version: 66.04
glider: 117
mission: 24
dive: 99
start: 8 7 109 3 19 5
data:
$ID,117
$MISSION,24
$DIVE,99
$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,-108441.73
$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,35
$R_STBD_OVSHOOT,42
$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
$GPS1,031038,2155.684,-15946.081,13,1.1,13,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-53.4
$GPS2,031813,2155.800,-15946.330,15,1.8,15,9.8
$SPEED_LIMITS,0.150,0.374
$TGT_NAME,BobNE
$TGT_LATLONG,2154.185,-15941.805
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.325,-0.184
$KALMAN_X,-139276.7,-1931.2,-53.3,137806.0,-1016.4
$KALMAN_Y,58617.1,955.5,73.7,-59479.4,604.0
$MHEAD_RNG_PITCHd_Wd,109.7,8332,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.81,-243.3,0.0,0.0,0,117,0.00,0.00,-96.80,0.000,2,0.000,0.000,406,1957,3397
$GC,120,-1.81,-243.3,4.2,-10.0,16,141,10.32,0.00,-8.32,0.000,6,0.182,0.000,2140,1956,3912
$GC,207,-1.81,-243.3,32.1,-26.7,27,211,0.00,2.50,0.00,0.000,4,0.000,0.048,2140,3367,3915
$GC,241,-1.81,-243.3,39.9,-24.6,30,245,0.00,2.40,0.00,0.000,6,0.000,0.033,2140,1967,3915
$GC,310,-1.81,-243.3,56.3,-22.1,36,315,0.00,2.53,0.00,0.000,4,0.000,0.058,2142,565,3915
$GC,343,-1.81,-243.3,63.4,-20.0,38,350,0.00,2.38,0.00,0.000,6,0.000,0.028,2140,1971,3915
$GC,413,-1.81,-243.3,77.5,-20.7,45,417,0.00,2.45,0.00,0.000,4,0.000,0.049,2140,3362,3916
$GC,457,-1.81,-243.3,86.8,-19.7,48,464,0.00,2.40,0.00,0.000,6,0.000,0.033,2140,1959,3916
$GC,527,-1.81,-243.3,100.7,-19.3,55,532,0.00,2.50,0.00,0.000,4,0.000,0.049,2140,3369,3917
$GC,560,-1.81,-243.3,107.5,-19.7,57,567,0.00,2.40,0.00,0.000,6,0.000,0.033,2140,1965,3917
$GC,630,-1.81,-243.3,120.9,-19.2,64,631,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,1965,3917
$GC,694,-1.81,-243.3,133.8,-20.6,70,695,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,1965,3917
$GC,758,-1.81,-243.3,146.8,-20.5,76,762,0.00,2.47,0.00,0.000,4,0.000,0.051,2141,3362,3918
$GC,786,-1.81,-243.3,152.4,-20.5,78,790,0.00,2.40,0.00,0.000,6,0.000,0.035,2140,1960,3918
$GC,855,-1.81,-243.3,166.6,-19.8,84,860,0.00,2.53,0.00,0.000,4,0.000,0.061,2140,566,3918
$GC,884,-1.81,-243.3,172.2,-20.1,86,888,0.00,2.38,0.00,0.000,6,0.000,0.031,2140,1975,3919
$GC,960,-1.81,-243.3,185.6,-18.3,93,964,0.00,2.47,0.00,0.000,4,0.000,0.052,2140,3369,3919
$GC,977,-1.81,-243.3,189.2,-18.3,94,982,0.00,2.40,0.00,0.000,6,0.000,0.035,2140,1970,3919
$GC,1047,-1.81,-243.3,202.1,-18.6,100,1048,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,1970,3919
$GC,1111,-1.81,-243.3,213.5,-17.7,106,1112,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,1970,3919
$GC,1175,-1.81,-243.3,223.1,-15.0,112,1176,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,1970,3919
$GC,1239,-1.81,-243.3,232.7,-14.9,118,1240,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,1969,3920
$GC,1302,-1.81,-243.3,243.0,-16.3,124,1303,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,1970,3920
$GC,1366,-1.81,-243.3,252.7,-15.1,130,1367,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,1970,3920
$GC,1430,-1.81,-243.3,262.4,-15.2,136,1434,0.00,2.50,0.00,0.000,4,0.000,0.057,2140,3363,3920
$GC,1457,-1.81,-243.3,267.1,-17.3,138,1464,0.00,2.42,0.00,0.000,6,0.000,0.039,2140,1966,3920
$STATE,1482,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1482,begin apogee
$GC,1488,-0.38,0.0,271.6,17.0,141,1696,1.55,0.00,198.10,0.700,6,0.104,0.000,2449,1966,2916
$STATE,1697,end apogee,CONTROL_FINISHED_OK
