version: 66.04
glider: 117
mission: 24
dive: 91
start: 8 6 109 17 8 53
data:
$ID,117
$MISSION,24
$DIVE,91
$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,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,-108291.67
$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,25
$R_STBD_OVSHOOT,44
$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
$GPS1,170037,2154.294,-15942.334,8,1.7,9,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-52.8
$GPS2,170802,2154.373,-15942.624,11,1.2,11,9.8
$SPEED_LIMITS,0.100,0.326
$TGT_NAME,BobNE
$TGT_LATLONG,2154.185,-15941.805
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.301,-0.124
$KALMAN_X,-126461.6,1577.7,-389.2,128188.1,-1520.5
$KALMAN_Y,52837.7,-1140.6,261.0,-54437.2,645.6
$MHEAD_RNG_PITCHd_Wd,102.6,1450,-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,-243.3,0.0,0.0,0,111,0.00,0.00,-90.47,0.000,2,0.000,0.000,407,1999,3073
$GC,114,-1.37,-243.3,3.0,-5.8,15,148,10.88,2.60,-16.02,0.000,4,0.178,0.067,2237,569,3911
$GC,194,-1.37,-243.3,20.0,-19.6,28,201,0.00,2.38,0.00,0.000,6,0.000,0.029,2237,1970,3912
$GC,265,-1.37,-243.3,32.3,-17.8,35,269,0.00,2.55,0.00,0.000,4,0.000,0.055,2238,560,3912
$GC,309,-1.37,-243.3,40.7,-16.6,38,316,0.00,2.40,0.00,0.000,6,0.000,0.028,2237,1978,3912
$GC,379,-1.37,-243.3,51.8,-15.6,45,380,0.00,0.00,0.00,0.000,6,0.000,0.000,2237,1979,3912
$GC,443,-1.37,-243.3,62.1,-15.7,51,447,0.00,2.45,0.00,0.000,4,0.000,0.049,2238,3367,3913
$GC,499,-1.37,-243.3,72.1,-18.3,56,503,0.00,2.40,0.00,0.000,6,0.000,0.032,2238,1963,3913
$GC,569,-1.37,-243.3,84.6,-17.8,62,570,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,1963,3914
$GC,633,-1.37,-243.3,94.2,-14.6,68,636,0.00,2.50,0.00,0.000,4,0.000,0.058,2237,574,3913
$GC,678,-1.37,-243.3,100.0,-12.7,72,682,0.00,2.35,0.00,0.000,6,0.000,0.029,2238,1973,3914
$GC,755,-1.37,-243.3,109.4,-12.5,79,756,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,1973,3914
$GC,816,-1.37,-243.3,118.5,-14.4,85,820,0.00,2.53,0.00,0.000,4,0.000,0.056,2237,573,3914
$GC,843,-1.37,-243.3,122.5,-14.4,87,850,0.00,2.35,0.00,0.000,6,0.000,0.029,2238,1969,3915
$GC,913,-1.37,-243.3,132.1,-14.1,94,915,0.00,0.00,0.00,0.000,6,0.000,0.000,2237,1974,3915
$GC,977,-1.37,-243.3,141.0,-13.8,100,981,0.00,2.47,0.00,0.000,4,0.000,0.052,2238,3361,3915
$GC,1028,-1.37,-243.3,148.4,-14.5,104,1033,0.00,2.40,0.00,0.000,6,0.000,0.035,2238,1961,3915
$GC,1098,-1.37,-243.3,158.0,-14.1,110,1099,0.00,0.00,0.00,0.000,6,0.000,0.000,2237,1961,3915
$GC,1162,-1.37,-243.3,166.7,-13.5,116,1163,0.00,0.00,0.00,0.000,6,0.000,0.000,2237,1961,3916
$GC,1226,-1.37,-243.3,175.4,-13.2,122,1227,0.00,0.00,0.00,0.000,6,0.000,0.000,2237,1961,3917
$GC,1290,-1.37,-243.3,183.2,-11.4,128,1291,0.00,0.00,0.00,0.000,6,0.000,0.000,2237,1961,3917
$GC,1353,-1.37,-243.3,190.5,-11.5,134,1357,0.00,2.53,0.00,0.000,4,0.000,0.061,2237,572,3917
$GC,1382,-1.37,-243.3,193.9,-11.7,136,1387,0.00,2.38,0.00,0.000,6,0.000,0.031,2238,1972,3917
