version: 66.04
glider: 117
mission: 24
dive: 72
start: 8 4 109 21 31 17
data:
$ID,117
$MISSION,24
$DIVE,72
$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,-107920.62
$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,43
$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
$GPS1,211906,2154.711,-15944.817,38,1.3,41,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-53.4
$GPS2,213026,2154.750,-15945.102,13,1.1,13,9.8
$SPEED_LIMITS,0.100,0.326
$TGT_NAME,BobSW
$TGT_LATLONG,2153.790,-15942.207
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.301,-0.125
$KALMAN_X,-87129.2,-337.4,-403.8,86515.3,-1837.2
$KALMAN_Y,32214.7,84.5,93.1,-34167.4,749.7
$MHEAD_RNG_PITCHd_Wd,102.7,5283,-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,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,-96.90,0.000,2,0.000,0.000,404,2007,3318
$GC,121,-1.37,-243.3,3.7,-8.0,16,148,10.80,2.58,-10.07,0.000,4,0.176,0.066,2240,567,3913
$GC,172,-1.37,-243.3,18.8,-20.4,24,179,0.00,2.35,0.00,0.000,6,0.000,0.029,2240,1965,3914
$GC,249,-1.37,-243.3,33.0,-18.9,32,250,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,1965,3914
$GC,312,-1.37,-243.3,44.5,-17.6,38,313,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,1969,3914
$GC,376,-1.37,-243.3,55.4,-17.4,44,380,0.00,2.47,0.00,0.000,4,0.000,0.051,2240,3362,3914
$GC,408,-1.37,-243.3,61.6,-17.3,46,415,0.00,2.40,0.00,0.000,6,0.000,0.034,2240,1955,3914
$GC,478,-1.37,-243.3,72.5,-15.9,53,482,0.00,2.50,0.00,0.000,4,0.000,0.058,2240,563,3914
$GC,545,-1.37,-243.3,82.8,-13.9,58,552,0.00,2.38,0.00,0.000,6,0.000,0.029,2240,1976,3915
$GC,615,-1.37,-243.3,93.4,-16.4,65,616,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,1981,3914
$GC,678,-1.37,-243.3,102.8,-14.5,71,680,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,1980,3915
$GC,742,-1.37,-243.3,112.7,-15.1,77,746,0.00,2.53,0.00,0.000,4,0.000,0.056,2240,570,3915
$GC,775,-1.37,-243.3,117.9,-15.4,79,782,0.00,2.38,0.00,0.000,6,0.000,0.031,2240,1983,3915
$GC,845,-1.37,-243.3,127.3,-13.8,86,849,0.00,2.45,0.00,0.000,4,0.000,0.053,2240,3366,3915
$GC,895,-1.37,-243.3,134.2,-13.3,90,900,0.00,2.38,0.00,0.000,6,0.000,0.035,2240,1973,3915
$GC,965,-1.37,-243.3,142.8,-12.5,96,966,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,1973,3916
$GC,1029,-1.37,-243.3,151.0,-13.0,102,1030,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,1973,3916
$GC,1093,-1.37,-243.3,159.5,-13.1,108,1097,0.00,2.53,0.00,0.000,4,0.000,0.061,2240,571,3916
$GC,1155,-1.37,-243.3,168.0,-14.2,113,1159,0.00,2.35,0.00,0.000,6,0.000,0.031,2240,1966,3916
$GC,1225,-1.37,-243.3,177.3,-13.4,119,1226,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,1966,3916
$GC,1288,-1.37,-243.3,186.3,-14.4,125,1290,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,1966,3916
$GC,1352,-1.37,-243.3,195.0,-13.7,131,1356,0.00,2.53,0.00,0.000,4,0.000,0.059,2240,569,3917
$GC,1395,-1.37,-243.3,201.2,-14.3,134,1402,0.00,2.38,0.00,0.000,6,0.000,0.032,2240,1973,3917
