version: 66.04
glider: 117
mission: 24
dive: 98
start: 8 7 109 2 6 27
data:
$ID,117
$MISSION,24
$DIVE,98
$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,60
$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,-108425.34
$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,42
$R_STBD_OVSHOOT,45
$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
$GPS1,015652,2155.580,-15945.637,9,2.9,28,9.8
$_CALLS,1
$_XMS_NAKs,18
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-52.5
$GPS2,020536,2155.749,-15945.899,30,1.4,30,9.8
$SPEED_LIMITS,0.150,0.374
$TGT_NAME,BobNE
$TGT_LATLONG,2154.185,-15941.805
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.310,-0.209
$KALMAN_X,-137718.8,-1648.9,-76.0,136724.8,-981.2
$KALMAN_Y,58078.4,707.9,15.4,-58733.4,696.6
$MHEAD_RNG_PITCHd_Wd,114.2,7608,-19.7,-15.000
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.81,-243.3,0.0,0.0,0,118,0.00,0.00,-96.78,0.000,2,0.000,0.000,408,1952,3378
$GC,121,-1.81,-243.3,3.8,-8.3,16,148,10.23,2.47,-9.05,0.000,4,0.176,0.067,2142,580,3912
$GC,171,-1.81,-243.3,20.6,-26.2,24,178,0.00,2.35,0.00,0.000,6,0.000,0.028,2142,1978,3913
$GC,241,-1.81,-243.3,37.5,-24.6,31,242,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,1983,3914
$GC,305,-1.81,-243.3,51.4,-21.5,37,309,0.00,2.53,0.00,0.000,4,0.000,0.055,2142,576,3914
$GC,337,-1.81,-243.3,59.0,-21.8,39,344,0.00,2.35,0.00,0.000,6,0.000,0.028,2142,1973,3915
$GC,407,-1.81,-243.3,73.1,-20.0,46,411,0.00,2.45,0.00,0.000,4,0.000,0.048,2142,3364,3915
$GC,447,-1.81,-243.3,81.6,-21.1,49,451,0.00,2.35,0.00,0.000,6,0.000,0.032,2142,1987,3915
$GC,517,-1.81,-243.3,95.8,-19.9,55,521,0.00,2.45,0.00,0.000,4,0.000,0.048,2142,3368,3916
$GC,556,-1.81,-243.3,103.6,-18.9,58,561,0.00,2.40,0.00,0.000,6,0.000,0.033,2142,1962,3916
$GC,626,-1.81,-243.3,116.5,-18.8,64,631,0.00,2.50,0.00,0.000,4,0.000,0.058,2142,572,3916
$GC,649,-1.81,-243.3,120.8,-18.7,65,656,0.00,2.35,0.00,0.000,6,0.000,0.028,2142,1972,3916
$GC,719,-1.81,-243.3,133.4,-18.4,72,720,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,1975,3917
$GC,784,-1.81,-243.3,144.8,-17.7,78,788,0.00,2.45,0.00,0.000,4,0.000,0.050,2142,3361,3918
$GC,816,-1.81,-243.3,151.5,-19.5,80,823,0.00,2.38,0.00,0.000,6,0.000,0.033,2142,1970,3918
$GC,888,-1.81,-243.3,163.9,-18.3,87,889,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,1970,3918
$GC,950,-1.81,-243.3,174.6,-16.8,93,951,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,1970,3919
$GC,1014,-1.81,-243.3,185.8,-17.7,99,1015,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,1970,3918
$GC,1077,-1.81,-243.3,197.8,-18.7,105,1079,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,1970,3918
$GC,1141,-1.81,-243.3,209.8,-18.7,111,1142,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,1970,3918
$GC,1205,-1.81,-243.3,221.8,-18.7,117,1206,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,1970,3919
$GC,1268,-1.81,-243.3,233.4,-17.7,123,1270,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,1970,3919
$GC,1332,-1.81,-243.3,244.3,-17.3,129,1333,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,1970,3919
$GC,1396,-1.81,-243.3,254.6,-16.1,135,1397,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,1970,3919
$GC,1459,-1.81,-243.3,265.7,-17.6,141,1461,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,1970,3918
$STATE,1489,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1489,begin apogee
$GC,1495,-0.38,0.0,271.0,16.7,144,1703,1.55,0.00,197.77,0.696,6,0.102,0.000,2452,1970,2917
$STATE,1704,end apogee,CONTROL_FINISHED_OK
$STATE,1704,begin climb
