version: 66.04
glider: 117
mission: 24
dive: 90
start: 8 6 109 15 36 5
data:
$ID,117
$MISSION,24
$DIVE,90
$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,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,-108279.71
$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,40
$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
$GPS1,152037,2153.302,-15941.665,31,1.0,31,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-50.4
$GPS2,153514,2153.517,-15942.113,13,1.4,13,9.8
$SPEED_LIMITS,0.100,0.326
$TGT_NAME,BobNE
$TGT_LATLONG,2154.185,-15941.805
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.305,0.114
$KALMAN_X,-124230.8,1623.1,-263.9,126644.4,-1152.1
$KALMAN_Y,51873.4,-1028.9,185.8,-55086.3,535.6
$MHEAD_RNG_PITCHd_Wd,59.7,1345,-13.9,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.37,-243.3,0.0,0.0,0,118,0.00,0.00,-97.38,0.000,2,0.000,0.000,405,1949,3292
$GC,121,-1.37,-243.3,3.5,-6.0,16,149,10.98,2.47,-10.85,0.000,4,0.179,0.067,2239,575,3911
$GC,210,-1.37,-243.3,23.8,-17.0,29,217,0.00,2.35,0.00,0.000,6,0.000,0.028,2239,1962,3912
$GC,280,-1.37,-243.3,38.0,-22.1,36,281,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,1966,3913
$GC,344,-1.37,-243.3,50.0,-19.4,42,345,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,1966,3913
$GC,408,-1.37,-243.3,61.3,-17.8,48,412,0.00,2.47,0.00,0.000,4,0.000,0.048,2239,3362,3913
$GC,485,-1.37,-243.3,73.7,-15.4,54,492,0.00,2.38,0.00,0.000,6,0.000,0.032,2239,1973,3913
$GC,555,-1.37,-243.3,84.9,-16.0,61,556,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,1973,3913
$GC,619,-1.37,-243.3,94.7,-15.4,67,620,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,1973,3914
$GC,682,-1.37,-243.3,103.6,-13.9,73,684,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,1973,3914
$GC,746,-1.37,-243.3,112.1,-13.8,79,747,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,1973,3915
$GC,810,-1.37,-243.3,121.4,-14.7,85,811,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,1972,3915
$GC,874,-1.37,-243.3,130.8,-14.3,91,877,0.00,2.47,0.00,0.000,4,0.000,0.049,2239,3362,3915
$GC,941,-1.37,-243.3,141.4,-16.3,97,946,0.00,2.40,0.00,0.000,6,0.000,0.034,2239,1961,3915
$GC,1011,-1.37,-243.3,151.9,-14.7,103,1012,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,1962,3915
$GC,1075,-1.37,-243.3,160.5,-13.8,109,1079,0.00,2.53,0.00,0.000,4,0.000,0.061,2239,569,3916
$GC,1125,-1.37,-243.3,167.4,-13.7,113,1130,0.00,2.38,0.00,0.000,6,0.000,0.030,2240,1976,3915
$GC,1195,-1.37,-243.3,176.2,-13.0,119,1196,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,1977,3916
$GC,1259,-1.37,-243.3,183.5,-11.3,125,1260,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,1977,3916
$GC,1323,-1.37,-243.3,190.4,-10.9,131,1324,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,1978,3917
$GC,1387,-1.37,-243.3,197.8,-11.6,137,1388,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,1978,3917
