version: 66.04
glider: 117
mission: 24
dive: 63
start: 8 4 109 6 21 12
data:
$ID,117
$MISSION,24
$DIVE,63
$D_SURF,2
$D_FLARE,3
$D_TGT,660
$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,220
$T_MISSION,275
$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,-107698.28
$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,28
$R_STBD_OVSHOOT,37
$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
$GPS1,061208,2154.099,-15941.892,13,1.5,13,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-47.0
$GPS2,062020,2154.102,-15942.051,13,1.4,13,9.8
$SPEED_LIMITS,0.100,0.311
$TGT_NAME,BobSW
$TGT_LATLONG,2153.790,-15942.207
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.101,-0.028
$KALMAN_X,-71837.7,-1245.7,-85.7,77054.7,-1606.3
$KALMAN_Y,24692.6,705.8,210.7,-28583.5,-211.4
$MHEAD_RNG_PITCHd_Wd,95.6,637,-42.1,-10.000
$D_GRID,660
$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,-3.27,-28.0,0.0,0.0,0,110,0.00,0.00,-88.43,0.000,6,0.000,0.000,403,2001,3034
$GC,113,-3.30,-50.8,2.9,-4.6,15,133,8.40,2.47,-2.03,0.000,4,0.179,0.058,1817,3366,3128
$GC,173,-3.30,-50.8,22.4,-32.9,25,178,0.00,2.40,0.00,0.000,6,0.000,0.032,1817,1959,3129
$GC,243,-3.30,-50.8,43.9,-30.0,31,247,0.00,2.47,0.00,0.000,4,0.000,0.046,1817,3364,3129
$GC,305,-3.30,-50.8,61.6,-28.2,36,309,0.00,2.38,0.00,0.000,6,0.000,0.031,1817,1964,3129
$GC,381,-3.30,-50.8,79.5,-21.2,43,386,0.00,2.50,0.00,0.000,4,0.000,0.055,1817,566,3130
$GC,500,-3.30,-50.8,105.8,-20.9,53,504,0.00,2.38,0.00,0.000,6,0.000,0.028,1817,1981,3131
$GC,570,-3.30,-50.8,119.4,-19.7,59,574,0.00,2.42,0.00,0.000,4,0.000,0.048,1817,3362,3131
$GC,665,-3.30,-50.8,142.0,-24.3,67,670,0.00,2.38,0.00,0.000,6,0.000,0.031,1817,1961,3132
$GC,735,-3.30,-50.8,155.5,-18.3,73,736,0.00,0.00,0.00,0.000,6,0.000,0.000,1817,1961,3132
$GC,799,-3.30,-50.8,166.4,-17.4,79,800,0.00,0.00,0.00,0.000,6,0.000,0.000,1817,1961,3132
$GC,863,-3.30,-50.8,176.5,-15.4,85,867,0.00,2.47,0.00,0.000,4,0.000,0.047,1817,3367,3133
$GC,907,-3.30,-50.8,184.6,-18.6,88,913,0.00,2.38,0.00,0.000,6,0.000,0.032,1817,1970,3132
$GC,977,-3.30,-50.8,196.4,-16.6,95,978,0.00,0.00,0.00,0.000,6,0.000,0.000,1817,1970,3133
$GC,1042,-3.30,-50.8,206.9,-16.4,101,1043,0.00,0.00,0.00,0.000,6,0.000,0.000,1817,1970,3133
$GC,1104,-3.30,-50.8,216.3,-14.3,107,1108,0.00,2.45,0.00,0.000,4,0.000,0.048,1817,3367,3134
$GC,1362,-3.30,-50.8,255.7,-13.8,130,1366,0.00,2.40,0.00,0.000,6,0.000,0.035,1817,1964,3134
$GC,1432,-3.30,-50.8,265.5,-14.1,136,1436,0.00,2.47,0.00,0.000,4,0.000,0.050,1817,3362,3134
$GC,1482,-3.30,-50.8,272.7,-14.1,140,1487,0.00,2.40,0.00,0.000,6,0.000,0.035,1817,1962,3134
$GC,1552,-3.30,-50.8,281.5,-12.3,146,1556,0.00,2.55,0.00,0.000,4,0.000,0.065,1817,564,3134
$GC,1585,-3.30,-50.8,285.7,-11.6,148,1592,0.00,2.40,0.00,0.000,6,0.000,0.034,1817,1972,3134
$GC,1655,-3.30,-50.8,295.1,-14.5,155,1656,0.00,0.00,0.00,0.000,6,0.000,0.000,1816,1972,3134
$GC,1719,-3.30,-50.8,304.2,-14.3,161,1720,0.00,0.00,0.00,0.000,6,0.000,0.000,1817,1972,3134
$GC,1910,-3.30,-50.8,328.8,-12.7,179,1914,0.00,2.50,0.00,0.000,4,0.000,0.054,1817,3374,3134
