version: 66.04
glider: 117
mission: 24
dive: 112
start: 8 8 109 4 17 30
data:
$ID,117
$MISSION,24
$DIVE,112
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$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,300
$T_MISSION,350
$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,-108666.45
$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,23
$R_STBD_OVSHOOT,42
$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
$GPS1,040736,2157.168,-15947.335,30,1.4,31,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-52.2
$GPS2,041638,2157.316,-15947.620,15,1.3,15,9.8
$SPEED_LIMITS,0.110,0.337
$TGT_NAME,BobNE
$TGT_LATLONG,2154.185,-15941.805
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.261,-0.214
$KALMAN_X,-168028.1,-1472.3,-276.4,164096.1,-2814.2
$KALMAN_Y,74240.8,628.0,150.6,-72048.1,2763.8
$MHEAD_RNG_PITCHd_Wd,119.6,11553,-15.2,-11.000
$D_GRID,990
$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,-1.47,-243.3,0.0,0.0,0,118,0.00,0.00,-96.65,0.000,2,0.000,0.000,403,1983,3211
$GC,121,-1.47,-243.3,3.2,-5.9,16,148,10.80,0.00,-12.32,0.000,6,0.179,0.000,2217,1983,3911
$GC,220,-1.47,-243.3,27.9,-22.1,30,221,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,1983,3913
$GC,283,-1.47,-243.3,40.4,-19.7,36,285,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,1983,3913
$GC,347,-1.47,-243.3,51.2,-15.8,42,348,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,1983,3914
$GC,411,-1.47,-243.3,61.8,-17.3,48,415,0.00,2.55,0.00,0.000,4,0.000,0.055,2217,562,3914
$GC,432,-1.47,-243.3,65.7,-17.7,49,439,0.00,2.38,0.00,0.000,6,0.000,0.028,2217,1973,3914
$GC,502,-1.47,-243.3,76.9,-15.9,56,503,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,1973,3916
$GC,566,-1.47,-243.3,88.0,-17.1,62,570,0.00,2.55,0.00,0.000,4,0.000,0.056,2217,558,3915
$GC,595,-1.47,-243.3,92.6,-17.2,64,599,0.00,2.38,0.00,0.000,6,0.000,0.029,2217,1971,3915
$GC,665,-1.47,-243.3,103.7,-15.2,70,669,0.00,2.47,0.00,0.000,4,0.000,0.051,2217,3368,3916
$GC,708,-1.47,-243.3,111.0,-16.0,73,715,0.00,2.40,0.00,0.000,6,0.000,0.033,2217,1964,3916
$GC,778,-1.47,-243.3,121.8,-15.4,80,780,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,1965,3916
$GC,842,-1.47,-243.3,131.5,-15.1,86,843,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,1964,3917
$GC,906,-1.47,-243.3,141.0,-15.0,92,910,0.00,2.53,0.00,0.000,4,0.000,0.059,2217,564,3917
$GC,956,-1.47,-243.3,148.5,-14.6,96,961,0.00,2.38,0.00,0.000,6,0.000,0.030,2217,1976,3917
$GC,1026,-1.47,-243.3,159.1,-15.5,102,1030,0.00,2.55,0.00,0.000,4,0.000,0.058,2217,564,3918
$GC,1081,-1.47,-243.3,167.9,-16.3,106,1089,0.00,2.38,0.00,0.000,6,0.000,0.030,2217,1971,3918
$GC,1152,-1.47,-243.3,178.9,-16.0,113,1156,0.00,2.53,0.00,0.000,4,0.000,0.057,2217,572,3918
$GC,1202,-1.47,-243.3,186.7,-15.0,117,1207,0.00,2.38,0.00,0.000,6,0.000,0.031,2217,1981,3918
$GC,1272,-1.47,-243.3,197.2,-14.4,123,1276,0.00,2.45,0.00,0.000,4,0.000,0.053,2217,3361,3918
$GC,1327,-1.47,-243.3,205.6,-14.9,127,1334,0.00,2.38,0.00,0.000,6,0.000,0.034,2217,1970,3918
$GC,1397,-1.47,-243.3,215.4,-14.1,134,1401,0.00,2.53,0.00,0.000,4,0.000,0.061,2217,570,3919
$GC,1425,-1.47,-243.3,219.5,-14.9,136,1429,0.00,2.38,0.00,0.000,6,0.000,0.031,2217,1975,3919
$GC,1494,-1.47,-243.3,228.2,-11.6,142,1499,0.00,2.47,0.00,0.000,4,0.000,0.053,2217,3364,3918
$GC,1523,-1.47,-243.3,231.9,-13.3,144,1527,0.00,2.40,0.00,0.000,6,0.000,0.035,2217,1963,3919
$GC,1593,-1.47,-243.3,240.9,-13.0,150,1594,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,1963,3919
$GC,1657,-1.47,-243.3,249.0,-12.8,156,1660,0.00,2.50,0.00,0.000,4,0.000,0.053,2216,3366,3919
$GC,1702,-1.47,-243.3,255.2,-14.2,160,1706,0.00,2.40,0.00,0.000,6,0.000,0.036,2217,1967,3919
