version: 66.04
glider: 117
mission: 24
dive: 71
start: 8 4 109 19 58 4
data:
$ID,117
$MISSION,24
$DIVE,71
$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,110
$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,-107906.65
$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,28
$R_STBD_OVSHOOT,47
$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
$GPS1,194310,2154.650,-15944.423,13,1.3,21,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-51.7
$GPS2,195713,2154.687,-15944.744,16,1.9,33,9.8
$SPEED_LIMITS,0.100,0.326
$TGT_NAME,BobSW
$TGT_LATLONG,2153.790,-15942.207
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.298,-0.132
$KALMAN_X,-85503.5,336.7,-476.8,84911.9,-1912.0
$KALMAN_Y,31609.7,-202.2,150.6,-33454.6,828.4
$MHEAD_RNG_PITCHd_Wd,104.1,4666,-13.9,-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,14,begin dive
$GC,16,-1.37,-243.3,0.0,0.0,0,117,0.00,0.00,-96.90,0.000,2,0.000,0.000,400,2005,3360
$GC,120,-1.37,-243.3,3.9,-8.5,16,146,10.77,0.00,-9.10,0.000,6,0.174,0.000,2237,2005,3911
$GC,214,-1.37,-243.3,26.9,-18.2,29,215,0.00,0.00,0.00,0.000,6,0.000,0.000,2237,2006,3911
$GC,276,-1.37,-243.3,38.1,-17.5,35,280,0.00,2.55,0.00,0.000,4,0.000,0.055,2237,570,3911
$GC,304,-1.37,-243.3,42.8,-16.7,37,308,0.00,2.35,0.00,0.000,6,0.000,0.029,2237,1972,3911
$GC,374,-1.37,-243.3,54.0,-15.9,43,375,0.00,0.00,0.00,0.000,6,0.000,0.000,2237,1976,3911
$GC,437,-1.37,-243.3,65.5,-18.6,49,438,0.00,0.00,0.00,0.000,6,0.000,0.000,2237,1976,3911
$GC,501,-1.37,-243.3,77.5,-18.0,55,502,0.00,0.00,0.00,0.000,6,0.000,0.000,2237,1976,3912
$GC,565,-1.37,-243.3,88.0,-16.7,61,566,0.00,0.00,0.00,0.000,6,0.000,0.000,2237,1976,3912
$GC,630,-1.37,-243.3,98.2,-15.4,67,634,0.00,2.45,0.00,0.000,4,0.000,0.050,2236,3365,3912
$GC,651,-1.37,-243.3,101.9,-16.2,68,658,0.00,2.38,0.00,0.000,6,0.000,0.033,2237,1969,3912
$GC,721,-1.37,-243.3,113.2,-17.0,75,725,0.00,2.53,0.00,0.000,4,0.000,0.060,2237,563,3912
$GC,794,-1.37,-243.3,125.6,-16.8,81,798,0.00,2.38,0.00,0.000,6,0.000,0.030,2237,1979,3912
$GC,863,-1.37,-243.3,135.5,-14.1,87,865,0.00,0.00,0.00,0.000,6,0.000,0.000,2237,1984,3913
$GC,927,-1.37,-243.3,143.6,-12.2,93,932,0.00,2.53,0.00,0.000,4,0.000,0.057,2237,567,3913
$GC,980,-1.37,-243.3,149.6,-11.4,97,984,0.00,2.35,0.00,0.000,6,0.000,0.031,2237,1967,3913
$GC,1049,-1.37,-243.3,157.9,-11.3,103,1051,0.00,0.00,0.00,0.000,6,0.000,0.000,2237,1971,3913
$GC,1113,-1.37,-243.3,165.1,-11.7,109,1114,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,1971,3914
$GC,1177,-1.37,-243.3,172.3,-11.0,115,1178,0.00,0.00,0.00,0.000,6,0.000,0.000,2237,1971,3914
$GC,1241,-1.37,-243.3,179.1,-10.8,121,1245,0.00,2.47,0.00,0.000,4,0.000,0.054,2237,3365,3914
$GC,1273,-1.37,-243.3,183.0,-10.9,123,1280,0.00,2.40,0.00,0.000,6,0.000,0.036,2237,1962,3913
$GC,1343,-1.37,-243.3,191.0,-11.6,130,1348,0.00,2.53,0.00,0.000,4,0.000,0.062,2237,563,3914
