version: 66.04
glider: 117
mission: 24
dive: 61
start: 8 4 109 3 19 32
data:
$ID,117
$MISSION,24
$DIVE,61
$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,-107645.2
$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,37
$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
$GPS1,030938,2154.000,-15941.877,8,1.3,8,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-54.6
$GPS2,031840,2154.120,-15942.009,15,3.1,34,9.8
$SPEED_LIMITS,0.100,0.311
$TGT_NAME,BobSW
$TGT_LATLONG,2153.790,-15942.207
$TGT_RADIUS,400.000
$KALMAN_CONTROL,0.123,-0.209
$KALMAN_X,-69636.9,-1516.2,334.7,74775.8,-1008.2
$KALMAN_Y,24141.4,734.5,60.8,-27878.7,517.7
$MHEAD_RNG_PITCHd_Wd,139.7,699,-19.7,-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,-1.67,-125.2,0.0,0.0,0,112,0.00,0.00,-91.80,0.000,2,0.000,0.000,407,1980,3145
$GC,115,-1.75,-184.1,3.2,-6.8,15,142,10.43,2.50,-9.88,0.000,4,0.179,0.067,2156,568,3670
$GC,312,-1.75,-184.1,50.0,-22.3,38,316,0.00,2.38,0.00,0.000,6,0.000,0.029,2156,1977,3672
$GC,381,-1.75,-184.1,64.4,-22.0,44,385,0.00,2.45,0.00,0.000,4,0.000,0.050,2156,3364,3673
$GC,399,-1.75,-184.1,68.1,-22.2,45,403,0.00,2.40,0.00,0.000,6,0.000,0.034,2156,1962,3672
$GC,468,-1.75,-184.1,81.4,-17.7,51,470,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,1962,3673
$GC,532,-1.75,-184.1,91.4,-15.7,57,536,0.00,2.50,0.00,0.000,4,0.000,0.050,2156,3370,3673
$GC,564,-1.75,-184.1,96.8,-17.3,59,571,0.00,2.40,0.00,0.000,6,0.000,0.034,2156,1967,3673
$GC,635,-1.75,-184.1,109.4,-18.3,66,636,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,1967,3673
$GC,698,-1.75,-184.1,120.5,-17.2,72,699,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,1967,3674
$GC,762,-1.75,-184.1,131.3,-17.0,78,766,0.00,2.47,0.00,0.000,4,0.000,0.051,2156,3362,3674
$GC,827,-1.75,-184.1,141.7,-15.4,83,835,0.00,2.40,0.00,0.000,6,0.000,0.035,2156,1958,3675
$GC,898,-1.75,-184.1,151.8,-15.0,90,899,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,1958,3675
$GC,961,-1.75,-184.1,161.8,-16.0,96,963,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,1958,3675
$GC,1025,-1.75,-184.1,171.5,-15.8,102,1026,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,1958,3675
$GC,1089,-1.75,-184.1,181.4,-15.5,108,1093,0.00,2.53,0.00,0.000,4,0.000,0.062,2156,566,3675
$GC,1128,-1.75,-184.1,187.8,-17.1,111,1132,0.00,2.38,0.00,0.000,6,0.000,0.032,2156,1967,3675
$GC,1198,-1.75,-184.1,198.1,-14.2,117,1199,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,1967,3675
$GC,1261,-1.75,-184.1,207.6,-14.8,123,1266,0.00,2.50,0.00,0.000,4,0.000,0.054,2156,3371,3675
$GC,1312,-1.75,-184.1,215.2,-15.1,127,1317,0.00,2.40,0.00,0.000,6,0.000,0.036,2156,1971,3675
$GC,1382,-1.75,-184.1,226.0,-16.1,133,1386,0.00,2.55,0.00,0.000,4,0.000,0.064,2156,570,3675
$GC,1433,-1.75,-184.1,234.0,-15.2,137,1437,0.00,2.40,0.00,0.000,6,0.000,0.033,2156,1986,3676
$GC,1502,-1.75,-184.1,244.2,-14.8,143,1503,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,1986,3676
$GC,1566,-1.75,-184.1,253.8,-15.6,149,1567,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,1986,3676
$GC,1630,-1.75,-184.1,263.3,-14.9,155,1634,0.00,2.58,0.00,0.000,4,0.000,0.062,2156,572,3676
$STATE,1671,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1671,begin apogee
$GC,1679,-0.38,0.0,270.2,15.1,158,1837,1.48,0.00,151.30,0.687,6,0.106,0.000,2450,1996,2917
$STATE,1838,end apogee,CONTROL_FINISHED_OK
$STATE,1838,begin climb
$GC,1841,1.75,184.1,279.4,0.0,174,2004,2.15,2.65,150.35,0.674,4,0.061,0.062,2925,599,2165
$GC,2032,1.78,214.9,269.9,8.3,191,2065,0.00,2.42,26.80,0.644,6,0.000,0.035,2924,1996,2039
$GC,2136,1.80,228.0,260.6,9.3,201,2150,0.00,0.00,11.90,0.599,6,0.000,0.000,2924,1996,1987
$GC,2210,1.80,229.6,253.3,9.9,208,2211,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,1996,1985
$GC,2273,1.80,229.6,246.5,10.7,214,2274,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,1996,1984
$GC,2337,1.80,229.6,239.9,10.2,220,2338,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,1996,1983
$GC,2400,1.80,229.6,232.7,11.6,226,2402,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,1996,1982
