version: 66.04
glider: 117
mission: 24
dive: 58
start: 8 3 109 21 32 36
data:
$ID,117
$MISSION,24
$DIVE,58
$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,120
$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,225
$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,400
$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,-107561.73
$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,27
$R_STBD_OVSHOOT,40
$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
$GPS1,211855,2154.020,-15942.325,16,1.7,33,9.8
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-53.3
$GPS2,213145,2154.067,-15942.561,40,1.5,48,9.8
$SPEED_LIMITS,0.100,0.311
$TGT_NAME,BobNE
$TGT_LATLONG,2154.185,-15941.805
$TGT_RADIUS,400.000
$KALMAN_CONTROL,0.277,-0.141
$KALMAN_X,-66270.2,301.4,-243.9,69225.0,-1518.5
$KALMAN_Y,22983.4,-328.1,-186.5,-25510.8,759.7
$MHEAD_RNG_PITCHd_Wd,107.2,1316,-14.7,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.40,-219.0,0.0,0.0,0,99,0.00,0.00,-79.62,0.000,2,0.000,0.000,407,1987,3134
$GC,102,-1.40,-219.0,3.0,-5.8,13,135,10.73,2.47,-12.80,0.000,4,0.175,0.061,2232,3357,3812
$GC,153,-1.40,-219.0,15.0,-17.5,21,160,0.00,2.40,0.00,0.000,6,0.000,0.034,2232,1958,3812
$GC,225,-1.40,-219.0,27.9,-18.2,30,226,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,1958,3812
$GC,289,-1.40,-219.0,39.8,-18.3,36,293,0.00,2.47,0.00,0.000,4,0.000,0.047,2231,3358,3813
$GC,305,-1.40,-219.0,42.7,-18.1,37,310,0.00,2.38,0.00,0.000,6,0.000,0.033,2231,1970,3813
$GC,375,-1.40,-219.0,54.9,-17.8,43,376,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,1970,3813
$GC,439,-1.40,-219.0,65.4,-16.5,49,440,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,1970,3813
$GC,503,-1.40,-219.0,75.9,-16.6,55,507,0.00,2.45,0.00,0.000,4,0.000,0.048,2232,3359,3813
$GC,524,-1.40,-219.0,79.8,-17.0,56,531,0.00,2.38,0.00,0.000,6,0.000,0.033,2232,1971,3813
$GC,594,-1.40,-219.0,91.2,-16.2,63,598,0.00,2.53,0.00,0.000,4,0.000,0.060,2232,570,3813
$GC,656,-1.40,-219.0,100.5,-15.6,68,660,0.00,2.35,0.00,0.000,6,0.000,0.031,2231,1967,3813
$GC,726,-1.40,-219.0,109.7,-12.8,74,730,0.00,2.47,0.00,0.000,4,0.000,0.051,2232,3367,3814
$GC,758,-1.40,-219.0,114.4,-14.4,76,765,0.00,2.40,0.00,0.000,6,0.000,0.035,2231,1964,3814
$GC,828,-1.40,-219.0,123.8,-13.4,83,832,0.00,2.53,0.00,0.000,4,0.000,0.061,2231,568,3815
$GC,901,-1.40,-219.0,134.3,-14.9,89,905,0.00,2.38,0.00,0.000,6,0.000,0.031,2231,1976,3816
$GC,971,-1.40,-219.0,144.0,-13.3,95,975,0.00,2.47,0.00,0.000,4,0.000,0.053,2231,3370,3816
$GC,1014,-1.40,-219.0,150.3,-14.3,98,1021,0.00,2.42,0.00,0.000,6,0.000,0.036,2231,1957,3815
$GC,1084,-1.40,-219.0,159.3,-12.9,105,1085,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,1957,3816
$GC,1148,-1.40,-219.0,167.4,-12.6,111,1149,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,1957,3816
$GC,1212,-1.40,-219.0,175.6,-12.5,117,1213,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,1956,3816
$GC,1275,-1.40,-219.0,184.3,-13.8,123,1276,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,1957,3816
$GC,1339,-1.40,-219.0,192.8,-12.8,129,1343,0.00,2.53,0.00,0.000,4,0.000,0.063,2231,565,3816
