version: 66.04
glider: 117
mission: 24
dive: 80
start: 8 5 109 21 26 0
data:
$ID,117
$MISSION,24
$DIVE,80
$D_SURF,2
$D_FLARE,3
$D_TGT,450
$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,150
$T_MISSION,175
$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,-108091.56
$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
$GPS1,211337,2153.962,-15941.624,30,1.1,30,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-50.8
$GPS2,212510,2154.070,-15941.922,12,2.4,31,9.8
$SPEED_LIMITS,0.100,0.326
$TGT_NAME,BobNE
$TGT_LATLONG,2154.185,-15941.805
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.298,-0.131
$KALMAN_X,-107095.7,178.1,-57.9,111071.4,-2838.8
$KALMAN_Y,42416.4,-60.1,31.6,-45424.5,1555.3
$MHEAD_RNG_PITCHd_Wd,103.9,294,-13.9,-10.000
$D_GRID,450
$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,18,-1.37,-243.3,0.0,0.0,0,113,0.00,0.00,-91.55,0.000,2,0.000,0.000,403,1997,3152
$GC,116,-1.37,-243.3,3.2,-5.2,15,149,10.90,2.60,-14.10,0.000,4,0.177,0.067,2239,563,3912
$GC,172,-1.37,-243.3,16.8,-19.5,24,179,0.00,2.38,0.00,0.000,6,0.000,0.029,2239,1970,3913
$GC,244,-1.37,-243.3,29.5,-18.1,32,245,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,1976,3913
$GC,308,-1.37,-243.3,40.5,-17.2,38,312,0.00,2.47,0.00,0.000,4,0.000,0.050,2239,3366,3913
$GC,336,-1.37,-243.3,45.2,-17.3,40,340,0.00,2.40,0.00,0.000,6,0.000,0.033,2239,1964,3913
$GC,405,-1.37,-243.3,57.7,-17.8,46,406,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,1964,3913
$GC,469,-1.37,-243.3,68.0,-16.0,52,473,0.00,2.50,0.00,0.000,4,0.000,0.058,2239,572,3913
$GC,531,-1.37,-243.3,78.3,-17.1,57,535,0.00,2.35,0.00,0.000,6,0.000,0.028,2239,1971,3913
$GC,600,-1.37,-243.3,89.5,-15.7,63,602,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,1971,3914
$GC,664,-1.37,-243.3,99.2,-16.1,69,668,0.00,2.53,0.00,0.000,4,0.000,0.055,2239,569,3914
$GC,715,-1.37,-243.3,107.0,-15.4,73,719,0.00,2.38,0.00,0.000,6,0.000,0.029,2239,1980,3914
$GC,784,-1.37,-243.3,116.8,-13.9,79,786,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,1981,3914
$GC,848,-1.37,-243.3,125.4,-13.8,85,852,0.00,2.45,0.00,0.000,4,0.000,0.051,2239,3365,3915
$GC,887,-1.37,-243.3,130.3,-12.3,88,892,0.00,2.40,0.00,0.000,6,0.000,0.033,2239,1957,3915
$GC,957,-1.37,-243.3,138.5,-11.8,94,958,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,1957,3915
$GC,1021,-1.37,-243.3,146.1,-12.0,100,1025,0.00,2.50,0.00,0.000,4,0.000,0.059,2239,573,3915
$GC,1060,-1.37,-243.3,150.8,-11.8,103,1064,0.00,2.35,0.00,0.000,6,0.000,0.030,2239,1969,3915
$GC,1130,-1.37,-243.3,159.1,-11.9,109,1134,0.00,2.53,0.00,0.000,4,0.000,0.057,2239,572,3915
$GC,1169,-1.37,-243.3,164.3,-13.7,112,1173,0.00,2.35,0.00,0.000,6,0.000,0.030,2239,1969,3915
$GC,1239,-1.37,-243.3,172.9,-12.4,118,1243,0.00,2.47,0.00,0.000,4,0.000,0.053,2239,3362,3915
$GC,1282,-1.37,-243.3,178.0,-11.3,121,1289,0.00,2.38,0.00,0.000,6,0.000,0.035,2239,1971,3915
$GC,1352,-1.37,-243.3,186.5,-12.5,128,1357,0.00,2.53,0.00,0.000,4,0.000,0.059,2239,572,3916
$GC,1396,-1.37,-243.3,192.5,-13.3,131,1403,0.00,2.38,0.00,0.000,6,0.000,0.031,2239,1976,3916
$GC,1466,-1.37,-243.3,201.9,-13.6,138,1468,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,1978,3915
$GC,1530,-1.37,-243.3,210.2,-13.1,144,1531,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,1978,3916
$GC,1594,-1.37,-243.3,218.2,-12.4,150,1595,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,1978,3916
$GC,1658,-1.37,-243.3,226.0,-11.6,156,1659,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,1978,3916
$GC,1722,-1.37,-243.3,233.2,-11.2,162,1723,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,1978,3915
$GC,1785,-1.37,-243.3,240.4,-11.4,168,1786,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,1978,3915
