version: 66.04
glider: 117
mission: 24
dive: 78
start: 8 5 109 16 24 47
data:
$ID,117
$MISSION,24
$DIVE,78
$D_SURF,2
$D_FLARE,3
$D_TGT,450
$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,150
$T_MISSION,175
$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,-108036.09
$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,33
$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
$GPS1,161227,2153.443,-15941.535,35,3.5,54,9.8
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-54.6
$GPS2,162356,2153.597,-15941.832,11,1.3,11,9.8
$SPEED_LIMITS,0.100,0.326
$TGT_NAME,BobNE
$TGT_LATLONG,2154.185,-15941.805
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.326,-0.003
$KALMAN_X,-104018.7,1740.8,383.5,106149.5,-3022.2
$KALMAN_Y,40061.4,-710.9,22.0,-43280.7,1115.0
$MHEAD_RNG_PITCHd_Wd,80.7,1089,-13.9,-10.000
$D_GRID,450
$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,-1.37,-243.3,0.0,0.0,0,111,0.00,0.00,-91.20,0.000,2,0.000,0.000,405,1972,3126
$GC,114,-1.37,-243.3,3.1,-5.0,15,147,10.95,2.50,-14.55,0.000,4,0.178,0.061,2238,3365,3912
$GC,200,-1.37,-243.3,22.8,-19.8,28,204,0.00,2.40,0.00,0.000,6,0.000,0.033,2238,1968,3913
$GC,270,-1.37,-243.3,37.0,-19.8,34,274,0.00,2.53,0.00,0.000,4,0.000,0.058,2238,572,3913
$GC,302,-1.37,-243.3,43.4,-19.2,36,309,0.00,2.38,0.00,0.000,6,0.000,0.029,2238,1977,3913
$GC,373,-1.37,-243.3,55.8,-18.2,43,374,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,1982,3913
$GC,436,-1.37,-243.3,67.4,-17.9,49,437,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,1981,3913
$GC,499,-1.37,-243.3,77.8,-16.1,55,500,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,1982,3913
$GC,563,-1.37,-243.3,88.3,-16.5,61,564,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,1982,3913
$GC,627,-1.37,-243.3,98.3,-15.4,67,631,0.00,2.45,0.00,0.000,4,0.000,0.050,2238,3360,3913
$GC,689,-1.37,-243.3,107.6,-14.2,72,693,0.00,2.40,0.00,0.000,6,0.000,0.034,2238,1960,3914
$GC,758,-1.37,-243.3,117.4,-13.8,78,760,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,1961,3914
$GC,822,-1.37,-243.3,126.1,-13.7,84,823,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,1961,3914
$GC,886,-1.37,-243.3,135.5,-14.9,90,887,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,1961,3915
$GC,949,-1.37,-243.3,145.1,-15.0,96,951,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,1961,3915
$GC,1013,-1.37,-243.3,154.2,-14.4,102,1018,0.00,2.50,0.00,0.000,4,0.000,0.051,2238,3361,3915
$GC,1043,-1.37,-243.3,158.3,-14.1,104,1048,0.00,2.40,0.00,0.000,6,0.000,0.035,2238,1970,3915
$GC,1113,-1.37,-243.3,167.5,-12.4,110,1117,0.00,2.50,0.00,0.000,4,0.000,0.051,2238,3366,3915
$GC,1163,-1.37,-243.3,174.3,-13.8,114,1168,0.00,2.42,0.00,0.000,6,0.000,0.035,2238,1957,3916
$GC,1233,-1.37,-243.3,184.1,-14.5,120,1235,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,1957,3916
$GC,1297,-1.37,-243.3,192.9,-14.1,126,1301,0.00,2.53,0.00,0.000,4,0.000,0.061,2238,575,3915
$GC,1370,-1.37,-243.3,202.6,-12.7,132,1374,0.00,2.38,0.00,0.000,6,0.000,0.031,2238,1971,3916
$GC,1440,-1.37,-243.3,210.5,-11.1,138,1441,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,1971,3916
$GC,1503,-1.37,-243.3,217.6,-11.2,144,1504,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,1971,3916
$GC,1567,-1.37,-243.3,224.7,-11.4,150,1568,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,1976,3916
$GC,1630,-1.37,-243.3,231.9,-11.4,156,1635,0.00,2.55,0.00,0.000,4,0.000,0.060,2238,573,3916
$GC,1704,-1.37,-243.3,240.4,-11.3,162,1708,0.00,2.38,0.00,0.000,6,0.000,0.033,2238,1969,3916
$GC,1781,-1.37,-243.3,249.2,-11.6,169,1785,0.00,2.53,0.00,0.000,4,0.000,0.058,2238,3366,3916
$GC,1843,-1.37,-243.3,256.5,-11.8,174,1847,0.00,2.42,0.00,0.000,6,0.000,0.038,2238,1967,3916
