version: 66.04
glider: 117
mission: 24
dive: 110
start: 8 8 109 0 31 32
data:
$ID,117
$MISSION,24
$DIVE,110
$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,100
$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,-108632.98
$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,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
$GPS1,001736,2156.615,-15947.236,36,1.3,42,9.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-54.5
$GPS2,003038,2156.818,-15947.641,15,1.4,15,9.8
$SPEED_LIMITS,0.150,0.374
$TGT_NAME,BobNE
$TGT_LATLONG,2154.185,-15941.805
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.342,-0.150
$KALMAN_X,-165669.6,214.0,-553.1,160313.5,-2926.2
$KALMAN_Y,71901.7,-331.8,295.4,-69824.7,1325.2
$MHEAD_RNG_PITCHd_Wd,103.9,11150,-19.7,-15.000
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.81,-243.3,0.0,0.0,0,110,0.00,0.00,-90.65,0.000,2,0.000,0.000,404,2002,3250
$GC,113,-1.81,-243.3,3.2,-5.8,15,139,10.07,0.00,-11.88,0.000,6,0.170,0.000,2140,2003,3911
$GC,207,-1.81,-243.3,28.1,-24.5,28,208,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2004,3912
$GC,269,-1.81,-243.3,43.5,-23.8,34,271,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2004,3912
$GC,333,-1.81,-243.3,56.5,-20.3,40,337,0.00,2.58,0.00,0.000,4,0.000,0.055,2140,563,3912
$GC,384,-1.81,-243.3,67.3,-21.4,44,388,0.00,2.35,0.00,0.000,6,0.000,0.029,2140,1964,3912
$GC,454,-1.81,-243.3,81.5,-20.4,50,458,0.00,2.47,0.00,0.000,4,0.000,0.049,2140,3370,3912
$GC,482,-1.81,-243.3,88.0,-23.0,52,486,0.00,2.40,0.00,0.000,6,0.000,0.034,2141,1966,3912
$GC,552,-1.81,-243.3,102.5,-20.3,58,553,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,1966,3912
$GC,616,-1.81,-243.3,114.1,-17.8,64,620,0.00,2.47,0.00,0.000,4,0.000,0.050,2140,3361,3912
$GC,659,-1.81,-243.3,123.1,-19.9,67,667,0.00,2.38,0.00,0.000,6,0.000,0.035,2140,1971,3913
$GC,730,-1.81,-243.3,136.3,-19.3,74,731,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,1970,3913
$GC,793,-1.81,-243.3,148.3,-18.9,80,795,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,1971,3913
$GC,857,-1.81,-243.3,159.9,-18.5,86,859,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,1971,3913
$GC,921,-1.81,-243.3,170.8,-17.3,92,922,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,1971,3913
$GC,985,-1.81,-243.3,181.5,-16.5,98,986,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,1970,3914
$GC,1049,-1.81,-243.3,191.3,-14.7,104,1050,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,1970,3914
$GC,1112,-1.81,-243.3,200.6,-14.8,110,1117,0.00,2.47,0.00,0.000,4,0.000,0.051,2140,3366,3914
$GC,1145,-1.81,-243.3,206.1,-16.6,112,1152,0.00,2.40,0.00,0.000,6,0.000,0.036,2141,1967,3914
$GC,1215,-1.81,-243.3,218.0,-17.8,119,1216,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,1967,3914
$GC,1279,-1.81,-243.3,229.1,-16.6,125,1280,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,1967,3914
$GC,1343,-1.81,-243.3,239.3,-15.7,131,1344,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,1967,3914
