version: 66.04
glider: 117
mission: 24
dive: 96
start: 8 6 109 23 41 43
data:
$ID,117
$MISSION,24
$DIVE,96
$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,60
$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,-108381.28
$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,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
$GPS1,233126,2155.260,-15945.099,13,1.8,13,9.8
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,1
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-55.0
$GPS2,234049,2155.367,-15945.354,10,1.2,15,9.8
$SPEED_LIMITS,0.150,0.374
$TGT_NAME,BobNE
$TGT_LATLONG,2154.185,-15941.805
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.332,-0.172
$KALMAN_X,-135252.6,-739.4,-195.5,134402.2,-1327.9
$KALMAN_Y,56700.2,91.0,8.2,-57434.8,666.6
$MHEAD_RNG_PITCHd_Wd,107.6,6478,-19.7,-15.000
$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,-1.81,-243.3,0.0,0.0,0,111,0.00,0.00,-91.40,0.000,2,0.000,0.000,409,1966,3310
$GC,114,-1.81,-243.3,3.4,-6.7,15,141,10.25,2.53,-10.62,0.000,4,0.178,0.067,2140,569,3911
$GC,180,-1.81,-243.3,22.8,-23.3,25,187,0.00,2.35,0.00,0.000,6,0.000,0.028,2140,1967,3913
$GC,250,-1.81,-243.3,39.2,-23.7,32,254,0.00,2.47,0.00,0.000,4,0.000,0.049,2140,3367,3913
$GC,301,-1.81,-243.3,50.7,-21.6,36,305,0.00,2.40,0.00,0.000,6,0.000,0.033,2140,1960,3914
$GC,371,-1.81,-243.3,65.6,-20.3,42,375,0.00,2.50,0.00,0.000,4,0.000,0.058,2141,567,3914
$GC,403,-1.81,-243.3,72.7,-21.3,44,410,0.00,2.38,0.00,0.000,6,0.000,0.028,2141,1986,3914
$GC,473,-1.81,-243.3,86.0,-19.6,51,478,0.00,2.42,0.00,0.000,4,0.000,0.049,2140,3361,3916
$GC,513,-1.81,-243.3,93.8,-20.5,54,517,0.00,2.38,0.00,0.000,6,0.000,0.032,2140,1965,3915
$GC,583,-1.81,-243.3,108.3,-19.8,60,587,0.00,2.50,0.00,0.000,4,0.000,0.057,2140,571,3915
$GC,645,-1.81,-243.3,122.4,-21.6,65,649,0.00,2.35,0.00,0.000,6,0.000,0.028,2140,1976,3916
$GC,715,-1.81,-243.3,135.6,-18.9,71,716,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,1978,3916
$GC,778,-1.81,-243.3,147.9,-19.2,77,782,0.00,2.53,0.00,0.000,4,0.000,0.056,2140,569,3916
$GC,822,-1.81,-243.3,156.6,-19.4,80,829,0.00,2.35,0.00,0.000,6,0.000,0.029,2140,1969,3916
$GC,892,-1.81,-243.3,169.7,-18.7,87,894,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,1972,3916
$GC,956,-1.81,-243.3,181.5,-18.4,93,960,0.00,2.45,0.00,0.000,4,0.000,0.050,2140,3361,3917
$GC,995,-1.81,-243.3,188.8,-18.9,96,999,0.00,2.38,0.00,0.000,6,0.000,0.033,2140,1967,3916
$GC,1065,-1.81,-243.3,201.7,-18.2,102,1066,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,1967,3917
$GC,1129,-1.81,-243.3,212.8,-17.2,108,1133,0.00,2.53,0.00,0.000,4,0.000,0.061,2140,569,3917
$GC,1168,-1.81,-243.3,219.5,-16.2,111,1173,0.00,2.38,0.00,0.000,6,0.000,0.030,2140,1982,3917
$GC,1238,-1.81,-243.3,231.4,-16.9,117,1239,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,1982,3917
$GC,1302,-1.81,-243.3,241.8,-16.8,123,1303,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,1987,3917
$GC,1366,-1.81,-243.3,251.5,-14.6,129,1370,0.00,2.45,0.00,0.000,4,0.000,0.053,2140,3361,3917
$GC,1405,-1.81,-243.3,257.5,-15.4,132,1409,0.00,2.40,0.00,0.000,6,0.000,0.035,2140,1960,3917
$GC,1475,-1.81,-243.3,267.7,-15.0,138,1479,0.00,2.53,0.00,0.000,4,0.000,0.063,2140,570,3917
$STATE,1489,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1489,begin apogee
$GC,1498,-0.38,0.0,270.5,15.5,139,1706,1.55,0.00,197.50,0.686,6,0.102,0.000,2450,2001,2916
$STATE,1707,end apogee,CONTROL_FINISHED_OK
$STATE,1707,begin climb