$GC,1452,-1.37,-243.3,202.7,-12.0,142,1456,0.00,2.47,0.00,0.000,4,0.000,0.054,2238,3362,3917
$GC,1480,-1.37,-243.3,206.1,-12.2,144,1484,0.00,2.40,0.00,0.000,6,0.000,0.035,2237,1967,3917
$GC,1557,-1.37,-243.3,214.7,-11.2,151,1561,0.00,2.50,0.00,0.000,4,0.000,0.052,2238,3363,3917
$GC,1598,-1.37,-243.3,219.3,-11.4,154,1602,0.00,2.40,0.00,0.000,6,0.000,0.036,2237,1970,3917
$GC,1667,-1.37,-243.3,228.0,-12.2,160,1669,0.00,0.00,0.00,0.000,6,0.000,0.000,2237,1970,3917
$GC,1731,-1.37,-243.3,235.8,-12.6,166,1736,0.00,2.55,0.00,0.000,4,0.000,0.063,2237,566,3917
$GC,1820,-1.37,-243.3,247.4,-12.9,173,1827,0.00,2.40,0.00,0.000,6,0.000,0.033,2238,1974,3917
$GC,1890,-1.37,-243.3,255.9,-12.1,180,1895,0.00,2.50,0.00,0.000,4,0.000,0.057,2238,3364,3917
$GC,1930,-1.37,-243.3,260.7,-12.5,183,1934,0.00,2.42,0.00,0.000,6,0.000,0.038,2238,1965,3917
$GC,2000,-1.37,-243.3,269.2,-12.0,189,2004,0.00,2.53,0.00,0.000,4,0.000,0.056,2237,3367,3917
$STATE,2008,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2008,begin apogee
$GC,2016,-0.38,0.0,270.6,12.4,189,2224,1.05,0.00,199.52,0.690,6,0.089,0.000,2454,1988,2917
$STATE,2225,end apogee,CONTROL_FINISHED_OK
$STATE,2225,begin climb
$GC,2227,1.37,243.3,280.6,0.0,210,2438,1.75,2.65,199.48,0.676,4,0.059,0.064,2841,595,1924
$GC,2450,1.47,323.3,270.2,7.8,231,2525,0.00,2.45,68.15,0.660,6,0.000,0.035,2841,2005,1598
$GC,2588,1.53,378.9,259.1,8.5,244,2645,0.15,2.65,48.20,0.652,4,0.043,0.063,2895,595,1372
$GC,2694,1.53,378.9,248.3,11.0,253,2702,0.00,2.42,0.00,0.000,6,0.000,0.035,2894,1987,1368
$GC,2765,1.53,378.9,241.5,10.3,260,2766,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,1987,1368
$GC,2828,1.53,378.9,234.4,11.3,266,2833,0.00,2.60,0.00,0.000,4,0.000,0.064,2894,586,1366
$GC,2872,1.53,378.9,229.2,11.9,269,2879,0.00,2.45,0.00,0.000,6,0.000,0.035,2894,1998,1365
$GC,2943,1.53,378.9,221.6,11.1,276,2944,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,1998,1364
$GC,3006,1.53,378.9,214.0,11.7,282,3007,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,1998,1364
$GC,3070,1.53,378.9,206.7,11.2,288,3074,0.00,2.55,0.00,0.000,4,0.000,0.062,2894,3389,1363
$GC,3109,1.53,378.9,202.6,11.3,291,3114,0.00,2.45,0.00,0.000,6,0.000,0.039,2894,1995,1363
$GC,3179,1.53,378.9,195.0,10.9,297,3180,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,1995,1362
$GC,3243,1.53,378.9,188.1,11.0,303,3247,0.00,2.60,0.00,0.000,4,0.000,0.065,2894,585,1362
$GC,3286,1.53,378.9,182.7,12.3,306,3293,0.00,2.45,0.00,0.000,6,0.000,0.034,2894,2011,1361
$GC,3357,1.53,378.9,175.2,10.5,313,3358,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2014,1361
$GC,3420,1.53,378.9,168.4,10.3,319,3421,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2014,1360
$GC,3484,1.53,378.9,161.5,10.5,325,3488,0.00,2.60,0.00,0.000,4,0.000,0.061,2894,592,1360
$GC,3513,1.54,385.3,158.8,9.8,327,3525,0.00,2.40,4.72,0.473,6,0.000,0.033,2894,1993,1346
$GC,3589,1.57,408.6,151.8,9.4,334,3616,0.00,2.55,22.00,0.633,4,0.000,0.056,2894,3381,1251