$GC,2167,-3.30,-50.8,362.8,-13.6,201,2174,0.00,2.45,0.00,0.000,6,0.000,0.039,1816,1964,3133
$GC,2365,-3.30,-50.8,388.4,-13.0,220,2369,0.00,2.58,0.00,0.000,4,0.000,0.071,1816,568,3133
$GC,2516,-3.30,-50.8,410.3,-13.2,233,2521,0.00,2.42,0.00,0.000,6,0.000,0.038,1817,1976,3131
$GC,2714,-3.30,-50.8,437.8,-14.6,251,2718,0.00,2.60,0.00,0.000,4,0.000,0.066,1817,563,3130
$GC,2843,-3.30,-50.8,456.9,-15.0,262,2847,0.00,2.42,0.00,0.000,6,0.000,0.038,1817,1967,3128
$GC,3040,-3.30,-50.8,485.7,-15.0,280,3041,0.00,0.00,0.00,0.000,6,0.000,0.000,1817,1967,3127
$GC,3231,-3.30,-50.8,513.8,-15.0,298,3236,0.00,2.55,0.00,0.000,4,0.000,0.061,1817,3374,3125
$GC,3383,-3.30,-50.8,535.5,-14.6,311,3388,0.00,2.47,0.00,0.000,6,0.000,0.044,1817,1965,3124
$GC,3581,-3.30,-50.8,562.3,-12.8,329,3585,0.00,2.60,0.00,0.000,4,0.000,0.074,1817,566,3122
$GC,3777,-3.30,-50.8,586.6,-12.4,346,3781,0.00,2.42,0.00,0.000,6,0.000,0.039,1817,1969,3120
$GC,3979,-3.30,-50.8,608.5,-10.2,365,3984,0.00,2.55,0.00,0.000,4,0.000,0.063,1817,3372,3118
$GC,4161,-3.30,-50.8,627.8,-10.8,380,4168,0.00,2.47,0.00,0.000,6,0.000,0.044,1816,1968,3117
$GC,4359,-3.30,-53.1,647.6,-9.5,399,4363,0.00,2.60,0.00,0.000,4,0.000,0.072,1816,568,3115
$STATE,4485,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4486,begin apogee
$GC,4494,-0.38,0.0,660.5,10.1,410,4550,3.50,0.00,45.47,1.063,6,0.158,0.000,2453,2002,2917
$STATE,4551,end apogee,CONTROL_FINISHED_OK
$STATE,4552,begin climb
$GC,4554,3.30,53.1,661.6,0.0,416,4615,3.70,2.65,50.03,1.042,4,0.056,0.065,3278,3388,2700
$GC,4779,3.30,53.1,632.9,14.7,436,4783,0.00,2.50,0.00,0.000,6,0.000,0.046,3278,1991,2697
$GC,4976,3.30,53.1,605.9,13.1,454,4977,0.00,0.00,0.00,0.000,6,0.000,0.000,3278,1991,2696
$GC,5167,3.30,53.1,582.1,12.7,472,5171,0.00,2.60,0.00,0.000,4,0.000,0.066,3278,3389,2694
$GC,5424,3.30,53.1,547.8,11.8,494,5431,0.00,2.50,0.00,0.000,6,0.000,0.047,3278,1991,2691
$GC,5622,3.30,53.1,526.1,10.4,513,5623,0.00,0.00,0.00,0.000,6,0.000,0.000,3278,1990,2691
$GC,5813,3.30,53.1,506.5,10.4,531,5817,0.00,2.60,0.00,0.000,4,0.000,0.065,3278,3392,2689
$GC,5994,3.30,53.1,487.3,10.2,546,6001,0.00,2.50,0.00,0.000,6,0.000,0.046,3278,1991,2688
$GC,6191,3.30,53.8,467.8,9.8,565,6192,0.00,0.00,0.00,0.000,6,0.000,0.000,3278,1993,2687
$GC,6382,3.30,53.8,446.9,10.8,583,6383,0.00,0.00,0.00,0.000,6,0.000,0.000,3278,1992,2687
$GC,6574,3.30,53.8,427.2,10.3,601,6575,0.00,0.00,0.00,0.000,6,0.000,0.000,3278,1991,2686
$GC,6764,3.30,53.8,406.6,10.0,619,6769,0.00,2.60,0.00,0.000,4,0.000,0.065,3278,3397,2685
$GC,6887,3.31,56.1,395.4,9.4,629,6894,0.00,2.50,0.00,0.000,6,0.000,0.046,3278,1991,2684
$GC,7085,3.32,66.0,378.5,7.7,648,7100,0.00,2.67,9.15,0.842,4,0.000,0.072,3278,595,2648
$GC,7354,3.32,66.5,353.0,9.9,672,7358,0.00,2.45,0.00,0.000,6,0.000,0.040,3278,1995,2647
$GC,7552,3.33,75.1,337.6,7.9,690,7567,0.00,2.62,9.38,0.819,4,0.000,0.065,3278,3386,2610
$GC,7821,3.34,79.4,311.1,9.0,714,7834,0.00,2.47,5.07,0.674,6,0.000,0.044,3278,1992,2593
$GC,8024,3.34,79.4,290.1,10.2,733,8028,0.00,2.58,0.00,0.000,4,0.000,0.061,3278,3391,2592
$GC,8277,3.34,81.8,264.1,9.4,755,8289,0.00,2.47,3.70,0.540,6,0.000,0.043,3278,1989,2583