$GC,1778,-1.47,-243.3,265.6,-13.6,167,1779,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,1967,3918
$GC,1840,-1.47,-243.3,274.2,-13.4,173,1845,0.00,2.55,0.00,0.000,4,0.000,0.064,2217,569,3919
$GC,1903,-1.47,-243.3,283.2,-14.2,178,1907,0.00,2.40,0.00,0.000,6,0.000,0.034,2217,1976,3919
$GC,1972,-1.47,-243.3,292.5,-12.8,184,1974,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,1976,3919
$GC,2036,-1.47,-243.3,300.2,-11.9,190,2041,0.00,2.58,0.00,0.000,4,0.000,0.062,2217,562,3919
$GC,2076,-1.47,-243.3,305.0,-11.4,193,2080,0.00,2.40,0.00,0.000,6,0.000,0.034,2217,1967,3919
$GC,2274,-1.47,-243.3,326.2,-10.8,211,2278,0.00,2.53,0.00,0.000,4,0.000,0.060,2217,3366,3918
$GC,2301,-1.47,-243.3,329.7,-12.4,213,2306,0.00,2.42,0.00,0.000,6,0.000,0.039,2217,1971,3918
$GC,2499,-1.47,-243.3,351.5,-10.5,231,2501,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,1971,3916
$GC,2690,-1.47,-243.3,369.4,-8.9,249,2691,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,1971,3915
$GC,2882,-1.47,-243.3,386.8,-9.1,267,2883,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,1970,3915
$GC,3072,-1.47,-243.3,403.7,-10.1,285,3074,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,1970,3913
$GC,3264,-1.47,-243.3,422.8,-9.9,303,3268,0.00,2.60,0.00,0.000,4,0.000,0.071,2217,563,3911
$GC,3296,-1.47,-243.3,426.5,-11.6,305,3303,0.00,2.45,0.00,0.000,6,0.000,0.038,2217,1978,3911
$GC,3494,-1.47,-243.3,447.8,-10.9,324,3495,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,1978,3909
$GC,3685,-1.47,-243.3,469.3,-10.7,342,3686,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,1978,3908
$GC,3876,-1.47,-243.3,478.6,0.2,360,3877,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,1978,3907
$STATE,3937,end dive,NO_VERTICAL_VELOCITY
$STATE,3937,begin apogee
$GC,3943,-0.38,0.0,478.5,0.0,366,4161,1.10,0.00,207.80,0.918,6,0.062,0.000,2458,1984,2918
$STATE,4162,end apogee,CONTROL_FINISHED_OK
$STATE,4162,begin climb
$GC,4165,1.47,243.3,478.2,0.0,388,4387,1.85,2.67,210.75,0.875,4,0.063,0.067,2861,3389,1925
$GC,4456,1.52,284.2,458.0,9.8,414,4502,0.00,2.50,37.15,0.836,6,0.000,0.044,2861,1991,1758
$GC,4694,1.53,294.3,434.2,10.7,436,4705,0.00,0.00,9.32,0.754,6,0.000,0.000,2862,1991,1717
$GC,4892,1.53,294.3,411.8,11.0,455,4894,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1991,1712
$GC,5084,1.55,314.3,390.6,10.4,473,5109,0.00,2.62,18.90,0.829,4,0.000,0.063,2862,3388,1635
$GC,5155,1.64,388.8,383.9,8.7,479,5234,0.17,2.50,68.07,0.853,6,0.044,0.044,2910,1989,1331
$GC,5424,1.64,388.8,350.7,12.0,504,5428,0.00,2.62,0.00,0.000,4,0.000,0.071,2909,592,1324
$GC,5497,1.64,388.8,340.7,14.4,510,5501,0.00,2.47,0.00,0.000,6,0.000,0.039,2910,2000,1323
$GC,5694,1.64,388.8,316.4,11.7,528,5695,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,2000,1321
$GC,5885,1.64,388.8,292.4,13.4,546,5886,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,2001,1320
$GC,5949,1.64,388.8,283.4,14.1,552,5950,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,2001,1320
$GC,6012,1.64,388.8,275.3,12.3,558,6017,0.00,2.62,0.00,0.000,4,0.000,0.067,2909,591,1320
$GC,6045,1.64,388.8,270.7,13.3,560,6052,0.00,2.45,0.00,0.000,6,0.000,0.038,2909,1992,1320
$GC,6115,1.64,388.8,262.5,12.1,567,6117,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,1993,1320
$GC,6179,1.64,388.8,254.4,12.8,573,6180,0.00,0.00,0.00,0.000,6,0.000,0.000,2909,1993,1319
$GC,6242,1.64,388.8,246.9,11.6,579,6247,0.00,2.62,0.00,0.000,4,0.000,0.067,2909,584,1319
$GC,6270,1.64,388.8,243.3,13.4,581,6274,0.00,2.47,0.00,0.000,6,0.000,0.038,2909,2006,1318
$GC,6347,1.64,388.8,234.1,12.2,588,6352,0.00,2.55,0.00,0.000,4,0.000,0.065,2910,3391,1318
$GC,6376,1.64,388.8,230.6,12.3,590,6380,0.00,2.47,0.00,0.000,6,0.000,0.042,2910,1991,1318