$GC,1376,-1.37,-243.3,195.0,-12.4,132,1383,0.00,2.38,0.00,0.000,6,0.000,0.032,2238,1969,3914
$GC,1446,-1.37,-243.3,203.0,-11.9,139,1450,0.00,2.47,0.00,0.000,4,0.000,0.054,2237,3364,3914
$GC,1501,-1.37,-243.3,209.7,-12.4,143,1508,0.00,2.40,0.00,0.000,6,0.000,0.036,2238,1964,3914
$GC,1572,-1.37,-243.3,217.5,-11.2,150,1576,0.00,2.50,0.00,0.000,4,0.000,0.054,2237,3366,3914
$GC,1600,-1.37,-243.3,221.0,-12.8,152,1604,0.00,2.40,0.00,0.000,6,0.000,0.037,2237,1966,3913
$GC,1670,-1.37,-243.3,230.0,-13.1,158,1674,0.00,2.55,0.00,0.000,4,0.000,0.064,2237,563,3913
$GC,1725,-1.37,-243.3,237.1,-11.9,162,1732,0.00,2.40,0.00,0.000,6,0.000,0.032,2237,1980,3914
$GC,1795,-1.37,-243.3,245.5,-12.0,169,1796,0.00,0.00,0.00,0.000,6,0.000,0.000,2236,1980,3913
$GC,1859,-1.37,-243.3,253.0,-11.7,175,1860,0.00,0.00,0.00,0.000,6,0.000,0.000,2237,1981,3914
$GC,1922,-1.37,-243.3,260.6,-11.8,181,1923,0.00,0.00,0.00,0.000,6,0.000,0.000,2237,1980,3913
$GC,1986,-1.37,-243.3,268.1,-12.1,187,1987,0.00,0.00,0.00,0.000,6,0.000,0.000,2237,1981,3913
$STATE,2006,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2006,begin apogee
$GC,2011,-0.38,0.0,270.7,12.1,189,2212,1.05,0.00,195.68,0.687,6,0.090,0.000,2453,1982,2917
$STATE,2213,end apogee,CONTROL_FINISHED_OK
$STATE,2213,begin climb
$GC,2216,1.37,243.3,276.5,0.0,209,2423,1.75,2.53,196.57,0.672,4,0.058,0.062,2842,592,1924
$GC,2452,1.49,343.6,262.0,7.2,231,2543,0.10,2.42,84.20,0.653,6,0.051,0.035,2886,1997,1516
$GC,2609,1.52,367.3,248.6,9.3,245,2636,0.00,2.60,20.98,0.620,4,0.000,0.062,2886,3383,1419
$GC,2659,1.55,389.3,243.5,9.4,249,2689,0.00,2.45,20.33,0.617,6,0.000,0.040,2886,1993,1328
$GC,2752,1.57,405.1,234.6,9.6,258,2775,0.00,2.65,14.43,0.601,4,0.000,0.067,2886,592,1265
$GC,2814,1.59,423.4,228.6,9.5,263,2836,0.00,2.42,17.25,0.614,6,0.000,0.035,2886,1996,1191
$GC,2902,1.63,458.4,220.9,9.0,271,2935,0.00,0.00,31.30,0.634,6,0.000,0.000,2886,1997,1048
$GC,2995,1.65,470.6,211.7,9.7,280,3012,0.00,2.55,11.68,0.583,4,0.000,0.058,2886,3388,998
$GC,3046,1.67,490.6,206.8,9.4,284,3070,0.00,2.45,18.15,0.608,6,0.000,0.040,2886,1992,917
$GC,3133,1.74,544.6,199.4,8.5,292,3174,0.15,0.00,37.12,0.631,6,0.041,0.000,2937,1992,746
$GC,3237,1.74,544.6,187.1,12.4,302,3241,0.00,2.60,0.00,0.000,4,0.000,0.066,2937,584,742
$GC,3257,1.74,544.6,184.3,13.0,303,3265,0.00,2.45,0.00,0.000,6,0.000,0.035,2937,2007,742
$GC,3328,1.74,544.6,175.4,13.2,310,3329,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2007,741
$GC,3391,1.74,544.6,166.5,14.5,316,3393,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2007,740
$GC,3455,1.74,544.6,157.2,14.9,322,3460,0.00,2.60,0.00,0.000,4,0.000,0.061,2937,589,739
$GC,3489,1.74,544.6,151.8,15.9,324,3496,0.00,2.40,0.00,0.000,6,0.000,0.033,2937,1994,739
$GC,3559,1.74,544.6,140.8,15.8,331,3560,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,1994,738