$GC,1407,-1.81,-243.3,248.8,-14.6,137,1408,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,1967,3914
$GC,1470,-1.81,-243.3,257.6,-13.9,143,1472,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,1967,3914
$GC,1534,-1.81,-243.3,268.0,-17.1,149,1535,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,1967,3914
$GC,1598,-1.81,-243.3,278.6,-16.0,155,1602,0.00,2.55,0.00,0.000,4,0.000,0.065,2140,572,3913
$GC,1637,-1.81,-243.3,285.2,-16.6,158,1642,0.00,2.38,0.00,0.000,6,0.000,0.032,2140,1970,3913
$GC,1707,-1.81,-243.3,297.7,-17.9,164,1709,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,1974,3913
$GC,1771,-1.81,-243.3,308.4,-16.8,170,1775,0.00,2.55,0.00,0.000,4,0.000,0.063,2140,573,3912
$GC,1825,-1.81,-243.3,317.3,-16.5,174,1832,0.00,2.38,0.00,0.000,6,0.000,0.034,2140,1966,3912
$GC,2023,-1.81,-243.3,348.0,-15.5,193,2024,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,1971,3911
$GC,2214,-1.81,-243.3,377.5,-15.2,211,2215,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,1971,3909
$GC,2406,-1.81,-243.3,406.0,-14.6,229,2410,0.00,2.55,0.00,0.000,4,0.000,0.061,2140,3369,3907
$GC,2457,-1.81,-243.3,413.4,-14.8,233,2461,0.00,2.45,0.00,0.000,6,0.000,0.041,2140,1965,3906
$GC,2654,-1.81,-243.3,443.0,-15.2,251,2655,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,1965,3904
$STATE,2705,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2705,begin apogee
$GC,2710,-0.38,0.0,451.1,15.6,256,2923,1.58,0.00,206.43,0.863,6,0.107,0.000,2452,1964,2917
$STATE,2924,end apogee,CONTROL_FINISHED_OK
$STATE,2924,begin climb
$GC,2926,1.81,243.3,459.2,0.0,277,3147,2.22,2.70,208.65,0.833,4,0.061,0.064,2939,3396,1925
$GC,3287,1.81,243.3,410.9,17.1,308,3294,0.00,2.50,0.00,0.000,6,0.000,0.042,2939,1991,1917
$GC,3485,1.85,276.5,381.6,13.6,327,3516,0.00,0.00,28.80,0.785,6,0.000,0.000,2939,1991,1789
$GC,3707,1.89,306.3,351.2,13.8,348,3741,0.00,2.62,26.88,0.776,4,0.000,0.061,2939,3390,1667
$GC,3810,1.94,346.5,336.7,13.3,357,3856,0.12,2.47,36.33,0.788,6,0.052,0.042,2976,1992,1503
$GC,4046,1.94,346.5,300.2,15.4,379,4050,0.00,2.62,0.00,0.000,4,0.000,0.071,2976,589,1496
$GC,4074,1.94,346.5,295.8,15.7,381,4078,0.00,2.45,0.00,0.000,6,0.000,0.037,2976,1998,1495
$GC,4143,1.94,346.5,284.7,15.7,387,4145,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2001,1494
$GC,4207,1.94,346.5,275.2,15.2,393,4208,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2002,1493
$GC,4271,1.95,355.4,265.9,14.6,399,4282,0.00,0.00,7.28,0.656,6,0.000,0.000,2975,2002,1468
$GC,4345,1.96,367.3,254.9,14.5,406,4359,0.00,0.00,11.93,0.712,6,0.000,0.000,2976,2003,1419
$GC,4418,1.96,367.3,243.4,16.6,413,4419,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2003,1417
$GC,4482,1.96,367.3,233.2,16.0,419,4483,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2003,1415
$GC,4546,1.96,367.3,222.1,17.1,425,4550,0.00,2.62,0.00,0.000,4,0.000,0.067,2975,588,1415
$GC,4578,1.96,367.3,216.3,17.1,427,4585,0.00,2.45,0.00,0.000,6,0.000,0.036,2976,1998,1414