$GC,1450,-1.37,-243.3,205.1,-11.2,143,1454,0.00,2.47,0.00,0.000,4,0.000,0.054,2239,3359,3918
$GC,1517,-1.37,-243.3,212.6,-11.3,148,1524,0.00,2.40,0.00,0.000,6,0.000,0.035,2239,1964,3917
$GC,1587,-1.37,-243.3,221.0,-11.9,155,1588,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,1965,3917
$GC,1651,-1.37,-243.3,228.6,-12.1,161,1655,0.00,2.55,0.00,0.000,4,0.000,0.062,2239,565,3917
$GC,1739,-1.37,-243.3,239.9,-13.0,168,1746,0.00,2.40,0.00,0.000,6,0.000,0.031,2239,1976,3917
$GC,1811,-1.37,-243.3,248.6,-12.5,175,1812,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,1976,3917
$GC,1873,-1.37,-243.3,256.2,-11.6,181,1877,0.00,2.47,0.00,0.000,4,0.000,0.056,2239,3362,3917
$GC,1934,-1.37,-243.3,263.4,-11.5,186,1942,0.00,2.40,0.00,0.000,6,0.000,0.036,2239,1972,3916
$STATE,2002,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2002,begin apogee
$GC,2008,-0.38,0.0,271.1,11.2,193,2216,1.05,0.00,198.60,0.695,6,0.090,0.000,2455,1972,2916
$STATE,2217,end apogee,CONTROL_FINISHED_OK
$STATE,2217,begin climb
$GC,2220,1.37,243.3,279.1,0.0,214,2431,1.75,2.62,198.85,0.677,4,0.060,0.056,2842,3385,1924
$GC,2469,1.47,322.8,264.9,7.8,236,2545,0.00,2.45,67.68,0.660,6,0.000,0.038,2842,1993,1601
$GC,2608,1.53,377.9,254.0,8.5,249,2659,0.15,0.00,48.15,0.653,6,0.041,0.000,2891,1993,1376
$GC,2721,1.53,377.9,242.5,10.6,260,2722,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,1993,1373
$GC,2785,1.54,381.2,236.2,9.9,266,2786,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,1993,1370
$GC,2849,1.55,387.9,229.9,9.8,272,2865,0.00,2.65,9.00,0.571,4,0.000,0.065,2891,596,1335
$GC,2922,1.55,387.9,221.4,11.9,278,2929,0.00,2.42,0.00,0.000,6,0.000,0.035,2891,1999,1333
$GC,2992,1.55,387.9,213.8,11.0,285,2993,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,1999,1332
$GC,3056,1.55,387.9,206.8,11.1,291,3060,0.00,2.53,0.00,0.000,4,0.000,0.057,2891,3389,1332
$GC,3088,1.55,387.9,202.9,11.8,293,3095,0.00,2.45,0.00,0.000,6,0.000,0.038,2891,1992,1331
$GC,3160,1.55,387.9,194.9,11.5,300,3164,0.00,2.55,0.00,0.000,4,0.000,0.055,2891,3392,1331
$GC,3192,1.55,387.9,190.6,12.0,302,3199,0.00,2.45,0.00,0.000,6,0.000,0.038,2891,1992,1331
$GC,3264,1.55,387.9,182.8,11.1,309,3265,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,1992,1330
$GC,3326,1.55,387.9,176.4,10.3,315,3330,0.00,2.60,0.00,0.000,4,0.000,0.065,2891,584,1329
$GC,3354,1.55,387.9,173.4,10.6,317,3358,0.00,2.42,0.00,0.000,6,0.000,0.034,2890,1996,1329
$GC,3424,1.55,387.9,166.2,10.1,323,3425,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,1995,1329
$GC,3487,1.55,387.9,159.6,10.5,329,3489,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,1995,1328
$GC,3551,1.55,387.9,152.9,10.8,335,3553,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,1995,1327
$GC,3615,1.55,387.9,146.0,10.7,341,3619,0.00,2.60,0.00,0.000,4,0.000,0.061,2891,584,1327
$GC,3643,1.55,390.4,143.1,9.9,343,3647,0.00,2.42,0.00,0.000,6,0.000,0.032,2890,2000,1327