$GC,1912,-1.37,-243.3,264.2,-10.9,180,1913,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,1967,3916
$GC,1976,-1.37,-243.3,270.9,-10.5,186,1978,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,1967,3916
$GC,2040,-1.37,-243.3,277.4,-10.0,192,2041,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,1967,3916
$GC,2104,-1.37,-243.3,283.8,-10.0,198,2108,0.00,2.58,0.00,0.000,4,0.000,0.065,2238,562,3916
$GC,2147,-1.37,-243.3,288.4,-9.9,201,2154,0.00,2.42,0.00,0.000,6,0.000,0.034,2238,1976,3916
$GC,2219,-1.37,-243.3,295.6,-10.5,208,2220,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,1976,3915
$GC,2281,-1.37,-243.3,302.1,-10.2,214,2282,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,1979,3915
$GC,2472,-1.37,-243.3,321.9,-10.6,232,2473,0.00,0.00,0.00,0.000,6,0.000,0.000,2237,1979,3914
$GC,2663,-1.37,-243.3,342.9,-11.1,250,2668,0.00,2.60,0.00,0.000,4,0.000,0.065,2238,564,3913
$GC,2703,-1.37,-243.3,347.6,-12.2,253,2708,0.00,2.42,0.00,0.000,6,0.000,0.036,2238,1966,3913
$GC,2901,-1.37,-243.3,370.7,-11.2,271,2902,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,1969,3911
$GC,3092,-1.37,-243.3,391.2,-10.4,289,3093,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,1969,3910
$GC,3283,-1.37,-243.3,410.2,-10.1,307,3284,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,1969,3908
$GC,3474,-1.37,-243.3,430.0,-9.9,325,3476,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,1968,3907
$STATE,3663,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3663,begin apogee
$GC,3669,-0.38,0.0,451.0,11.3,343,3887,1.05,0.00,208.40,0.874,6,0.094,0.000,2450,1967,2917
$STATE,3888,end apogee,CONTROL_FINISHED_OK
$STATE,3888,begin climb
$GC,3890,1.37,243.3,462.4,0.0,365,4118,1.83,2.78,211.15,0.844,4,0.064,0.067,2840,3399,1923
$GC,4153,1.49,340.4,449.3,7.3,388,4248,0.12,2.53,87.38,0.822,6,0.052,0.044,2878,1993,1529
$GC,4445,1.49,340.4,420.5,10.8,415,4446,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,1992,1521
$GC,4636,1.49,340.4,399.3,11.4,433,4638,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,1992,1519
$GC,4827,1.49,340.4,378.1,10.8,451,4829,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,1993,1517
$GC,5019,1.49,340.4,356.7,11.4,469,5020,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,1993,1516
$GC,5210,1.49,340.4,336.1,10.5,487,5214,0.00,2.65,0.00,0.000,4,0.000,0.072,2878,582,1514
$GC,5242,1.49,340.4,332.2,11.5,489,5249,0.00,2.50,0.00,0.000,6,0.000,0.039,2878,2006,1513
$GC,5440,1.49,340.4,311.4,10.0,508,5441,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2010,1513
$GC,5631,1.52,370.7,293.4,9.2,526,5661,0.00,0.00,25.60,0.796,6,0.000,0.000,2878,2010,1405
$GC,5725,1.52,370.7,284.0,10.1,535,5726,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2010,1402
$GC,5789,1.53,374.7,277.6,9.9,541,5799,0.00,0.00,4.85,0.588,6,0.000,0.000,2878,2010,1388
$GC,5862,1.53,374.7,270.1,10.1,548,5867,0.00,2.67,0.00,0.000,4,0.000,0.067,2878,581,1387
$GC,5891,1.53,374.7,267.1,10.9,550,5895,0.00,2.47,0.00,0.000,6,0.000,0.038,2878,1997,1387
$GC,5960,1.53,374.7,259.8,10.4,556,5965,0.00,2.58,0.00,0.000,4,0.000,0.065,2878,3389,1386
$GC,6000,1.53,374.7,255.6,10.9,559,6005,0.00,2.47,0.00,0.000,6,0.000,0.042,2878,1992,1386
$GC,6070,1.53,374.7,248.5,10.4,565,6071,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,1992,1385
$GC,6134,1.53,374.7,241.4,11.1,571,6135,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,1992,1385
$GC,6197,1.53,374.7,234.4,10.9,577,6198,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,1992,1385
$GC,6261,1.53,374.7,227.3,11.1,583,6262,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,1992,1385
$GC,6325,1.53,374.7,219.8,12.0,589,6329,0.00,2.62,0.00,0.000,4,0.000,0.068,2878,584,1384
