version: 66.04
glider: 117
mission: 24
dive: 105
start: 8 7 109 19 33 24
data:
$ID,117
$MISSION,24
$DIVE,105
$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,120
$T_MISSION,150
$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,-108554.2
$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,27
$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
$GPS1,191506,2155.410,-15944.165,11,1.5,27,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-54.2
$GPS2,193232,2155.622,-15944.646,16,1.5,16,9.8
$SPEED_LIMITS,0.125,0.352
$TGT_NAME,BobNE
$TGT_LATLONG,2154.185,-15941.805
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.316,-0.157
$KALMAN_X,-159329.3,1975.4,161.7,156610.1,-3186.0
$KALMAN_Y,69033.5,-991.5,-127.7,-68070.2,1627.2
$MHEAD_RNG_PITCHd_Wd,106.6,5561,-16.9,-12.500
$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,-1.60,-243.3,0.0,0.0,0,119,0.00,0.00,-97.07,0.000,2,0.000,0.000,403,1997,3329
$GC,122,-1.60,-243.3,3.8,-7.9,16,148,10.68,0.00,-9.73,0.000,6,0.179,0.000,2189,1997,3911
$GC,220,-1.60,-243.3,30.5,-22.2,29,221,0.00,0.00,0.00,0.000,6,0.000,0.000,2189,1997,3912
$GC,283,-1.60,-243.3,44.6,-22.0,35,284,0.00,0.00,0.00,0.000,6,0.000,0.000,2189,1998,3913
$GC,347,-1.60,-243.3,58.6,-22.2,41,348,0.00,0.00,0.00,0.000,6,0.000,0.000,2189,1998,3912
$GC,411,-1.60,-243.3,71.8,-20.8,47,412,0.00,0.00,0.00,0.000,6,0.000,0.000,2189,1998,3912
$GC,474,-1.60,-243.3,82.7,-16.4,53,476,0.00,0.00,0.00,0.000,6,0.000,0.000,2189,1998,3912
$GC,538,-1.60,-243.3,93.8,-17.3,59,542,0.00,2.40,0.00,0.000,4,0.000,0.044,2189,3361,3913
$GC,567,-1.60,-243.3,99.9,-22.0,61,571,0.00,2.40,0.00,0.000,6,0.000,0.032,2189,1956,3913
$GC,637,-1.60,-243.3,113.6,-19.0,67,641,0.00,2.47,0.00,0.000,4,0.000,0.047,2189,3357,3913
$GC,664,-1.60,-243.3,119.0,-19.6,69,669,0.00,2.38,0.00,0.000,6,0.000,0.031,2189,1966,3913
$GC,734,-1.60,-243.3,132.0,-18.5,75,739,0.00,2.53,0.00,0.000,4,0.000,0.058,2189,567,3914
$GC,767,-1.60,-243.3,138.0,-17.4,77,774,0.00,2.38,0.00,0.000,6,0.000,0.028,2189,1976,3914
$GC,837,-1.60,-243.3,149.5,-16.9,84,839,0.00,0.00,0.00,0.000,6,0.000,0.000,2189,1976,3914
$GC,901,-1.60,-243.3,160.3,-16.2,90,905,0.00,2.45,0.00,0.000,4,0.000,0.049,2189,3362,3914
$GC,940,-1.60,-243.3,166.9,-17.2,93,944,0.00,2.38,0.00,0.000,6,0.000,0.032,2189,1971,3914
$GC,1010,-1.60,-243.3,178.6,-17.5,99,1011,0.00,0.00,0.00,0.000,6,0.000,0.000,2189,1970,3915
$GC,1074,-1.60,-243.3,189.2,-16.4,105,1075,0.00,0.00,0.00,0.000,6,0.000,0.000,2189,1970,3916
$GC,1137,-1.60,-243.3,198.9,-15.8,111,1138,0.00,0.00,0.00,0.000,6,0.000,0.000,2189,1970,3916
$GC,1201,-1.60,-243.3,209.1,-15.8,117,1205,0.00,2.45,0.00,0.000,4,0.000,0.050,2191,3359,3916
$GC,1235,-1.60,-243.3,214.5,-16.1,120,1239,0.00,2.40,0.00,0.000,6,0.000,0.034,2189,1961,3916
$GC,1305,-1.60,-243.3,225.3,-15.4,126,1306,0.00,0.00,0.00,0.000,6,0.000,0.000,2189,1961,3916
$GC,1369,-1.60,-243.3,234.5,-14.0,132,1373,0.00,2.55,0.00,0.000,4,0.000,0.062,2189,562,3916
$GC,1436,-1.60,-243.3,244.3,-14.2,137,1443,0.00,2.38,0.00,0.000,6,0.000,0.030,2189,1967,3916
$GC,1505,-1.60,-243.3,254.2,-14.3,144,1507,0.00,0.00,0.00,0.000,6,0.000,0.000,2189,1967,3916
$GC,1569,-1.60,-243.3,263.6,-14.9,150,1570,0.00,0.00,0.00,0.000,6,0.000,0.000,2189,1967,3916