$STATE,1697,begin climb
$GC,1700,1.81,243.3,281.6,0.0,162,1904,2.22,0.00,197.60,0.683,6,0.059,0.000,2940,1966,1925
$GC,1964,1.91,325.1,261.4,11.6,187,2036,0.00,0.00,69.62,0.662,6,0.000,0.000,2940,1965,1591
$GC,2098,1.96,363.4,244.0,13.4,200,2139,0.12,0.00,33.67,0.648,6,0.048,0.000,2981,1965,1434
$GC,2202,1.96,365.8,228.3,14.9,210,2203,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,1965,1430
$GC,2265,1.96,365.8,218.5,15.7,216,2266,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,1965,1429
$GC,2329,1.96,365.8,208.1,16.3,222,2333,0.00,2.60,0.00,0.000,4,0.000,0.060,2980,3382,1428
$GC,2372,1.96,365.8,201.0,16.1,225,2379,0.00,2.45,0.00,0.000,6,0.000,0.041,2981,1995,1427
$GC,2442,1.96,365.8,190.3,15.5,232,2444,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,1994,1427
$GC,2506,1.96,365.8,180.5,15.4,238,2507,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,1995,1426
$GC,2570,1.96,365.8,170.7,15.3,244,2574,0.00,2.60,0.00,0.000,4,0.000,0.067,2981,586,1425
$GC,2598,1.96,366.6,166.7,15.0,246,2603,0.00,2.42,0.00,0.000,6,0.000,0.035,2981,1993,1424
$GC,2668,2.03,417.9,157.5,12.9,252,2717,0.00,0.00,45.95,0.644,6,0.000,0.000,2981,1992,1213
$GC,2776,2.03,417.9,141.6,15.3,262,2777,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,1992,1209
$GC,2840,2.03,418.8,131.8,15.0,268,2841,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,1992,1208
$GC,2904,2.03,418.8,122.0,15.5,274,2905,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,1992,1206
$GC,2968,2.04,430.8,112.5,14.5,280,2984,0.00,2.55,11.50,0.576,4,0.000,0.056,2981,3392,1159
$GC,3023,2.09,467.9,104.5,13.5,284,3064,0.00,2.45,32.72,0.607,6,0.000,0.037,2981,1989,1009
$GC,3128,2.11,487.2,90.7,14.2,294,3152,0.00,2.53,17.45,0.574,4,0.000,0.062,2980,592,929
$GC,3179,2.11,487.2,82.6,15.3,298,3186,0.00,2.42,0.00,0.000,6,0.000,0.032,2981,2001,927
$GC,3249,2.11,487.2,71.9,15.5,305,3253,0.00,2.50,0.00,0.000,4,0.000,0.055,2981,3386,926
$GC,3293,2.11,487.2,64.5,16.3,308,3300,0.00,2.42,0.00,0.000,6,0.000,0.036,2981,1992,925
$GC,3364,2.18,543.6,55.2,12.7,315,3411,0.17,2.58,38.65,0.579,4,0.039,0.061,3034,592,745
$GC,3503,2.18,543.6,31.2,18.4,327,3507,0.00,2.40,0.00,0.000,6,0.000,0.030,3035,2003,741
$GC,3573,2.18,543.6,17.0,19.7,334,3579,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2003,740
$GC,3648,2.18,543.6,4.0,17.5,347,3655,0.00,2.58,0.00,0.000,4,0.000,0.058,3034,589,740
$STATE,3659,end climb,SURFACE_DEPTH_REACHED
$STATE,3659,begin surface coast
$FINISH,0.7,1.022912
$STATE,3671,end surface coast,CONTROL_FINISHED_OK
$STATE,3671,begin surface
$SM_CCo,3755,0.00,0.000,0,0,737,535.00
$SM_GC,1.11,11.40,0.00,0.00,0.026,0.000,0.000,402,1985,737,-9.78,0.40,535.00
$IRIDIUM_FIX,2148.09,-15945.93,011198,020238
$TT8_MAMPS,0.059826
$HUMID,2032
$INTERNAL_PRESSURE,7.52959
$TCM_TEMP,23.70
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,24.0,22.791
$10V_AH,10.1,10.041
$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,25.800,74.025,645.275,0.000,0.000,22.844,26.689,259.606,0.000,0.000,27.692,15.766,672.505,1642.293,709.584,680.106,515.405,33.346,1201.182,0.000,646.440,0.000,0.000,0.000
$DEVICE_MAMPS,181.779,66.729,699.504,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,237.497,0.000,0.000,0.000,0.000,0.000,92.923,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,9545,351
$CAP_FILE_SIZE,69195,0
$CFSIZE,260165632,248016896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070809,042226,2155.744,-15946.498,12,1.8,12,9.8