$GC,6368,1.53,374.7,214.2,12.3,592,6375,0.00,2.47,0.00,0.000,6,0.000,0.036,2878,2005,1383
$GC,6439,1.55,388.6,207.2,9.6,599,6458,0.00,0.00,13.05,0.716,6,0.000,0.000,2878,2009,1333
$GC,6522,1.55,388.6,199.1,10.1,607,6523,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2009,1330
$GC,6586,1.61,440.3,193.1,8.6,613,6637,0.00,0.00,47.53,0.733,6,0.000,0.000,2878,2009,1122
$GC,6700,1.61,440.3,178.9,14.5,624,6701,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2009,1117
$GC,6763,1.61,440.3,170.1,12.6,630,6764,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2009,1116
$GC,6827,1.61,440.3,163.6,11.2,636,6831,0.00,2.53,0.00,0.000,4,0.000,0.057,2878,3394,1115
$GC,6836,1.61,440.3,162.1,10.6,636,6843,0.00,2.47,0.00,0.000,6,0.000,0.038,2878,1986,1115
$GC,6908,1.61,440.3,151.8,15.0,643,6909,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,1986,1114
$GC,6970,1.61,440.3,143.6,12.0,649,6971,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,1985,1114
$GC,7034,1.62,450.3,137.3,9.7,655,7045,0.00,0.00,9.02,0.615,6,0.000,0.000,2878,1986,1080
$GC,7108,1.66,477.9,130.4,9.2,662,7140,0.12,0.00,25.83,0.659,6,0.047,0.000,2922,1986,967
$GC,7203,1.66,477.9,117.6,15.0,671,7204,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,1986,964
$GC,7266,1.66,477.9,108.7,14.4,677,7268,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,1986,963
$GC,7330,1.66,477.9,100.3,13.4,683,7334,0.00,2.55,0.00,0.000,4,0.000,0.061,2921,594,962
$GC,7373,1.66,477.9,94.5,13.6,686,7381,0.00,2.42,0.00,0.000,6,0.000,0.032,2921,2011,962
$GC,7444,1.66,477.9,84.0,16.6,693,7448,0.00,2.47,0.00,0.000,4,0.000,0.054,2922,3386,961
$GC,7465,1.66,477.9,80.2,16.6,694,7472,0.00,2.42,0.00,0.000,6,0.000,0.035,2922,1988,962
$GC,7535,1.66,477.9,70.8,12.9,701,7539,0.00,2.55,0.00,0.000,4,0.000,0.061,2922,592,961
$GC,7597,1.67,488.4,64.6,9.7,706,7612,0.00,2.40,9.32,0.551,6,0.000,0.031,2922,2005,924
$GC,7684,1.77,568.6,57.8,7.8,714,7730,0.00,2.45,39.08,0.590,4,0.000,0.052,2922,3380,744
$GC,7768,1.77,568.6,49.9,10.7,721,7775,0.00,2.42,0.00,0.000,6,0.000,0.034,2922,1987,743
$GC,7839,1.85,636.1,44.1,8.1,728,7841,0.10,0.00,0.00,0.000,6,0.048,0.000,2965,1987,742
$GC,7903,1.85,636.1,37.5,11.1,734,7904,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,1987,741
$GC,7966,1.85,636.1,29.9,11.8,740,7970,0.00,2.55,0.00,0.000,4,0.000,0.061,2965,589,741
$GC,7994,1.85,636.1,26.5,12.6,742,7998,0.00,2.38,0.00,0.000,6,0.000,0.028,2965,1994,741
$GC,8064,1.85,636.1,18.1,12.0,749,8070,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,1994,741
$GC,8140,1.85,636.1,9.4,12.7,762,8146,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,1995,741
$STATE,8200,end climb,SURFACE_DEPTH_REACHED
$STATE,8200,begin surface coast
$FINISH,0.5,1.022356
$STATE,8218,end surface coast,CONTROL_FINISHED_OK
$STATE,8219,begin surface
$SM_CCo,8300,0.00,0.000,0,0,738,534.26
$SM_GC,1.34,11.12,0.00,0.00,0.027,0.000,0.000,401,1999,738,-9.78,0.85,534.26
$IRIDIUM_FIX,2143.45,-15940.77,301098,121216
$TT8_MAMPS,0.062127
$HUMID,1949
$INTERNAL_PRESSURE,7.50029
$TCM_TEMP,24.50
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.8,19.348
$10V_AH,10.1,8.454
$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,25.300,104.650,681.200,0.000,0.000,23.556,29.212,454.283,0.000,0.000,240.749,11.616,1506.542,4483.800,770.482,1384.800,837.199,33.345,1630.852,0.000,1332.129,0.000,0.000,0.000
$DEVICE_MAMPS,177.944,72.098,873.613,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,536.941,0.000,0.000,0.000,0.000,0.000,137.115,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,25275,776
$CAP_FILE_SIZE,121954,0
$CFSIZE,260165632,249839616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050809,184402,2154.243,-15941.374,14,1.4,20,9.8