$GC,1707,1.81,243.3,280.3,0.0,165,1919,2.20,2.62,197.45,0.681,4,0.059,0.058,2938,3380,1924
$GC,1957,1.94,348.3,264.0,10.7,188,2056,0.12,2.42,88.35,0.668,6,0.048,0.037,2977,1996,1496
$GC,2119,1.94,348.3,242.7,15.8,203,2121,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,1996,1492
$GC,2181,1.94,348.3,232.6,15.5,209,2183,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,1996,1490
$GC,2245,1.94,348.3,222.9,15.1,215,2246,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,1996,1490
$GC,2309,1.95,352.6,213.5,14.8,221,2319,0.00,0.00,4.07,0.426,6,0.000,0.000,2977,1996,1478
$GC,2383,1.95,352.6,202.3,15.3,228,2384,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,1996,1478
$GC,2446,1.95,352.6,192.2,15.9,234,2450,0.00,2.53,0.00,0.000,4,0.000,0.055,2977,3389,1477
$GC,2468,1.95,352.6,188.7,15.9,235,2475,0.00,2.45,0.00,0.000,6,0.000,0.038,2977,1990,1476
$GC,2538,1.95,352.6,177.6,16.3,242,2539,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,1990,1476
$GC,2602,1.95,352.6,166.5,17.3,248,2603,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,1990,1475
$GC,2665,1.95,352.6,156.2,16.1,254,2670,0.00,2.58,0.00,0.000,4,0.000,0.065,2977,592,1475
$GC,2694,1.95,355.9,152.0,14.9,256,2698,0.00,2.40,0.00,0.000,6,0.000,0.034,2978,1992,1474
$GC,2771,1.97,370.5,141.2,14.4,263,2790,0.00,0.00,15.80,0.612,6,0.000,0.000,2979,1993,1406
$GC,2853,1.98,383.8,129.0,14.4,271,2873,0.00,0.00,12.75,0.588,6,0.000,0.000,2977,1994,1351
$GC,2936,1.98,383.8,116.6,15.3,279,2937,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,1994,1349
$GC,3000,1.98,383.8,106.0,16.9,285,3001,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,1994,1348
$GC,3063,1.98,383.8,95.8,15.7,291,3068,0.00,2.58,0.00,0.000,4,0.000,0.061,2977,586,1347
$GC,3081,1.98,383.8,92.7,17.3,292,3085,0.00,2.42,0.00,0.000,6,0.000,0.033,2977,2000,1347
$GC,3151,1.98,383.8,81.2,16.0,298,3155,0.00,2.53,0.00,0.000,4,0.000,0.058,2977,3396,1347
$GC,3194,1.99,388.8,74.4,14.8,301,3205,0.00,2.45,5.07,0.468,6,0.000,0.036,2976,1987,1330
$GC,3277,2.01,405.5,62.4,14.3,309,3298,0.00,0.00,15.82,0.575,6,0.000,0.000,2977,1986,1262
$GC,3362,2.04,430.8,50.4,14.0,317,3390,0.00,2.58,22.85,0.574,4,0.000,0.053,2977,3394,1159
$GC,3429,2.06,444.4,40.6,14.4,322,3448,0.00,2.45,12.62,0.551,6,0.000,0.035,2977,1989,1105
$GC,3511,2.09,472.2,29.5,13.9,330,3545,0.00,2.65,24.23,0.567,4,0.000,0.061,2977,588,991
$GC,3619,2.13,500.4,16.0,13.8,342,3652,0.12,2.42,24.23,0.545,6,0.046,0.030,3020,2013,875
$STATE,3707,end climb,SURFACE_DEPTH_REACHED
$STATE,3707,begin surface coast
$FINISH,0.5,1.001460
$STATE,3722,end surface coast,CONTROL_FINISHED_OK
$STATE,3722,begin surface
$SM_CCo,3804,0.00,0.000,0,0,870,502.13
$SM_GC,1.16,11.45,0.00,0.00,0.030,0.000,0.000,406,1956,870,-9.77,-0.42,502.13
$IRIDIUM_FIX,2145.77,-15945.93,011198,000043
$TT8_MAMPS,0.0767
$HUMID,2019
$INTERNAL_PRESSURE,7.52959
$TCM_TEMP,23.70
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,24.0,22.645
$10V_AH,10.1,9.985
$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,25.675,64.175,621.025,0.000,0.000,22.989,25.860,319.925,0.000,0.000,28.553,30.185,684.097,1703.463,684.979,693.441,570.689,33.358,1175.450,0.000,644.080,0.000,0.000,0.000
$DEVICE_MAMPS,176.410,81.302,695.669,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,242.321,0.000,0.000,0.000,0.000,0.000,95.410,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,12717,359
$CAP_FILE_SIZE,70417,0
$CFSIZE,260165632,248082432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070809,031038,2155.684,-15946.081,13,1.1,13,9.8