$GC,3713,1.55,390.4,134.9,11.7,349,3717,0.00,2.50,0.00,0.000,4,0.000,0.054,2891,3389,1326
$GC,3768,1.55,390.4,128.6,11.5,353,3774,0.00,2.45,0.00,0.000,6,0.000,0.036,2890,1983,1326
$GC,3838,1.55,390.4,121.0,10.8,360,3842,0.00,2.53,0.00,0.000,4,0.000,0.052,2891,3386,1325
$GC,3866,1.55,390.4,118.0,10.6,362,3870,0.00,2.42,0.00,0.000,6,0.000,0.036,2891,1990,1326
$GC,3936,1.61,439.0,111.9,8.7,368,3986,0.00,0.00,44.35,0.621,6,0.000,0.000,2890,1990,1126
$GC,4050,1.61,439.0,101.2,10.1,379,4051,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,1990,1124
$GC,4113,1.61,439.0,94.0,11.4,385,4118,0.00,2.58,0.00,0.000,4,0.000,0.061,2890,584,1122
$GC,4153,1.61,439.0,89.9,10.3,388,4157,0.00,2.42,0.00,0.000,6,0.000,0.031,2891,2005,1121
$GC,4223,1.73,533.9,84.5,7.4,394,4314,0.12,2.55,79.70,0.592,4,0.045,0.054,2939,3378,744
$GC,4342,1.73,533.9,71.6,12.8,404,4349,0.12,2.42,0.00,0.000,6,0.083,0.035,2915,1991,742
$GC,4412,1.73,533.9,64.2,10.4,411,4413,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,1991,741
$GC,4476,1.73,533.9,55.9,13.7,417,4480,0.00,2.53,0.00,0.000,4,0.000,0.053,2915,3385,740
$GC,4504,1.73,533.9,52.1,13.3,419,4508,0.00,2.42,0.00,0.000,6,0.000,0.035,2915,1988,740
$GC,4574,1.73,533.9,44.2,11.5,425,4578,0.00,2.55,0.00,0.000,4,0.000,0.060,2914,591,739
$GC,4606,1.73,533.9,40.4,10.9,427,4613,0.00,2.40,0.00,0.000,6,0.000,0.030,2914,2004,738
$GC,4677,1.79,584.0,34.2,8.6,434,4678,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,2004,738
$GC,4742,1.87,647.5,28.9,8.2,440,4747,0.15,2.58,0.00,0.000,4,0.041,0.057,2968,592,738
$GC,4770,1.87,647.5,25.3,13.1,442,4774,0.00,2.38,0.00,0.000,6,0.000,0.029,2968,1992,738
$GC,4841,1.87,647.5,15.7,13.7,451,4847,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,1992,738
$GC,4915,1.87,647.5,5.1,14.1,464,4922,0.00,2.55,0.00,0.000,4,0.000,0.057,2968,593,737
$STATE,4937,end climb,SURFACE_DEPTH_REACHED
$STATE,4938,begin surface coast
$FINISH,0.9,1.022860
$STATE,4944,end surface coast,CONTROL_FINISHED_OK
$STATE,4944,begin surface
$SM_CCo,5029,0.00,0.000,0,0,735,535.24
$SM_GC,1.19,11.20,0.00,0.00,0.031,0.000,0.000,406,1999,735,-9.77,0.82,535.24
$IRIDIUM_FIX,2145.77,-15940.77,311098,111121
$TT8_MAMPS,0.081302
$HUMID,1922
$INTERNAL_PRESSURE,7.51005
$TCM_TEMP,24.30
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.9,21.449
$10V_AH,10.1,9.449
$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,25.525,104.000,646.325,0.000,0.000,30.721,26.325,605.691,0.000,0.000,38.654,13.302,926.348,2352.481,729.986,941.019,949.234,33.345,1369.175,0.000,887.259,0.000,0.000,0.000
$DEVICE_MAMPS,179.478,66.729,694.902,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,317.403,0.000,0.000,0.000,0.000,0.000,77.709,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,15854,469
$CAP_FILE_SIZE,96669,0
$CFSIZE,260165632,248713216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060809,170037,2154.294,-15942.334,8,1.7,9,9.8