.59,368.6,195.6,10.3,283,3054,0.00,2.55,0.00,0.000,4,0.000,0.062,2891,3397,1410
$GC,3089,1.59,368.6,191.4,10.9,286,3094,0.00,2.47,0.00,0.000,6,0.000,0.041,2892,1992,1409
$GC,3159,1.59,368.6,184.1,10.4,292,3160,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,1993,1408
$GC,3223,1.59,368.6,177.7,10.3,298,3224,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,1993,1407
$GC,3286,1.59,368.6,171.1,10.0,304,3291,0.00,2.58,0.00,0.000,4,0.000,0.065,2891,592,1406
$GC,3319,1.59,368.6,167.4,10.7,306,3326,0.00,2.42,0.00,0.000,6,0.000,0.035,2891,1995,1405
$GC,3389,1.59,368.6,160.4,10.1,313,3394,0.00,2.53,0.00,0.000,4,0.000,0.060,2892,3386,1405
$GC,3422,1.59,368.6,156.6,11.0,315,3429,0.00,2.45,0.00,0.000,6,0.000,0.039,2891,1986,1405
$GC,3492,1.59,368.6,149.1,11.4,322,3493,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,1986,1405
$GC,3556,1.59,368.6,142.0,10.7,328,3557,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,1986,1404
$GC,3620,1.59,368.6,135.2,10.2,334,3624,0.00,2.55,0.00,0.000,4,0.000,0.058,2892,3388,1404
$GC,3659,1.59,368.6,131.0,11.1,337,3663,0.00,2.45,0.00,0.000,6,0.000,0.038,2892,1983,1404
$GC,3729,1.60,379.2,124.0,9.7,343,3740,0.00,0.00,8.65,0.560,6,0.000,0.000,2892,1983,1371
$GC,3803,1.69,451.1,118.1,7.8,350,3873,0.00,0.00,63.25,0.621,6,0.000,0.000,2892,1983,1076
$GC,3936,1.69,451.1,106.0,10.4,363,3937,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,1983,1073
$GC,4000,1.69,451.1,99.3,10.9,369,4004,0.00,2.55,0.00,0.000,4,0.000,0.062,2892,590,1071
$GC,4050,1.72,473.9,94.3,9.3,373,4075,0.10,2.42,19.40,0.576,6,0.051,0.032,2939,2010,986
$GC,4137,1.72,473.9,85.0,11.4,381,4138,0.12,0.00,0.00,0.000,6,0.080,0.000,2913,2010,982
$GC,4200,1.72,473.9,77.1,12.1,387,4204,0.00,2.47,0.00,0.000,4,0.000,0.054,2913,3385,981
$GC,4273,1.72,473.9,68.1,10.8,393,4277,0.00,2.42,0.00,0.000,6,0.000,0.036,2913,1990,981
$GC,4343,1.72,473.9,61.2,10.3,399,4347,0.00,2.55,0.00,0.000,4,0.000,0.062,2913,592,980
$GC,4376,1.72,473.9,57.6,10.3,401,4383,0.00,2.40,0.00,0.000,6,0.000,0.031,2913,1998,980
$GC,4446,1.76,509.4,51.4,8.9,408,4483,0.00,2.65,30.23,0.557,4,0.000,0.059,2913,593,840
$GC,4494,1.76,509.4,46.2,11.0,412,4501,0.00,2.42,0.00,0.000,6,0.000,0.031,2913,2003,838
$GC,4565,1.80,541.2,40.0,9.0,419,4592,0.00,2.55,20.70,0.534,4,0.000,0.056,2913,3381,746
$GC,4633,1.83,568.1,33.6,9.2,425,4638,0.12,2.42,0.00,0.000,6,0.045,0.035,2963,1984,744
$GC,4703,1.83,568.1,25.3,12.6,431,4704,0.12,0.00,0.00,0.000,6,0.076,0.000,2936,1984,742
$GC,4767,1.83,568.1,18.0,11.2,438,4773,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,1984,742
$GC,4841,1.83,568.1,9.6,11.6,451,4847,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,1984,742
$STATE,4915,end climb,SURFACE_DEPTH_REACHED
$STATE,4915,begin surface coast
$FINISH,0.8,1.022815
$STATE,4931,end surface coast,CONTROL_FINISHED_OK
$STATE,4931,begin surface
$SM_CCo,5012,0.00,0.000,0,0,739,534.26
$SM_GC,1.11,11.00,0.00,0.00,0.029,0.000,0.000,407,1981,739,-9.77,0.31,534.26
$IRIDIUM_FIX,2220.67,-15817.55,291098,010119
$TT8_MAMPS,0.059059
$HUMID,1946
$INTERNAL_PRESSURE,7.53935
$TCM_TEMP,24.60
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,24.0,15.948
$10V_AH,10.1,6.833
$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,25.525,109.050,628.450,0.000,0.000,54.085,114.742,412.223,0.000,0.000,38.098,14.259,933.082,2405.955,735.604,914.128,829.863,33.338,1354.064,0.000,873.778,0.000,0.000,0.000
$DEVICE_MAMPS,183.313,68.263,693.368,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,315.330,0.000,0.000,0.000,0.000,0.000,110.214,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,15814,467
$CAP_FILE_SIZE,94367,0
$CFSIZE,260165632,251756544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040809,030938,2154.000,-15941.877,8,1.3,8,9.8