$GC,8352,3.34,86.5,257.2,8.9,762,8364,0.00,2.55,5.90,0.684,4,0.000,0.058,3278,3391,2564
$GC,8478,3.34,86.5,245.0,10.1,773,8482,0.00,2.47,0.00,0.000,6,0.000,0.042,3278,1991,2563
$GC,8554,3.35,93.2,238.4,8.4,780,8567,0.00,2.62,7.15,0.711,4,0.000,0.067,3279,590,2537
$GC,8639,3.35,93.2,230.8,10.3,787,8647,0.00,2.45,0.00,0.000,6,0.000,0.037,3278,1996,2536
$GC,8710,3.37,107.1,225.5,6.7,794,8734,0.00,2.65,13.48,0.768,4,0.000,0.061,3278,3401,2480
$GC,8986,3.37,107.1,198.2,11.9,818,8993,0.00,2.50,0.00,0.000,6,0.000,0.041,3278,1988,2477
$GC,9056,3.37,107.1,190.4,11.4,825,9060,0.00,2.55,0.00,0.000,4,0.000,0.056,3278,3390,2477
$GC,9313,3.38,113.7,162.5,8.4,847,9324,0.00,2.45,6.78,0.634,6,0.000,0.038,3278,1987,2453
$GC,9389,3.39,121.1,156.4,8.2,854,9403,0.00,2.58,7.70,0.644,4,0.000,0.053,3278,3399,2423
$GC,9531,3.39,121.1,137.9,15.9,866,9538,0.00,2.47,0.00,0.000,6,0.000,0.038,3278,1988,2421
$GC,9601,3.39,121.1,128.4,13.2,873,9606,0.00,2.55,0.00,0.000,4,0.000,0.053,3278,3397,2421
$GC,9858,3.40,129.0,102.5,8.1,895,9876,0.00,2.45,8.05,0.604,6,0.000,0.037,3278,1990,2391
$GC,9939,3.40,130.9,95.8,9.5,903,9944,0.00,2.55,0.00,0.000,4,0.000,0.053,3278,3399,2390
$GC,10197,3.40,130.9,67.8,10.2,925,10204,0.00,2.45,0.00,0.000,6,0.000,0.035,3278,1984,2390
$GC,10267,3.40,130.9,60.8,11.1,932,10271,0.00,2.55,0.00,0.000,4,0.000,0.052,3278,3401,2390
$GC,10318,3.41,140.0,56.0,7.8,936,10334,0.00,2.45,10.75,0.581,6,0.000,0.035,3278,1984,2346
$GC,10399,3.46,181.5,55.0,0.1,943,10444,0.00,2.62,35.00,0.613,4,0.000,0.058,3278,593,2175
$GC,10461,3.49,200.5,52.5,5.5,948,10483,0.00,2.42,16.77,0.577,6,0.000,0.030,3278,2002,2098
$GC,10554,3.49,200.5,43.7,12.0,957,10555,0.00,0.00,0.00,0.000,6,0.000,0.000,3278,2002,2095
$GC,10617,3.49,200.5,35.7,12.4,963,10622,0.10,2.53,0.00,0.000,4,0.058,0.056,3310,3398,2094
$GC,10645,3.49,200.5,31.9,13.3,965,10649,0.00,2.45,0.00,0.000,6,0.000,0.035,3310,1984,2094
$GC,10715,3.49,200.5,20.0,17.2,971,10722,0.00,2.53,0.00,0.000,4,0.000,0.051,3310,3389,2093
$STATE,10816,end climb,SURFACE_DEPTH_REACHED
$STATE,10816,begin surface coast
$FINISH,0.6,1.022205
$STATE,10828,end surface coast,CONTROL_FINISHED_OK
$STATE,10828,begin surface
$SM_CCo,10855,95.07,0.544,0,0,1286,400.08
$SM_GC,1.44,0.00,0.00,95.07,0.000,0.000,0.544,405,1958,1286,-9.83,-0.34,400.08
$IRIDIUM_FIX,2145.77,-15942.95,291098,040456
$TT8_MAMPS,0.082069
$HUMID,1995
$INTERNAL_PRESSURE,7.52959
$TCM_TEMP,24.10
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.8,16.338
$10V_AH,10.1,7.054
$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,28.550,165.200,234.375,95.075,0.000,30.988,27.658,292.206,0.000,0.000,102.558,14.849,2055.904,5986.272,528.618,2202.855,679.230,33.334,1672.121,0.000,2138.989,0.000,0.000,0.000
$DEVICE_MAMPS,179.478,73.632,1063.062,543.803,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,698.038,0.000,0.000,0.000,0.000,0.000,138.257,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,31603,991
$CAP_FILE_SIZE,139679,0
$CFSIZE,260165632,251445248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040809,092501,2154.411,-15941.954,40,1.8,40,9.8