$GC,1849,-1.37,-243.3,247.7,-11.3,174,1850,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,1978,3916
$GC,1912,-1.37,-243.3,255.7,-12.7,180,1914,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,1978,3916
$GC,1976,-1.37,-243.3,263.4,-12.0,186,1981,0.00,2.50,0.00,0.000,4,0.000,0.057,2239,3366,3915
$GC,2020,-1.37,-243.3,268.7,-11.4,189,2027,0.00,2.42,0.00,0.000,6,0.000,0.038,2239,1963,3915
$GC,2090,-1.37,-243.3,276.8,-11.6,196,2092,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,1963,3915
$GC,2154,-1.37,-243.3,284.0,-11.6,202,2155,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,1963,3915
$GC,2218,-1.37,-243.3,290.9,-10.7,208,2222,0.00,2.55,0.00,0.000,4,0.000,0.064,2238,570,3915
$GC,2257,-1.37,-243.3,295.2,-11.2,211,2262,0.00,2.40,0.00,0.000,6,0.000,0.034,2238,1975,3915
$GC,2327,-1.37,-243.3,303.0,-11.4,217,2328,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,1975,3915
$GC,2518,-1.37,-243.3,324.7,-11.0,235,2519,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,1975,3914
$GC,2710,-1.37,-243.3,345.8,-11.3,253,2711,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,1975,3913
$GC,2900,-1.37,-243.3,368.2,-11.7,271,2902,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,1975,3911
$GC,3092,-1.37,-243.3,390.5,-11.3,289,3093,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,1975,3910
$GC,3283,-1.37,-243.3,412.9,-11.4,307,3284,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,1975,3908
$GC,3474,-1.37,-243.3,434.4,-11.2,325,3475,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,1975,3906
$STATE,3620,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3620,begin apogee
$GC,3626,-0.38,0.0,450.6,10.7,339,3844,1.05,0.00,207.93,0.865,6,0.094,0.000,2453,1975,2917
$STATE,3845,end apogee,CONTROL_FINISHED_OK
$STATE,3845,begin climb
$GC,3848,1.37,243.3,459.8,0.0,361,4075,1.80,2.72,210.95,0.834,4,0.064,0.065,2838,3388,1924
$GC,4132,1.45,313.4,441.6,8.1,386,4202,0.00,2.47,62.90,0.811,6,0.000,0.043,2837,1997,1639
$GC,4391,1.51,357.1,419.8,8.8,410,4437,0.15,2.70,39.90,0.804,4,0.045,0.072,2883,587,1461
$GC,4466,1.51,357.1,411.7,12.0,417,4471,0.00,2.47,0.00,0.000,6,0.000,0.040,2883,1991,1459
$GC,4664,1.54,381.0,391.3,9.3,435,4692,0.00,2.62,22.55,0.787,4,0.000,0.067,2883,3387,1363
$GC,4742,1.54,386.5,383.6,9.8,441,4753,0.00,2.50,5.95,0.628,6,0.000,0.044,2883,1990,1341
$GC,4951,1.54,386.5,359.6,12.4,461,4955,0.00,2.62,0.00,0.000,4,0.000,0.072,2883,589,1337
$GC,4994,1.54,386.5,353.8,12.3,464,5001,0.00,2.47,0.00,0.000,6,0.000,0.039,2883,2001,1336
$GC,5192,1.54,386.5,330.1,11.7,483,5193,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,2005,1335
$GC,5383,1.54,386.5,307.6,12.9,501,5384,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,2006,1334
$GC,5574,1.54,386.5,284.0,11.6,519,5575,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,2006,1333
$GC,5638,1.54,386.5,276.5,12.2,525,5642,0.00,2.65,0.00,0.000,4,0.000,0.067,2883,580,1332
$GC,5666,1.54,386.5,272.8,13.0,527,5670,0.00,2.47,0.00,0.000,6,0.000,0.038,2882,2001,1332
$GC,5735,1.54,386.5,264.2,12.2,533,5740,0.00,2.55,0.00,0.000,4,0.000,0.064,2883,3386,1332
$GC,5764,1.54,386.5,260.4,13.2,535,5768,0.00,2.47,0.00,0.000,6,0.000,0.044,2883,1990,1332
$GC,5834,1.54,386.5,251.2,13.2,541,5835,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,1990,1332
$GC,5897,1.54,386.5,243.2,12.4,547,5898,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,1990,1331
$GC,5961,1.54,386.5,235.8,11.9,553,5965,0.00,2.60,0.00,0.000,4,0.000,0.069,2882,588,1331
$GC,5989,1.54,386.5,232.1,12.6,555,5993,0.00,2.45,0.00,0.000,6,0.000,0.038,2882,2001,1331
$GC,6066,1.54,386.5,223.0,11.9,562,6067,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,2005,1331