$GC,6453,1.64,388.8,221.6,11.6,597,6457,0.00,2.60,0.00,0.000,4,0.000,0.068,2910,589,1318
$GC,6481,1.64,388.8,218.1,12.1,599,6485,0.00,2.45,0.00,0.000,6,0.000,0.037,2910,2002,1318
$GC,6558,1.68,421.5,210.3,10.0,606,6590,0.00,0.00,28.02,0.765,6,0.000,0.000,2910,2005,1198
$GC,6653,1.72,449.5,200.5,10.1,615,6683,0.00,0.00,25.90,0.742,6,0.000,0.000,2910,2005,1084
$GC,6747,1.79,506.7,191.6,9.3,624,6803,0.00,2.67,50.80,0.736,4,0.000,0.064,2909,586,850
$GC,6831,1.79,506.7,183.0,11.1,631,6838,0.00,2.47,0.00,0.000,6,0.000,0.035,2910,2004,848
$GC,6901,1.85,552.0,176.3,9.6,638,6932,0.15,0.00,23.15,0.700,6,0.042,0.000,2956,2004,746
$GC,6995,1.85,552.0,164.8,12.7,647,6996,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2004,743
$GC,7058,1.85,552.0,155.8,14.3,653,7063,0.00,2.62,0.00,0.000,4,0.000,0.062,2956,589,742
$GC,7114,1.85,552.0,147.3,15.3,657,7121,0.00,2.45,0.00,0.000,6,0.000,0.035,2956,2002,741
$GC,7185,1.85,552.0,136.8,15.2,664,7186,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2002,740
$GC,7247,1.85,552.0,127.7,13.9,670,7248,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2002,740
$GC,7311,1.85,552.0,119.0,13.5,676,7312,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2001,740
$GC,7375,1.85,552.0,111.3,12.0,682,7376,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2002,739
$GC,7438,1.85,552.0,102.9,13.3,688,7443,0.00,2.60,0.00,0.000,4,0.000,0.061,2956,589,739
$GC,7471,1.85,552.0,98.2,13.7,690,7478,0.00,2.42,0.00,0.000,6,0.000,0.032,2956,1996,738
$GC,7541,1.85,552.0,89.1,13.0,697,7542,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,1996,739
$GC,7605,1.85,552.0,80.4,13.5,703,7609,0.00,2.60,0.00,0.000,4,0.000,0.060,2956,580,738
$GC,7649,1.85,552.0,74.2,14.4,706,7655,0.00,2.42,0.00,0.000,6,0.000,0.031,2956,1997,738
$GC,7719,1.85,552.0,65.9,11.7,713,7723,0.00,2.58,0.00,0.000,4,0.000,0.059,2957,581,738
$GC,7769,1.85,552.6,60.8,11.0,717,7774,0.00,2.42,0.00,0.000,6,0.000,0.031,2956,2000,738
$GC,7839,1.90,592.5,53.7,9.8,723,7844,0.00,2.53,0.00,0.000,4,0.000,0.058,2956,3396,738
$GC,7872,1.90,592.5,50.0,11.3,725,7879,0.00,2.45,0.00,0.000,6,0.000,0.035,2956,1980,738
$GC,7942,1.90,592.5,42.0,11.8,732,7944,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,1981,738
$GC,8006,1.90,592.5,34.5,11.8,738,8007,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,1981,737
$GC,8070,1.90,592.5,26.3,12.5,744,8071,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,1980,737
$GC,8134,1.90,592.5,18.8,11.5,750,8140,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,1981,738
$GC,8208,1.95,637.1,10.5,9.6,763,8214,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,1981,737
$STATE,8274,end climb,SURFACE_DEPTH_REACHED
$STATE,8274,begin surface coast
$FINISH,0.4,1.023017
$STATE,8292,end surface coast,CONTROL_FINISHED_OK
$STATE,8292,begin surface
$SM_CCo,8374,0.00,0.000,0,0,736,534.75
$SM_GC,1.18,11.10,0.00,0.00,0.029,0.000,0.000,404,1979,736,-9.77,0.25,534.75
$IRIDIUM_FIX,2148.09,-15950.30,021198,020245
$TT8_MAMPS,0.059059
$HUMID,2051
$INTERNAL_PRESSURE,7.49052
$TCM_TEMP,24.10
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.9,25.223
$10V_AH,10.1,11.117
$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,25.175,134.775,679.875,0.000,0.000,25.072,25.770,333.200,0.000,0.000,65.142,15.684,1528.022,4468.609,786.636,1431.684,707.147,33.362,1680.026,0.000,1376.289,0.000,0.000,0.000
$DEVICE_MAMPS,179.478,71.331,918.099,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,540.667,0.000,0.000,0.000,0.000,0.000,154.494,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,25295,778
$CAP_FILE_SIZE,123409,0
$CFSIZE,260165632,246792192
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080809,063756,2157.362,-15947.522,11,1.7,17,9.8