$GC,1465,-1.37,-243.3,210.0,-12.7,141,1470,0.00,2.47,0.00,0.000,4,0.000,0.054,2240,3367,3917
$GC,1528,-1.37,-243.3,218.0,-13.1,146,1532,0.00,2.40,0.00,0.000,6,0.000,0.036,2240,1964,3917
$GC,1598,-1.37,-243.3,226.9,-12.5,152,1602,0.00,2.53,0.00,0.000,4,0.000,0.062,2240,567,3917
$GC,1641,-1.37,-243.3,232.8,-13.2,155,1648,0.00,2.38,0.00,0.000,6,0.000,0.032,2240,1969,3917
$GC,1711,-1.37,-243.3,241.1,-11.8,162,1712,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,1969,3916
$GC,1775,-1.37,-243.3,249.0,-12.3,168,1776,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,1969,3917
$GC,1839,-1.37,-243.3,256.8,-12.2,174,1840,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,1969,3918
$GC,1902,-1.37,-243.3,264.9,-12.8,180,1904,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,1969,3917
$STATE,1943,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1943,begin apogee
$GC,1948,-0.38,0.0,270.3,12.9,184,2150,1.02,0.00,196.07,0.693,6,0.086,0.000,2454,1973,2917
$STATE,2151,end apogee,CONTROL_FINISHED_OK
$STATE,2151,begin climb
$GC,2153,1.37,243.3,281.6,0.0,204,2362,1.75,2.58,197.75,0.676,4,0.059,0.062,2843,592,1923
$GC,2390,1.54,382.7,273.9,6.1,225,2515,0.15,2.45,117.22,0.667,6,0.045,0.035,2892,2003,1356
$GC,2579,1.54,382.7,255.7,11.5,242,2583,0.00,2.55,0.00,0.000,4,0.000,0.065,2891,3385,1352
$GC,2611,1.54,382.7,251.4,12.5,244,2618,0.00,2.45,0.00,0.000,6,0.000,0.041,2892,1999,1351
$GC,2682,1.54,382.7,242.9,12.5,251,2683,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,1999,1350
$GC,2745,1.54,382.7,234.6,12.7,257,2746,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,1998,1349
$GC,2809,1.54,382.7,225.9,13.8,263,2810,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,1999,1349
$GC,2873,1.54,382.7,217.4,13.3,269,2874,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,1998,1348
$GC,2936,1.54,382.7,209.2,13.1,275,2941,0.00,2.60,0.00,0.000,4,0.000,0.067,2891,589,1347
$GC,2965,1.54,382.7,205.2,14.1,277,2969,0.00,2.42,0.00,0.000,6,0.000,0.036,2891,1993,1346
$GC,3041,1.54,382.7,195.6,12.4,284,3045,0.00,2.55,0.00,0.000,4,0.000,0.061,2892,3394,1346
$GC,3107,1.54,382.7,187.6,11.2,289,3114,0.00,2.47,0.00,0.000,6,0.000,0.040,2891,1981,1345
$GC,3178,1.55,390.7,180.8,9.8,296,3189,0.00,2.55,6.12,0.523,4,0.000,0.064,2891,593,1324
$GC,3212,1.55,390.7,177.1,10.2,299,3217,0.00,2.42,0.00,0.000,6,0.000,0.035,2892,2002,1323
$GC,3282,1.55,390.7,169.8,10.5,305,3283,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2002,1322
$GC,3346,1.55,390.7,163.2,10.4,311,3347,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2001,1322
$GC,3410,1.55,390.7,156.6,10.4,317,3411,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2001,1321
$GC,3473,1.55,390.7,149.8,10.7,323,3474,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2002,1321
$GC,3537,1.55,390.7,143.2,10.1,329,3538,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2002,1321