$GC,6128,1.55,392.7,216.6,9.8,568,6138,0.00,0.00,5.10,0.582,6,0.000,0.000,2883,2005,1316
$GC,6201,1.59,421.3,209.9,9.2,575,6232,0.00,0.00,27.77,0.743,6,0.000,0.000,2883,2005,1199
$GC,6295,1.63,458.4,201.3,9.0,584,6335,0.00,0.00,34.05,0.732,6,0.000,0.000,2883,2006,1047
$GC,6399,1.63,458.4,190.9,10.4,594,6403,0.00,2.62,0.00,0.000,4,0.000,0.064,2883,588,1044
$GC,6438,1.63,458.4,186.5,12.3,597,6442,0.00,2.45,0.00,0.000,6,0.000,0.036,2884,1997,1042
$GC,6508,1.63,458.4,179.3,10.4,603,6509,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,1997,1041
$GC,6572,1.63,458.4,173.0,10.1,609,6576,0.00,2.62,0.00,0.000,4,0.000,0.061,2883,577,1041
$GC,6600,1.63,458.4,170.2,10.5,611,6604,0.00,2.47,0.00,0.000,6,0.000,0.035,2883,2002,1040
$GC,6670,1.67,486.6,163.6,9.2,617,6704,0.00,2.60,24.80,0.690,4,0.000,0.058,2883,3385,932
$GC,6732,1.84,625.5,159.6,6.2,622,6784,0.28,2.47,41.15,0.683,6,0.033,0.038,2960,1981,746
$GC,6847,1.84,625.5,146.3,13.8,633,6851,0.00,2.58,0.00,0.000,4,0.000,0.064,2960,588,742
$GC,6908,1.84,625.5,136.4,17.5,638,6912,0.00,2.45,0.00,0.000,6,0.000,0.034,2960,2008,741
$GC,6984,1.84,625.5,124.2,16.9,645,6986,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2012,740
$GC,7047,1.84,625.5,113.1,17.0,651,7048,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2012,739
$GC,7111,1.84,625.5,103.3,15.1,657,7112,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2012,739
$GC,7174,1.84,625.5,94.0,14.2,663,7178,0.00,2.60,0.00,0.000,4,0.000,0.060,2960,592,738
$GC,7213,1.84,625.5,88.1,15.5,666,7217,0.00,2.42,0.00,0.000,6,0.000,0.033,2960,2002,738
$GC,7283,1.84,625.5,78.3,14.0,672,7287,0.00,2.53,0.00,0.000,4,0.000,0.057,2960,3396,738
$GC,7311,1.84,625.5,74.1,14.9,674,7315,0.00,2.45,0.00,0.000,6,0.000,0.036,2960,1989,737
$GC,7381,1.84,625.5,63.9,14.6,680,7385,0.00,2.55,0.00,0.000,4,0.000,0.061,2960,591,737
$GC,7420,1.84,625.5,58.7,12.9,683,7424,0.00,2.40,0.00,0.000,6,0.000,0.031,2960,2000,737
$GC,7490,1.84,625.5,50.5,11.7,689,7491,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2000,737
$GC,7554,1.84,625.5,42.7,12.2,695,7558,0.00,2.50,0.00,0.000,4,0.000,0.054,2960,3390,737
$GC,7593,1.84,625.5,38.0,12.1,698,7597,0.00,2.42,0.00,0.000,6,0.000,0.035,2960,1989,736
$GC,7663,1.84,625.5,30.1,11.8,704,7667,0.00,2.55,0.00,0.000,4,0.000,0.060,2960,585,736
$GC,7695,1.84,625.5,25.9,13.4,706,7702,0.00,2.40,0.00,0.000,6,0.000,0.029,2959,2001,736
$GC,7766,1.84,625.5,17.6,11.6,714,7772,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2001,736
$GC,7840,1.84,625.5,8.8,12.5,727,7846,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2001,736
$STATE,7895,end climb,SURFACE_DEPTH_REACHED
$STATE,7895,begin surface coast
$FINISH,0.5,1.001452
$STATE,7913,end surface coast,CONTROL_FINISHED_OK
$STATE,7913,begin surface
$SM_CCo,7995,0.00,0.000,0,0,735,535.24
$SM_GC,1.27,11.15,0.00,0.00,0.031,0.000,0.000,406,1961,735,-9.77,-0.14,535.24
$IRIDIUM_FIX,2145.77,-15942.95,301098,181822
$TT8_MAMPS,0.057525
$HUMID,1990
$INTERNAL_PRESSURE,7.49052
$TCM_TEMP,24.00
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.9,19.798
$10V_AH,10.1,8.641
$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,25.325,134.750,683.050,0.000,0.000,24.266,40.096,433.364,0.000,0.000,67.761,32.696,1453.975,4236.552,775.906,1393.707,827.403,33.338,1646.238,0.000,1318.472,0.000,0.000,0.000
$DEVICE_MAMPS,177.177,122.720,865.176,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,510.694,0.000,0.000,0.000,0.000,0.000,153.935,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,25225,740
$CAP_FILE_SIZE,123156,0
$CFSIZE,260165632,249593856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050809,234024,2154.117,-15941.529,30,1.7,35,9.8