$GC,4648,1.96,367.3,204.7,17.8,434,4649,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2000,1414
$GC,4712,1.96,367.3,194.3,16.0,440,4716,0.00,2.55,0.00,0.000,4,0.000,0.061,2976,3396,1413
$GC,4763,2.02,414.0,187.0,13.1,444,4810,0.00,2.47,40.95,0.729,6,0.000,0.040,2976,1990,1229
$GC,4871,2.02,414.0,172.7,15.2,454,4876,0.00,2.60,0.00,0.000,4,0.000,0.067,2978,589,1225
$GC,4904,2.02,414.0,166.6,18.2,456,4911,0.00,2.45,0.00,0.000,6,0.000,0.035,2976,2003,1224
$GC,4974,2.02,414.0,155.5,15.5,463,4976,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2003,1223
$GC,5039,2.04,429.3,146.1,14.4,469,5058,0.00,0.00,13.68,0.659,6,0.000,0.000,2976,2007,1166
$GC,5122,2.05,435.6,134.0,14.7,477,5135,0.00,2.65,6.50,0.570,4,0.000,0.062,2975,582,1140
$GC,5181,2.05,435.6,124.0,18.2,482,5185,0.00,2.45,0.00,0.000,6,0.000,0.033,2976,2003,1139
$GC,5251,2.05,435.6,112.2,16.8,488,5252,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2003,1138
$GC,5314,2.05,435.6,101.4,17.3,494,5315,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2003,1138
$GC,5378,2.05,435.6,90.4,17.5,500,5382,0.00,2.53,0.00,0.000,4,0.000,0.058,2976,3397,1137
$GC,5417,2.05,435.6,83.3,18.4,503,5421,0.00,2.45,0.00,0.000,6,0.000,0.037,2976,1990,1137
$GC,5487,2.05,435.6,72.3,16.0,509,5491,0.00,2.58,0.00,0.000,4,0.000,0.063,2976,582,1136
$GC,5515,2.05,435.6,67.7,17.0,511,5519,0.00,2.42,0.00,0.000,6,0.000,0.031,2976,2002,1136
$GC,5585,2.05,435.6,57.0,15.2,517,5589,0.00,2.50,0.00,0.000,4,0.000,0.056,2976,3390,1136
$GC,5614,2.05,435.6,52.8,15.4,519,5619,0.00,2.42,0.00,0.000,6,0.000,0.035,2976,1991,1135
$GC,5685,2.07,457.4,42.7,14.1,525,5709,0.00,2.65,19.20,0.612,4,0.000,0.061,2976,585,1051
$GC,5778,2.15,519.5,30.2,12.4,533,5838,0.15,2.40,53.08,0.595,6,0.040,0.030,3025,2003,798
$GC,5906,2.15,519.5,10.2,17.8,549,5912,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2003,796
$STATE,5955,end climb,SURFACE_DEPTH_REACHED
$STATE,5955,begin surface coast
$FINISH,0.4,1.022989
$STATE,5968,end surface coast,CONTROL_FINISHED_OK
$STATE,5968,begin surface
$SM_CCo,6051,0.00,0.000,0,0,791,521.51
$SM_GC,1.20,11.48,0.00,0.00,0.030,0.000,0.000,403,1952,791,-9.78,-0.51,521.51
$IRIDIUM_FIX,2145.77,-15955.46,021198,000034
$TT8_MAMPS,0.056758
$HUMID,2073
$INTERNAL_PRESSURE,7.50029
$TCM_TEMP,23.50
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.9,24.801
$10V_AH,10.1,10.938
$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,25.625,89.975,659.675,0.000,0.000,73.928,117.568,342.905,0.000,0.000,130.436,15.915,1098.093,3193.276,712.905,1057.045,788.266,33.335,1406.995,0.000,1021.806,0.000,0.000,0.000
$DEVICE_MAMPS,170.274,162.604,862.875,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,383.614,0.000,0.000,0.000,0.000,0.000,162.386,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,18974,560
$CAP_FILE_SIZE,96593,0
$CFSIZE,260165632,247029760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080809,021307,2156.960,-15947.228,9,1.6,10,9.8