$GC,3623,1.74,544.6,130.1,17.0,337,3627,0.00,2.58,0.00,0.000,4,0.000,0.061,2937,589,738
$GC,3655,1.74,544.6,124.2,17.8,339,3662,0.00,2.40,0.00,0.000,6,0.000,0.033,2937,1992,738
$GC,3727,1.74,544.6,113.0,16.0,346,3731,0.00,2.58,0.00,0.000,4,0.000,0.061,2937,585,737
$GC,3767,1.74,544.6,107.3,14.0,349,3771,0.00,2.42,0.00,0.000,6,0.000,0.032,2937,2003,737
$GC,3837,1.74,544.6,98.6,11.7,355,3841,0.00,2.50,0.00,0.000,4,0.000,0.059,2937,3389,737
$GC,3869,1.74,544.6,95.0,10.7,357,3876,0.00,2.42,0.00,0.000,6,0.000,0.035,2937,1984,737
$GC,3941,1.74,544.6,87.9,10.4,364,3945,0.00,2.50,0.00,0.000,4,0.000,0.061,2937,594,736
$GC,3973,1.74,544.6,83.7,12.0,366,3980,0.00,2.40,0.00,0.000,6,0.000,0.031,2937,2009,736
$GC,4044,1.74,544.6,74.8,13.5,373,4046,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2009,736
$GC,4107,1.74,544.6,66.2,13.7,379,4111,0.00,2.58,0.00,0.000,4,0.000,0.058,2937,588,736
$GC,4146,1.74,544.6,61.6,11.6,382,4150,0.00,2.38,0.00,0.000,6,0.000,0.030,2937,1995,735
$GC,4216,1.74,544.6,54.4,10.3,388,4217,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,1996,735
$GC,4279,1.74,544.6,47.5,10.4,394,4284,0.00,2.47,0.00,0.000,4,0.000,0.054,2937,3385,735
$GC,4308,1.74,544.6,44.3,11.3,396,4312,0.00,2.40,0.00,0.000,6,0.000,0.034,2937,1983,735
$GC,4378,1.74,544.6,36.7,10.8,402,4382,0.00,2.53,0.00,0.000,4,0.000,0.061,2938,586,735
$GC,4421,1.74,544.6,31.6,11.6,405,4428,0.00,2.38,0.00,0.000,6,0.000,0.030,2937,1996,735
$GC,4492,1.74,544.6,23.9,10.9,412,4493,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,1996,734
$GC,4556,1.74,544.6,16.8,10.2,420,4563,0.00,2.55,0.00,0.000,4,0.000,0.058,2937,587,734
$GC,4587,1.74,544.6,13.3,11.9,425,4594,0.00,2.38,0.00,0.000,6,0.000,0.029,2937,2003,735
$GC,4662,1.74,544.6,4.7,11.1,438,4668,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2003,734
$STATE,4690,end climb,SURFACE_DEPTH_REACHED
$STATE,4690,begin surface coast
$FINISH,0.4,1.003402
$STATE,4706,end surface coast,CONTROL_FINISHED_OK
$STATE,4706,begin surface
$SM_CCo,4787,0.00,0.000,0,0,733,535.98
$SM_GC,0.96,10.98,0.00,0.00,0.030,0.000,0.000,403,2006,733,-9.77,1.02,535.98
$IRIDIUM_FIX,2148.09,-15942.95,291098,191918
$TT8_MAMPS,0.075166
$HUMID,1951
$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,24.1,17.632
$10V_AH,10.1,7.614
$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,24.800,113.575,647.675,0.000,0.000,47.706,58.026,488.936,0.000,0.000,36.840,33.074,889.773,2241.003,745.456,904.647,858.868,33.335,1361.987,0.000,839.482,0.000,0.000,0.000
$DEVICE_MAMPS,174.109,66.729,687.232,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,298.666,0.000,0.000,0.000,0.000,0.000,233.957,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,12716,446
$CAP_FILE_SIZE,94715,0
$CFSIZE,260165632,250847232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040809,211906,2154.711,-15944.817,38,1.3,41,9.8