$GC,1633,-1.60,-243.3,273.3,-15.3,156,1634,0.00,0.00,0.00,0.000,6,0.000,0.000,2189,1967,3916
$GC,1697,-1.60,-243.3,282.7,-14.8,162,1701,0.00,2.50,0.00,0.000,4,0.000,0.055,2189,3361,3916
$GC,1725,-1.60,-243.3,286.8,-15.2,164,1729,0.00,2.40,0.00,0.000,6,0.000,0.037,2189,1973,3916
$GC,1795,-1.60,-243.3,297.2,-15.4,170,1796,0.00,0.00,0.00,0.000,6,0.000,0.000,2189,1973,3916
$GC,1859,-1.60,-243.3,306.5,-14.2,176,1863,0.00,2.58,0.00,0.000,4,0.000,0.065,2189,567,3916
$GC,1891,-1.60,-243.3,311.2,-14.5,178,1898,0.00,2.40,0.00,0.000,6,0.000,0.032,2189,1973,3916
$GC,2089,-1.60,-243.3,337.6,-13.0,197,2090,0.00,0.00,0.00,0.000,6,0.000,0.000,2189,1977,3915
$GC,2280,-1.60,-243.3,363.6,-13.9,215,2281,0.00,0.00,0.00,0.000,6,0.000,0.000,2189,1977,3914
$GC,2471,-1.60,-243.3,391.2,-14.8,233,2475,0.00,2.60,0.00,0.000,4,0.000,0.066,2189,563,3912
$GC,2514,-1.60,-243.3,397.8,-14.7,236,2521,0.00,2.42,0.00,0.000,6,0.000,0.035,2189,1976,3912
$GC,2712,-1.60,-243.3,424.4,-13.5,255,2713,0.00,0.00,0.00,0.000,6,0.000,0.000,2189,1976,3910
$GC,2903,-1.60,-243.3,447.6,-11.4,273,2904,0.00,0.00,0.00,0.000,6,0.000,0.000,2189,1976,3909
$STATE,2922,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2922,begin apogee
$GC,2927,-0.38,0.0,450.2,12.2,275,3146,1.33,0.00,209.02,0.861,6,0.100,0.000,2454,1977,2916
$STATE,3147,end apogee,CONTROL_FINISHED_OK
$STATE,3147,begin climb
$GC,3149,1.60,243.3,458.2,0.0,297,3371,2.00,2.65,209.85,0.840,4,0.063,0.064,2891,3388,1924
$GC,3519,1.65,285.6,427.8,11.0,329,3565,0.00,2.47,37.78,0.804,6,0.000,0.043,2891,1997,1752
$GC,3757,1.76,369.7,404.5,9.6,351,3837,0.15,0.00,75.75,0.826,6,0.051,0.000,2934,1997,1409
$GC,4026,1.76,369.7,370.6,12.5,377,4027,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,1997,1402
$GC,4218,1.78,386.7,347.4,11.9,395,4238,0.00,0.00,15.05,0.756,6,0.000,0.000,2934,1997,1339
$GC,4428,1.78,386.7,318.9,13.9,415,4433,0.00,2.65,0.00,0.000,4,0.000,0.071,2933,585,1334
$GC,4468,1.78,386.7,313.3,14.4,418,4473,0.00,2.47,0.00,0.000,6,0.000,0.038,2934,1996,1334
$GC,4666,1.78,386.7,286.9,13.6,436,4670,0.00,2.58,0.00,0.000,4,0.000,0.063,2934,3398,1332
$GC,4693,1.78,386.7,283.3,13.3,438,4698,0.00,2.50,0.00,0.000,6,0.000,0.042,2934,1990,1332
$GC,4764,1.78,386.7,274.5,12.6,444,4765,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,1989,1332
$GC,4827,1.78,386.7,266.3,13.1,450,4828,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,1989,1332
$GC,4891,1.78,386.7,257.1,14.4,456,4892,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,1990,1332
$GC,4954,1.78,386.7,248.0,14.1,462,4956,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,1990,1331
$GC,5018,1.78,386.7,239.1,14.1,468,5019,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,1989,1331
$GC,5082,1.78,386.7,230.6,13.5,474,5086,0.00,2.60,0.00,0.000,4,0.000,0.069,2934,591,1331
$GC,5121,1.78,386.7,225.4,13.1,477,5126,0.00,2.45,0.00,0.000,6,0.000,0.036,2934,2004,1330
$GC,5191,1.78,386.7,216.2,13.3,483,5192,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2004,1330
$GC,5255,1.78,386.7,208.1,12.5,489,5259,0.00,2.53,0.00,0.000,4,0.000,0.060,2934,3389,1329
$GC,5287,1.79,395.6,204.1,12.2,491,5300,0.00,2.47,7.38,0.650,6,0.000,0.040,2934,1984,1305
$GC,5364,1.84,440.1,195.9,11.0,498,5407,0.00,0.00,41.47,0.737,6,0.000,0.000,2934,1984,1122