$GC,2464,1.80,229.6,225.3,11.7,232,2465,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,1996,1981
$GC,2528,1.80,229.6,218.5,10.5,238,2529,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,1996,1980
$GC,2592,1.80,229.6,211.9,10.0,244,2593,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,1995,1980
$GC,2656,1.80,230.2,205.7,10.0,250,2657,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,1996,1979
$GC,2719,1.84,259.2,200.2,8.4,256,2753,0.00,2.58,26.17,0.650,4,0.000,0.061,2925,3387,1859
$GC,2792,1.84,259.2,193.0,10.4,262,2799,0.00,2.45,0.00,0.000,6,0.000,0.039,2924,1995,1856
$GC,2862,1.84,259.2,186.0,10.5,269,2863,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,1995,1855
$GC,2926,1.85,269.3,179.9,9.5,275,2937,0.00,0.00,8.95,0.581,6,0.000,0.000,2924,1995,1819
$GC,2999,1.85,269.3,172.5,10.4,282,3000,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,1994,1818
$GC,3063,1.85,269.3,165.2,12.0,288,3064,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,1995,1816
$GC,3127,1.85,269.3,158.0,11.0,294,3128,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,1995,1815
$GC,3190,1.85,269.3,150.9,11.0,300,3191,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,1995,1814
$GC,3254,1.85,269.3,144.0,10.7,306,3255,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,1995,1813
$GC,3318,1.85,269.3,137.4,10.6,312,3322,0.00,2.58,0.00,0.000,4,0.000,0.063,2924,587,1813
$GC,3346,1.85,269.3,134.3,11.2,314,3350,0.00,2.42,0.00,0.000,6,0.000,0.033,2925,2009,1812
$GC,3422,1.87,283.4,127.2,9.2,321,3440,0.10,2.50,12.32,0.596,4,0.051,0.057,2961,3383,1760
$GC,3497,1.87,287.2,119.5,9.8,327,3510,0.00,2.42,4.57,0.453,6,0.000,0.037,2961,1985,1746
$GC,3572,1.87,287.2,111.4,11.4,334,3577,0.00,2.55,0.00,0.000,4,0.000,0.056,2961,3389,1744
$GC,3646,1.87,287.2,102.6,12.7,340,3650,0.00,2.42,0.00,0.000,6,0.000,0.035,2961,1990,1744
$GC,3716,1.87,287.2,95.0,10.4,346,3720,0.00,2.55,0.00,0.000,4,0.000,0.061,2963,588,1743
$GC,3782,1.88,294.6,88.6,9.6,351,3795,0.00,2.40,7.47,0.526,6,0.000,0.031,2961,2002,1715
$GC,3859,1.90,311.4,81.6,9.1,358,3879,0.00,0.00,15.70,0.575,6,0.000,0.000,2961,2001,1647
$GC,3943,1.92,322.6,73.4,9.4,366,3955,0.00,0.00,10.50,0.542,6,0.000,0.000,2961,2002,1602
$GC,4016,1.95,351.2,67.1,8.5,373,4047,0.00,0.00,25.48,0.574,6,0.000,0.000,2961,2002,1485
$GC,4110,1.95,351.2,57.4,11.0,382,4114,0.00,2.50,0.00,0.000,4,0.000,0.054,2961,3392,1481
$GC,4187,1.95,351.2,47.9,11.4,388,4194,0.00,2.42,0.00,0.000,6,0.000,0.034,2961,1989,1480
$GC,4257,1.95,351.2,40.3,10.5,395,4259,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,1989,1479
$GC,4322,1.95,354.6,34.1,9.8,401,4323,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,1989,1479
$GC,4385,2.01,396.2,29.1,7.8,407,4427,0.00,0.00,38.10,0.540,6,0.000,0.000,2961,1989,1301
$GC,4490,2.03,417.1,20.3,8.9,417,4516,0.10,2.58,18.75,0.510,4,0.053,0.059,3004,586,1215
$GC,4545,2.03,417.1,13.8,12.7,425,4552,0.00,2.40,0.00,0.000,6,0.000,0.029,3004,1998,1214
$GC,4620,2.03,417.1,3.0,16.4,438,4626,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,1998,1213
$STATE,4630,end climb,SURFACE_DEPTH_REACHED
$STATE,4630,begin surface coast
$FINISH,0.4,1.023052
$STATE,4644,end surface coast,CONTROL_FINISHED_OK
$STATE,4644,begin surface
$SM_CCo,4726,0.00,0.000,0,0,1209,418.73
$SM_GC,1.21,11.27,0.00,0.00,0.026,0.000,0.000,401,2003,1209,-9.78,0.93,418.73
$IRIDIUM_FIX,2145.77,-15940.77,291098,010115
$TT8_MAMPS,0.070564
$HUMID,1923
$INTERNAL_PRESSURE,7.59795
$TCM_TEMP,24.80
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,24.0,16.071
$10V_AH,10.2,6.892
$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,25.525,79.125,508.375,0.000,0.000,25.006,26.601,317.535,0.000,0.000,34.434,35.629,897.049,2304.186,603.155,869.336,601.303,33.341,1165.246,0.000,812.227,0.000,0.000,0.000
$DEVICE_MAMPS,179.478,67.496,687.232,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,298.072,0.000,0.000,0.000,0.000,0.000,94.223,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,12717,442
$CAP_FILE_SIZE,85228,0
$CFSIZE,260165632,251674624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040809,043902,2153.674,-15942.124,10,1.6,10,9.8