$GC,1383,-1.40,-219.0,197.8,-11.5,132,1389,0.00,2.38,0.00,0.000,6,0.000,0.033,2231,1969,3816
$GC,1453,-1.40,-219.0,205.0,-10.3,139,1457,0.00,2.55,0.00,0.000,4,0.000,0.061,2231,565,3816
$GC,1485,-1.40,-219.0,208.8,-11.0,141,1492,0.00,2.38,0.00,0.000,6,0.000,0.033,2231,1966,3816
$GC,1555,-1.40,-219.0,216.4,-11.0,148,1560,0.00,2.50,0.00,0.000,4,0.000,0.055,2231,3368,3816
$GC,1599,-1.40,-219.0,221.7,-12.7,151,1606,0.00,2.42,0.00,0.000,6,0.000,0.037,2231,1960,3816
$GC,1669,-1.40,-219.0,229.7,-11.4,158,1671,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,1960,3817
$GC,1733,-1.40,-219.0,237.5,-12.1,164,1737,0.00,2.53,0.00,0.000,4,0.000,0.054,2231,3371,3816
$GC,1766,-1.40,-219.0,241.6,-11.7,166,1773,0.00,2.42,0.00,0.000,6,0.000,0.038,2231,1964,3816
$GC,1836,-1.40,-219.0,249.4,-11.5,173,1837,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,1964,3816
$GC,1900,-1.40,-219.0,256.6,-11.4,179,1901,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,1964,3816
$GC,1963,-1.40,-219.0,263.8,-11.0,185,1965,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,1964,3816
$STATE,2025,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2025,begin apogee
$GC,2031,-0.38,0.0,270.3,10.2,191,2218,1.08,0.00,177.62,0.696,6,0.091,0.000,2452,1964,2916
$STATE,2219,end apogee,CONTROL_FINISHED_OK
$STATE,2219,begin climb
$GC,2222,1.40,219.0,273.9,0.0,210,2415,1.80,2.65,176.82,0.676,4,0.059,0.061,2845,3389,2023
$GC,2453,1.41,226.7,257.7,9.8,230,2466,0.00,2.47,7.57,0.546,6,0.000,0.041,2845,1990,1992
$GC,2530,1.50,298.3,251.7,7.8,237,2594,0.10,0.00,60.95,0.659,6,0.051,0.000,2882,1990,1700
$GC,2654,1.51,304.5,240.2,9.8,249,2664,0.00,0.00,6.25,0.515,6,0.000,0.000,2882,1990,1675
$GC,2727,1.51,304.5,232.4,10.5,256,2729,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,1990,1673
$GC,2792,1.51,306.0,226.1,10.0,262,2793,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,1990,1671
$GC,2855,1.51,307.6,219.9,10.0,268,2859,0.00,2.58,0.00,0.000,4,0.000,0.061,2882,3392,1670
$GC,2895,1.51,307.6,215.9,10.7,271,2899,0.00,2.47,0.00,0.000,6,0.000,0.041,2882,1989,1670
$GC,2965,1.54,327.9,209.3,9.4,277,2996,0.00,2.65,20.83,0.639,4,0.000,0.059,2882,3388,1578
$GC,3024,1.54,330.9,203.6,9.9,282,3032,0.00,2.47,3.60,0.393,6,0.000,0.041,2882,1988,1569
$GC,3094,1.56,350.2,197.1,9.4,289,3118,0.00,2.65,18.02,0.630,4,0.000,0.071,2882,591,1488
$GC,3153,1.56,350.2,191.0,10.9,294,3157,0.00,2.45,0.00,0.000,6,0.000,0.037,2882,2001,1487
$GC,3223,1.60,381.0,184.4,9.1,300,3254,0.00,0.00,27.33,0.646,6,0.000,0.000,2882,2001,1363
$GC,3317,1.64,413.5,176.2,9.0,309,3352,0.00,2.67,28.77,0.634,4,0.000,0.067,2882,590,1230
$GC,3375,1.64,413.5,170.1,11.1,314,3379,0.00,2.45,0.00,0.000,6,0.000,0.036,2882,2001,1229
$GC,3445,1.64,413.5,162.1,11.9,320,3446,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2001,1227
$GC,3509,1.64,413.5,155.4,10.5,326,3510,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2001,1226
$GC,3572,1.64,413.5,148.5,10.6,332,3574,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2001,1225