$GC,5467,1.84,440.1,183.1,13.2,508,5471,0.00,2.60,0.00,0.000,4,0.000,0.066,2936,585,1118
$GC,5499,1.84,440.1,178.5,13.4,510,5506,0.00,2.45,0.00,0.000,6,0.000,0.035,2934,1995,1117
$GC,5569,1.84,440.1,169.0,14.7,517,5570,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,1996,1115
$GC,5633,1.84,440.1,159.7,14.4,523,5637,0.00,2.53,0.00,0.000,4,0.000,0.057,2934,3389,1114
$GC,5661,1.84,440.1,155.9,13.7,525,5665,0.00,2.45,0.00,0.000,6,0.000,0.038,2934,1989,1115
$GC,5731,1.84,440.1,146.8,12.6,531,5735,0.00,2.58,0.00,0.000,4,0.000,0.063,2934,588,1114
$GC,5763,1.85,446.8,142.4,12.3,533,5775,0.00,2.45,6.05,0.567,6,0.000,0.033,2934,2009,1095
$GC,5840,1.85,446.8,132.9,13.1,540,5841,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2009,1094
$GC,5904,1.92,503.4,126.1,10.6,546,5960,0.12,2.65,50.00,0.671,4,0.048,0.058,2975,589,863
$GC,5995,1.92,503.4,115.2,13.1,554,5999,0.00,2.42,0.00,0.000,6,0.000,0.031,2975,1996,861
$GC,6065,1.92,503.4,104.0,15.7,560,6069,0.00,2.53,0.00,0.000,4,0.000,0.054,2975,3394,859
$GC,6093,1.92,503.4,99.8,15.1,562,6097,0.00,2.45,0.00,0.000,6,0.000,0.035,2975,1988,859
$GC,6163,1.92,503.4,88.2,17.3,568,6164,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,1988,858
$GC,6226,1.92,503.4,78.9,13.4,574,6231,0.00,2.55,0.00,0.000,4,0.000,0.060,2975,592,857
$GC,6270,1.92,503.4,72.5,15.5,577,6277,0.00,2.40,0.00,0.000,6,0.000,0.030,2975,1997,857
$GC,6340,1.92,503.4,62.4,14.7,584,6345,0.00,2.50,0.00,0.000,4,0.000,0.054,2976,3385,856
$GC,6373,1.92,503.4,57.1,15.6,586,6380,0.00,2.42,0.00,0.000,6,0.000,0.034,2975,1985,856
$GC,6443,1.92,503.4,46.9,14.9,593,6445,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,1985,856
$GC,6507,1.92,503.4,37.6,14.6,599,6511,0.00,2.53,0.00,0.000,4,0.000,0.059,2975,586,856
$GC,6546,1.92,503.4,31.8,15.2,602,6550,0.00,2.40,0.00,0.000,6,0.000,0.028,2975,2004,856
$GC,6616,1.92,503.4,22.3,13.4,608,6617,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2004,856
$GC,6682,1.92,503.4,13.0,14.6,618,6688,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2004,856
$GC,6756,1.92,503.4,3.0,14.1,631,6763,0.00,2.58,0.00,0.000,4,0.000,0.058,2975,590,856
$STATE,6767,end climb,SURFACE_DEPTH_REACHED
$STATE,6767,begin surface coast
$FINISH,0.4,1.022677
$STATE,6779,end surface coast,CONTROL_FINISHED_OK
$STATE,6780,begin surface
$SM_CCo,6864,0.00,0.000,0,0,855,506.05
$SM_GC,1.17,11.23,0.00,0.00,0.030,0.000,0.000,404,1988,855,-9.77,0.51,506.05
$IRIDIUM_FIX,2148.09,-15942.95,011198,191955
$TT8_MAMPS,0.062127
$HUMID,1969
$INTERNAL_PRESSURE,7.50029
$TCM_TEMP,24.20
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.3,24.092
$10V_AH,10.1,10.672
$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,25.500,114.275,652.350,0.000,0.000,55.382,54.215,672.433,0.000,0.000,51.463,16.265,1246.903,3637.054,739.072,1187.372,1098.521,33.366,1492.524,0.000,1127.920,0.000,0.000,0.000
$DEVICE_MAMPS,178.711,70.564,861.341,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,437.742,0.000,0.000,0.000,0.000,0.000,259.629,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,18993,635
$CAP_FILE_SIZE,115387,0
$CFSIZE,260165632,247332864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070809,212901,2155.703,-15944.627,38,1.4,39,9.8