version: 66.04
glider: 117
mission: 24
dive: 17
start: 7 31 109 1 35 45
data:
$ID,117
$MISSION,24
$DIVE,17
$D_SURF,2
$D_FLARE,3
$D_TGT,660
$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,220
$T_MISSION,275
$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,30
$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,350
$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,-106715.3
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,409
$PITCH_MAX,3715
$C_PITCH,2552
$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,1905
$C_ROLL_CLIMB,1990
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,36
$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
$GPS1,012507,2150.843,-15942.801,40,1.3,40,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-50.6
$GPS2,013455,2150.910,-15942.943,14,1.4,31,9.8
$SPEED_LIMITS,0.173,0.326
$TGT_NAME,T2
$TGT_LATLONG,2150.420,-15941.560
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.310,-0.100
$KALMAN_X,-14512.3,-1019.0,168.5,17716.0,-2692.6
$KALMAN_Y,3956.8,195.9,28.4,-13070.3,780.4
$MHEAD_RNG_PITCHd_Wd,98.0,2547,-13.9,-10.000
$D_GRID,660
$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,-1.37,-243.3,0.0,0.0,0,117,0.00,0.00,-97.25,0.000,2,0.000,0.000,405,1908,3356
$GC,120,-1.37,-243.3,3.9,-8.6,16,148,11.57,2.55,-9.05,0.000,4,0.196,0.072,2249,509,3911
$GC,209,-1.37,-243.3,26.3,-16.6,28,216,0.00,2.38,0.00,0.000,6,0.000,0.031,2249,1907,3912
$GC,406,-1.37,-243.3,60.7,-18.0,47,411,0.00,2.47,0.00,0.000,4,0.000,0.049,2249,3304,3912
$GC,424,-1.37,-243.3,63.8,-18.3,48,428,0.00,2.38,0.00,0.000,6,0.000,0.033,2249,1919,3912
$GC,750,-1.37,-243.3,112.8,-14.2,78,751,0.00,0.00,0.00,0.000,6,0.000,0.000,2249,1919,3914
$GC,1067,-1.37,-243.3,155.9,-13.0,108,1068,0.00,0.00,0.00,0.000,6,0.000,0.000,2249,1919,3915
$GC,1385,-1.37,-243.3,193.3,-11.6,138,1390,0.00,2.47,0.00,0.000,4,0.000,0.053,2249,3299,3915
$GC,1440,-1.37,-243.3,200.3,-12.6,142,1448,0.00,2.42,0.00,0.000,6,0.000,0.038,2249,1899,3915
$GC,1767,-1.37,-243.3,237.8,-11.1,173,1771,0.00,2.53,0.00,0.000,4,0.000,0.055,2249,3304,3915
$GC,1800,-1.37,-243.3,242.0,-11.6,175,1807,0.00,2.42,0.00,0.000,6,0.000,0.038,2249,1907,3915
$GC,2127,-1.37,-243.3,280.8,-12.4,206,2131,0.00,2.53,0.00,0.000,4,0.000,0.058,2249,3303,3916
$GC,2166,-1.37,-243.3,285.7,-12.4,209,2170,0.00,2.45,0.00,0.000,6,0.000,0.039,2249,1896,3916
$GC,2492,-1.37,-243.3,322.5,-11.0,239,2493,0.00,0.00,0.00,0.000,6,0.000,0.000,2249,1896,3915
$GC,2809,-1.37,-243.3,357.4,-11.5,269,2810,0.00,0.00,0.00,0.000,6,0.000,0.000,2249,1896,3914
$GC,3127,-1.37,-243.3,393.4,-10.5,299,3132,0.00,2.58,0.00,0.000,4,0.000,0.066,2249,3295,3911