$GC,3636,1.64,413.5,142.1,10.6,338,3637,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2001,1224
$GC,3700,1.64,413.5,134.9,11.7,344,3704,0.00,2.53,0.00,0.000,4,0.000,0.058,2882,3395,1224
$GC,3728,1.64,413.5,131.8,11.3,346,3732,0.00,2.45,0.00,0.000,6,0.000,0.038,2882,1992,1224
$GC,3798,1.64,413.5,124.7,10.0,352,3802,0.00,2.58,0.00,0.000,4,0.000,0.065,2882,588,1223
$GC,3848,1.64,413.5,119.0,11.7,356,3852,0.00,2.42,0.00,0.000,6,0.000,0.034,2882,2004,1222
$GC,3918,1.64,413.5,111.4,10.7,362,3919,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2004,1222
$GC,3981,1.64,413.5,104.3,11.4,368,3982,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2004,1222
$GC,4045,1.64,413.5,96.8,12.4,374,4049,0.00,2.50,0.00,0.000,4,0.000,0.058,2884,3388,1222
$GC,4084,1.64,413.5,92.3,11.3,377,4089,0.00,2.42,0.00,0.000,6,0.000,0.038,2882,1991,1221
$GC,4154,1.64,413.5,85.1,10.1,383,4155,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,1991,1221
$GC,4218,1.64,415.6,78.7,9.9,389,4222,0.00,2.55,0.00,0.000,4,0.000,0.064,2882,593,1221
$GC,4251,1.65,422.4,75.4,9.8,391,4263,0.00,2.40,7.40,0.522,6,0.000,0.033,2882,2003,1194
$GC,4327,1.72,474.0,69.0,8.4,398,4378,0.15,0.00,45.22,0.586,6,0.043,0.000,2938,2003,984
$GC,4441,1.72,474.0,56.4,11.6,409,4446,0.12,2.50,0.00,0.000,4,0.076,0.057,2912,3384,980
$GC,4484,1.72,474.0,51.4,10.5,412,4491,0.00,2.42,0.00,0.000,6,0.000,0.037,2912,1990,979
$GC,4555,1.77,518.7,45.4,8.6,419,4601,0.00,2.60,37.53,0.555,4,0.000,0.063,2912,593,802
$GC,4651,1.77,518.7,36.5,10.5,427,4658,0.00,2.40,0.00,0.000,6,0.000,0.031,2912,1999,799
$GC,4721,1.83,563.7,30.6,8.6,434,4744,0.12,2.55,12.48,0.505,4,0.045,0.054,2963,3379,746
$GC,4772,1.83,563.7,24.7,12.7,438,4779,0.12,2.42,0.00,0.000,6,0.080,0.036,2938,1985,744
$GC,4843,1.83,563.7,16.9,10.9,447,4849,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,1985,744
$GC,4917,1.83,563.7,8.4,11.7,460,4924,0.00,2.55,0.00,0.000,4,0.000,0.063,2938,587,743
$GC,4953,1.83,563.7,4.4,11.9,466,4960,0.00,2.38,0.00,0.000,6,0.000,0.030,2938,1992,742
$STATE,4975,end climb,SURFACE_DEPTH_REACHED
$STATE,4975,begin surface coast
$FINISH,0.6,1.022945
$STATE,4993,end surface coast,CONTROL_FINISHED_OK
$STATE,4993,begin surface
$SM_CCo,5074,0.00,0.000,0,0,740,534.02
$SM_GC,1.12,10.90,0.00,0.00,0.024,0.000,0.000,403,1996,740,-9.77,0.76,534.02
$IRIDIUM_FIX,2145.77,-15935.61,281098,212144
$TT8_MAMPS,0.067496
$HUMID,1940
$INTERNAL_PRESSURE,7.55888
$TCM_TEMP,24.60
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,24.0,15.599
$10V_AH,10.2,6.681
$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,25.125,119.000,630.400,0.000,0.000,54.822,60.005,416.326,0.000,0.000,38.275,49.717,946.603,2422.623,738.742,961.352,780.566,33.333,1381.013,0.000,887.417,0.000,0.000,0.000
$DEVICE_MAMPS,174.876,70.564,696.436,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,318.892,0.000,0.000,0.000,0.000,0.000,72.159,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,15834,473
$CAP_FILE_SIZE,98943,0
$CFSIZE,260165632,251924480
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030809,225756,2153.891,-15942.414,13,1.7,13,9.8