$GC,3601,1.55,390.7,136.7,10.2,335,3605,0.00,2.58,0.00,0.000,4,0.000,0.060,2892,590,1320
$GC,3655,1.55,390.7,130.9,11.3,339,3662,0.00,2.40,0.00,0.000,6,0.000,0.033,2892,1997,1320
$GC,3726,1.55,390.7,123.8,10.3,346,3727,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,1996,1320
$GC,3789,1.55,391.7,117.4,10.0,352,3791,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,1997,1320
$GC,3853,1.58,412.5,111.4,9.4,358,3875,0.00,0.00,19.62,0.609,6,0.000,0.000,2892,1997,1235
$GC,3937,1.60,428.0,103.4,9.6,366,3957,0.00,0.00,14.60,0.585,6,0.000,0.000,2892,1996,1172
$GC,4021,1.60,428.0,94.7,10.3,374,4022,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,1997,1169
$GC,4084,1.60,428.0,87.8,10.8,380,4085,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,1997,1168
$GC,4148,1.60,428.0,80.7,11.1,386,4149,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,1997,1167
$GC,4212,1.60,428.0,73.7,11.0,392,4216,0.00,2.55,0.00,0.000,4,0.000,0.058,2891,592,1167
$GC,4244,1.60,428.0,69.9,11.5,394,4251,0.00,2.40,0.00,0.000,6,0.000,0.031,2892,2002,1167
$GC,4314,1.60,428.0,62.3,11.2,401,4318,0.00,2.50,0.00,0.000,4,0.000,0.058,2892,3389,1167
$GC,4342,1.60,428.0,59.6,10.1,403,4346,0.00,2.42,0.00,0.000,6,0.000,0.036,2892,1983,1167
$GC,4412,1.62,450.9,52.9,9.4,409,4437,0.00,2.58,19.95,0.564,4,0.000,0.061,2892,586,1079
$GC,4483,1.71,522.5,46.4,8.0,415,4550,0.10,2.40,60.70,0.565,6,0.052,0.031,2939,2003,785
$GC,4620,1.71,522.5,32.0,12.4,428,4622,0.12,0.00,0.00,0.000,6,0.076,0.000,2913,2003,782
$GC,4684,1.71,522.5,25.0,10.5,434,4685,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2003,781
$GC,4748,1.73,536.9,19.0,9.6,440,4762,0.00,2.60,8.82,0.478,4,0.000,0.058,2913,588,746
$GC,4791,1.73,536.9,14.1,10.1,447,4798,0.00,2.38,0.00,0.000,6,0.000,0.030,2913,1991,745
$GC,4866,1.73,536.9,6.3,12.3,460,4872,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,1995,744
$STATE,4904,end climb,SURFACE_DEPTH_REACHED
$STATE,4904,begin surface coast
$FINISH,0.6,1.022840
$STATE,4922,end surface coast,CONTROL_FINISHED_OK
$STATE,4922,begin surface
$SM_CCo,5004,0.00,0.000,0,0,741,533.77
$SM_GC,1.03,11.10,0.00,0.00,0.039,0.000,0.000,406,1996,741,-9.78,0.71,533.77
$IRIDIUM_FIX,2148.09,-15942.95,291098,202040
$TT8_MAMPS,0.059059
$HUMID,1963
$INTERNAL_PRESSURE,7.56865
$TCM_TEMP,24.60
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,24.1,17.791
$10V_AH,10.0,7.709
$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,25.050,93.800,640.875,0.000,0.000,32.981,54.559,426.740,0.000,0.000,37.303,13.334,923.066,2371.461,713.968,905.381,775.892,33.352,1335.205,0.000,863.253,0.000,0.000,0.000
$DEVICE_MAMPS,175.643,66.729,692.601,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,315.939,0.000,0.000,0.000,0.000,0.000,204.291,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,15877,470
$CAP_FILE_SIZE,91812,0
$CFSIZE,260165632,250744832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040809,225526,2154.763,-15945.312,11,1.9,11,9.8