$GC,3223,-1.37,-243.3,404.0,-10.8,307,3228,0.00,2.45,0.00,0.000,6,0.000,0.044,2249,1906,3910
$GC,3550,-1.37,-243.3,434.6,-8.8,337,3554,0.00,2.55,0.00,0.000,4,0.000,0.066,2249,3295,3907
$GC,3582,-1.37,-243.3,437.9,-9.3,339,3589,0.00,2.47,0.00,0.000,6,0.000,0.046,2249,1902,3907
$GC,3908,-1.37,-243.3,470.1,-10.7,370,3913,0.00,2.67,0.00,0.000,4,0.000,0.083,2249,495,3905
$GC,3952,-1.37,-243.3,475.2,-10.9,373,3959,0.00,2.47,0.00,0.000,6,0.000,0.043,2249,1903,3905
$GC,4279,-1.37,-243.3,510.5,-10.7,404,4283,0.00,2.58,0.00,0.000,4,0.000,0.067,2249,3302,3901
$GC,4322,-1.37,-243.3,515.7,-11.2,407,4329,0.00,2.50,0.00,0.000,6,0.000,0.048,2249,1901,3901
$GC,4649,-1.37,-243.3,548.0,-9.5,438,4653,0.00,2.60,0.00,0.000,4,0.000,0.067,2249,3305,3898
$GC,4704,-1.37,-243.3,553.5,-9.2,442,4711,0.00,2.50,0.00,0.000,6,0.000,0.048,2249,1905,3898
$GC,5030,-1.37,-243.3,584.8,-10.5,473,5035,0.00,2.60,0.00,0.000,4,0.000,0.067,2249,3311,3895
$GC,5115,-1.37,-243.3,594.4,-11.8,480,5119,0.00,2.53,0.00,0.000,6,0.000,0.049,2249,1899,3894
$GC,5441,-1.37,-243.3,630.7,-11.0,510,5445,0.00,2.60,0.00,0.000,4,0.000,0.067,2249,3304,3890
$GC,5484,-1.37,-243.3,635.6,-10.5,513,5491,0.00,2.50,0.00,0.000,6,0.000,0.049,2249,1905,3890
$STATE,5722,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5722,begin apogee
$GC,5728,-0.38,0.0,660.2,9.8,536,5949,1.05,0.00,215.27,1.075,6,0.097,0.000,2460,1993,2917
$STATE,5950,end apogee,CONTROL_FINISHED_OK
$STATE,5950,begin climb
$GC,5953,1.37,243.3,669.1,0.0,558,6191,1.85,2.70,222.45,1.028,4,0.070,0.071,2848,3382,1924
$GC,6253,1.37,246.2,647.3,9.9,584,6260,0.00,2.53,0.00,0.000,6,0.000,0.049,2848,1990,1919
$GC,6579,1.42,288.4,616.4,8.8,615,6630,0.00,2.70,42.00,0.999,4,0.000,0.071,2848,3392,1741
$GC,6646,1.45,312.8,610.0,9.3,621,6677,0.00,2.55,24.48,0.970,6,0.000,0.049,2848,1990,1641
$GC,6994,1.46,320.9,577.1,9.8,654,7005,0.10,0.00,7.72,0.849,6,0.061,0.000,2878,1990,1608
$GC,7324,1.46,320.9,539.4,11.5,685,7328,0.00,2.62,0.00,0.000,4,0.000,0.071,2878,3387,1605
$GC,7385,1.46,320.9,532.3,11.2,690,7390,0.00,2.53,0.00,0.000,6,0.000,0.050,2878,1989,1604
$GC,7713,1.50,348.5,500.6,9.2,720,7742,0.00,0.00,26.77,0.969,6,0.000,0.000,2878,1989,1496
$GC,8060,1.51,357.3,468.0,9.8,753,8071,0.00,0.00,8.88,0.858,6,0.000,0.000,2878,1989,1460
$GC,8389,1.51,357.3,432.0,11.5,784,8393,0.00,2.70,0.00,0.000,4,0.000,0.085,2878,582,1457
$GC,8439,1.51,357.3,425.8,11.2,788,8444,0.00,2.53,0.00,0.000,6,0.000,0.047,2878,1997,1456
$GC,8765,1.51,357.3,390.7,11.1,818,8770,0.00,2.60,0.00,0.000,4,0.000,0.072,2878,3388,1455
$GC,8832,1.51,357.3,382.8,11.7,823,8839,0.00,2.50,0.00,0.000,6,0.000,0.048,2878,1991,1455
$GC,9158,1.51,357.3,348.0,11.1,854,9159,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,1991,1454