$GC,3684,1.57,411.4,142.8,9.9,342,3689,0.00,2.42,0.00,0.000,6,0.000,0.037,2894,1991,1248
$GC,3754,1.57,411.4,136.0,10.1,348,3758,0.00,2.58,0.00,0.000,4,0.000,0.062,2894,585,1247
$GC,3775,1.57,411.4,133.7,10.4,349,3782,0.00,2.42,0.00,0.000,6,0.000,0.032,2894,2007,1247
$GC,3845,1.57,411.4,125.8,11.5,356,3849,0.00,2.60,0.00,0.000,4,0.000,0.060,2894,587,1246
$GC,3884,1.57,411.4,120.8,12.0,359,3889,0.00,2.40,0.00,0.000,6,0.000,0.032,2894,1990,1246
$GC,3954,1.57,411.4,112.7,11.1,365,3955,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,1990,1246
$GC,4018,1.57,411.4,105.9,10.6,371,4019,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,1991,1245
$GC,4082,1.58,418.2,99.4,9.8,377,4093,0.00,0.00,8.80,0.548,6,0.000,0.000,2894,1991,1212
$GC,4155,1.61,441.1,92.8,9.4,384,4182,0.00,2.60,21.20,0.592,4,0.000,0.059,2894,594,1118
$GC,4216,1.62,449.1,86.9,9.8,389,4234,0.00,2.40,8.25,0.519,6,0.000,0.031,2894,1998,1086
$GC,4297,1.67,491.0,79.7,8.8,397,4343,0.00,2.55,36.75,0.584,4,0.000,0.054,2894,3375,914
$GC,4366,1.85,637.3,74.6,6.0,403,4412,0.22,2.40,36.35,0.571,6,0.033,0.034,2964,1993,744
$GC,4475,1.85,637.3,62.6,12.7,413,4479,0.00,2.58,0.00,0.000,4,0.000,0.060,2964,585,741
$GC,4518,1.85,637.3,56.5,13.6,416,4525,0.00,2.40,0.00,0.000,6,0.000,0.030,2963,2001,741
$GC,4588,1.85,637.3,47.7,13.0,423,4593,0.00,2.47,0.00,0.000,4,0.000,0.052,2964,3380,740
$GC,4621,1.85,637.3,42.9,14.3,425,4628,0.00,2.40,0.00,0.000,6,0.000,0.032,2964,1988,740
$GC,4691,1.85,637.3,33.8,13.0,432,4696,0.00,2.55,0.00,0.000,4,0.000,0.060,2964,586,739
$GC,4735,1.85,637.3,27.8,13.5,435,4743,0.00,2.38,0.00,0.000,6,0.000,0.028,2964,1989,739
$GC,4806,1.85,637.3,19.3,11.9,442,4812,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,1989,738
$GC,4880,1.85,637.3,9.4,13.7,455,4886,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,1989,738
$STATE,4934,end climb,SURFACE_DEPTH_REACHED
$STATE,4935,begin surface coast
$FINISH,0.5,1.002467
$STATE,4947,end surface coast,CONTROL_FINISHED_OK
$STATE,4947,begin surface
$SM_CCo,5029,0.00,0.000,0,0,736,535.00
$SM_GC,1.14,11.10,0.00,0.00,0.027,0.000,0.000,404,1992,736,-9.77,0.65,535.00
$IRIDIUM_FIX,2148.09,-15940.77,311098,151544
$TT8_MAMPS,0.06903
$HUMID,1914
$INTERNAL_PRESSURE,7.52959
$TCM_TEMP,24.60
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,24.0,21.598
$10V_AH,10.1,9.531
$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,25.150,128.850,653.425,0.000,0.000,30.528,33.889,242.982,0.000,0.000,35.779,11.333,935.484,2297.310,755.518,941.114,549.684,33.337,1414.338,0.000,902.948,0.000,0.000,0.000
$DEVICE_MAMPS,177.944,66.729,689.533,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,315.546,0.000,0.000,0.000,0.000,0.000,165.665,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,15850,467
$CAP_FILE_SIZE,92251,0
$CFSIZE,260165632,248647680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060809,183354,2154.500,-15942.921,37,1.4,38,9.8