$GC,1709,1.81,243.3,278.5,0.0,160,1918,2.17,2.58,196.70,0.672,4,0.058,0.059,2935,3390,1925
$GC,1940,1.92,334.9,262.0,11.2,180,2027,0.12,2.45,77.32,0.654,6,0.046,0.036,2976,1991,1550
$GC,2089,1.92,334.9,240.2,16.8,194,2091,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,1991,1546
$GC,2153,1.92,334.9,230.3,15.9,200,2157,0.00,2.55,0.00,0.000,4,0.000,0.056,2976,3390,1544
$GC,2192,1.92,334.9,224.0,16.5,203,2196,0.00,2.45,0.00,0.000,6,0.000,0.037,2976,1990,1544
$GC,2262,1.92,334.9,213.1,15.5,209,2266,0.00,2.58,0.00,0.000,4,0.000,0.064,2976,591,1542
$GC,2316,1.92,334.9,203.3,18.1,213,2323,0.00,2.42,0.00,0.000,6,0.000,0.033,2976,2003,1541
$GC,2387,1.93,339.6,192.6,14.8,220,2397,0.00,0.00,3.90,0.404,6,0.000,0.000,2976,2003,1532
$GC,2461,1.95,353.1,181.9,14.4,227,2483,0.00,2.67,12.90,0.592,4,0.000,0.060,2976,590,1477
$GC,2499,1.95,353.1,175.8,15.6,230,2507,0.00,2.42,0.00,0.000,6,0.000,0.032,2976,2002,1475
$GC,2570,1.97,370.3,165.8,14.3,237,2594,0.00,2.53,15.73,0.603,4,0.000,0.056,2976,3382,1407
$GC,2640,1.99,385.0,155.8,14.4,243,2663,0.00,2.42,13.98,0.592,6,0.000,0.036,2976,1989,1347
$GC,2726,2.02,412.0,143.8,13.9,251,2760,0.00,2.65,24.20,0.604,4,0.000,0.062,2976,591,1236
$GC,2806,2.02,412.0,130.7,17.4,258,2810,0.00,2.40,0.00,0.000,6,0.000,0.031,2975,1993,1233
$GC,2876,2.02,412.0,119.0,16.6,264,2877,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,1994,1232
$GC,2940,2.02,412.0,108.4,16.4,270,2944,0.00,2.50,0.00,0.000,4,0.000,0.054,2976,3389,1231
$GC,2984,2.03,422.5,101.7,14.6,273,3002,0.00,2.42,9.57,0.538,6,0.000,0.034,2976,1985,1193
$GC,3065,2.04,425.2,90.1,14.9,281,3069,0.00,2.53,0.00,0.000,4,0.000,0.060,2976,595,1191
$GC,3093,2.04,425.2,85.8,15.7,283,3097,0.00,2.40,0.00,0.000,6,0.000,0.031,2976,2004,1191
$GC,3163,2.04,425.2,74.3,16.1,289,3167,0.00,2.47,0.00,0.000,4,0.000,0.054,2976,3383,1191
$GC,3202,2.04,425.2,67.6,17.7,292,3206,0.00,2.40,0.00,0.000,6,0.000,0.034,2976,1991,1190
$GC,3272,2.04,425.2,55.8,17.1,298,3273,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,1991,1190
$GC,3336,2.06,446.1,46.1,14.1,304,3363,0.00,2.60,20.70,0.554,4,0.000,0.060,2976,596,1097
$GC,3408,2.06,446.1,34.9,15.8,310,3415,0.00,2.40,0.00,0.000,6,0.000,0.030,2976,2008,1095
$GC,3479,2.09,472.6,25.2,13.9,317,3504,0.00,0.00,23.38,0.537,6,0.000,0.000,2976,2008,989
$GC,3567,2.10,475.9,12.9,14.9,329,3575,0.10,0.00,4.22,0.372,6,0.050,0.000,3017,2008,976
$STATE,3635,end climb,SURFACE_DEPTH_REACHED
$STATE,3635,begin surface coast
$FINISH,0.4,1.023084
$STATE,3647,end surface coast,CONTROL_FINISHED_OK
$STATE,3648,begin surface
$SM_CCo,3732,0.00,0.000,0,0,971,477.35
$SM_GC,1.06,11.40,0.00,0.00,0.030,0.000,0.000,404,1963,971,-9.78,-0.20,477.35
$IRIDIUM_FIX,2145.77,-15945.93,311098,222246
$TT8_MAMPS,0.059059
$HUMID,1987
$INTERNAL_PRESSURE,7.56865
$TCM_TEMP,24.10
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,24.0,22.360
$10V_AH,10.1,9.870
$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,25.600,98.600,600.100,0.000,0.000,24.832,31.375,351.401,0.000,0.000,28.244,15.462,682.181,1598.928,666.165,740.535,618.351,33.342,1199.371,0.000,697.623,0.000,0.000,0.000
$DEVICE_MAMPS,177.944,115.050,685.698,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,230.235,0.000,0.000,0.000,0.000,0.000,107.843,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,9575,343
$CAP_FILE_SIZE,75330,0
$CFSIZE,260165632,248221696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070809,004443,2155.458,-15945.335,9,1.7,14,9.8