$GC,9476,1.51,357.3,313.3,11.3,884,9480,0.00,2.67,0.00,0.000,4,0.000,0.081,2878,584,1453
$GC,9526,1.51,357.3,307.3,12.3,888,9530,0.00,2.50,0.00,0.000,6,0.000,0.044,2878,1999,1453
$GC,9852,1.51,357.3,267.9,12.0,918,9856,0.00,2.58,0.00,0.000,4,0.000,0.067,2878,3389,1453
$GC,9907,1.51,357.3,261.3,11.6,922,9914,0.00,2.50,0.00,0.000,6,0.000,0.044,2878,1983,1453
$GC,10233,1.56,400.4,231.2,8.8,953,10280,0.00,2.62,39.33,0.802,4,0.000,0.074,2878,581,1283
$GC,10337,1.56,400.4,221.1,10.1,962,10341,0.00,2.50,0.00,0.000,6,0.000,0.040,2878,1999,1280
$GC,10661,1.56,400.4,185.7,12.0,992,10666,0.00,2.65,0.00,0.000,4,0.000,0.069,2878,584,1277
$GC,10694,1.56,400.4,181.4,12.8,994,10701,0.00,2.50,0.00,0.000,6,0.000,0.038,2878,2003,1276
$GC,11020,1.57,405.0,146.3,9.9,1025,11032,0.00,2.55,3.92,0.480,4,0.000,0.062,2878,3386,1266
$GC,11056,1.57,405.0,142.1,11.4,1028,11060,0.00,2.47,0.00,0.000,6,0.000,0.039,2877,1979,1266
$GC,11381,1.60,435.0,109.1,9.2,1058,11416,0.10,2.58,28.27,0.662,4,0.051,0.067,2916,578,1142
$GC,11485,1.60,435.0,97.5,12.7,1067,11489,0.00,2.45,0.00,0.000,6,0.000,0.035,2916,1994,1139
$GC,11810,1.64,462.5,67.0,9.2,1097,11844,0.00,2.70,24.17,0.607,4,0.000,0.063,2916,584,1030
$GC,11867,1.64,462.5,61.1,10.8,1102,11871,0.00,2.45,0.00,0.000,6,0.000,0.034,2916,2001,1029
$GC,12194,1.66,480.8,29.1,9.5,1132,12217,0.00,2.47,16.95,0.551,4,0.000,0.055,2916,3383,955
$GC,12241,1.66,480.8,23.4,11.3,1136,12245,0.00,2.42,0.00,0.000,6,0.000,0.035,2916,1986,954
$GC,12447,1.70,511.3,2.7,9.2,1169,12455,0.00,0.00,5.97,0.443,2,0.000,0.000,2916,1986,927
$STATE,12455,end climb,SURFACE_DEPTH_REACHED
$STATE,12455,begin surface coast
$FINISH,0.5,1.023022
$STATE,12472,end surface coast,CONTROL_FINISHED_OK
$STATE,12472,begin surface
$SM_CCo,12553,0.00,0.000,0,0,925,488.88
$SM_GC,1.22,10.98,0.00,0.00,0.029,0.000,0.000,407,1898,925,-9.82,-0.23,488.88
$IRIDIUM_FIX,2141.13,-15941.58,241098,232313
$TT8_MAMPS,0.059826
$HUMID,1944
$INTERNAL_PRESSURE,7.50029
$TCM_TEMP,24.50
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.6,8.833
$10V_AH,10.1,3.725
$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,25.650,127.050,666.200,0.000,0.000,24.858,28.380,367.029,0.000,0.000,409.132,31.830,2139.751,7475.856,751.916,2021.743,754.837,33.344,1836.856,0.000,1948.244,0.000,0.000,0.000
$DEVICE_MAMPS,196.352,85.137,1075.334,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,825.924,0.000,0.000,0.000,0.000,0.000,159.198,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,37839,1173
$CAP_FILE_SIZE,123545,0
$CFSIZE,260165632,255430656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310709,050607,2150.616,-15941.784,35,1.2,35,9.8