version: 66.04
glider: 117
mission: 24
dive: 18
start: 7 31 109 5 19 1
data:
$ID,117
$MISSION,24
$DIVE,18
$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,-106731.3
$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,24
$R_STBD_OVSHOOT,34
$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
$GPS1,050607,2150.616,-15941.784,35,1.2,35,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-55.5
$GPS2,051808,2150.575,-15942.050,15,1.6,15,9.8
$SPEED_LIMITS,0.173,0.326
$TGT_NAME,T0
$TGT_LATLONG,2154.000,-15942.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.221,0.240
$KALMAN_X,-17760.1,-439.4,272.5,21809.8,-2858.3
$KALMAN_Y,4891.8,68.6,-81.7,-14384.7,898.0
$MHEAD_RNG_PITCHd_Wd,32.8,6343,-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,-243.3,0.0,0.0,0,110,0.00,0.00,-90.90,0.000,2,0.000,0.000,407,1897,3351
$GC,114,-1.37,-243.3,3.8,-7.6,15,141,11.50,2.50,-9.15,0.000,4,0.194,0.058,2249,3298,3913
$GC,210,-1.37,-243.3,28.5,-17.8,27,214,0.00,2.40,0.00,0.000,6,0.000,0.034,2249,1905,3913
$GC,407,-1.37,-243.3,63.3,-16.7,45,411,0.00,2.47,0.00,0.000,4,0.000,0.048,2249,3300,3914
$GC,439,-1.37,-243.3,68.5,-14.8,47,446,0.00,2.40,0.00,0.000,6,0.000,0.033,2249,1903,3914
$GC,764,-1.37,-243.3,115.1,-13.3,78,766,0.00,0.00,0.00,0.000,6,0.000,0.000,2249,1903,3916
$GC,1083,-1.37,-243.3,155.9,-12.8,108,1088,0.00,2.50,0.00,0.000,4,0.000,0.051,2249,3303,3917
$GC,1124,-1.37,-243.3,161.0,-12.8,111,1129,0.00,2.42,0.00,0.000,6,0.000,0.036,2249,1898,3917
$GC,1452,-1.37,-243.3,199.2,-11.7,141,1456,0.00,2.50,0.00,0.000,4,0.000,0.053,2249,3297,3917
$GC,1525,-1.37,-243.3,207.7,-11.7,147,1529,0.00,2.42,0.00,0.000,6,0.000,0.037,2248,1897,3917
$GC,1851,-1.37,-243.3,245.2,-11.6,177,1855,0.00,2.58,0.00,0.000,4,0.000,0.071,2249,504,3917
$GC,1905,-1.37,-243.3,251.8,-11.7,181,1913,0.00,2.40,0.00,0.000,6,0.000,0.035,2249,1902,3917
$GC,2232,-1.37,-243.3,286.0,-10.7,212,2236,0.00,2.53,0.00,0.000,4,0.000,0.059,2249,3302,3917
$GC,2408,-1.37,-243.3,304.7,-10.4,227,2412,0.00,2.45,0.00,0.000,6,0.000,0.041,2248,1903,3916
$GC,2740,-1.37,-243.3,336.3,-8.9,258,2741,0.00,0.00,0.00,0.000,6,0.000,0.000,2249,1903,3915
$GC,3057,-1.37,-243.3,365.4,-8.7,288,3058,0.00,0.00,0.00,0.000,6,0.000,0.000,2249,1903,3912
$GC,3375,-1.37,-243.3,393.1,-8.8,318,3380,0.00,2.58,0.00,0.000,4,0.000,0.064,2249,3304,3910
$GC,3415,-1.37,-243.3,396.6,-8.8,321,3420,0.00,2.47,0.00,0.000,6,0.000,0.044,2249,1904,3909
$GC,3742,-1.37,-243.3,426.3,-10.1,351,3746,0.00,2.58,0.00,0.000,4,0.000,0.064,2249,3304,3906
$GC,3852,-1.37,-243.3,438.3,-10.6,360,3860,0.00,2.50,0.00,0.000,6,0.000,0.045,2249,1895,3905
$GC,4179,-1.37,-243.3,472.2,-11.0,391,4184,0.00,2.65,0.00,0.000,4,0.000,0.082,2249,498,3903
$GC,4234,-1.37,-243.3,478.8,-11.7,395,4241,0.00,2.47,0.00,0.000,6,0.000,0.042,2249,1913,3902
$GC,4561,-1.37,-243.3,512.6,-9.3,426,4562,0.00,0.00,0.00,0.000,6,0.000,0.000,2249,1913,3900
$GC,4877,-1.37,-243.3,538.4,-8.2,456,4881,0.00,2.58,0.00,0.000,4,0.000,0.067,2249,3309,3897
$GC,4955,-1.37,-243.3,544.8,-8.4,462,4962,0.00,2.50,0.00,0.000,6,0.000,0.048,2249,1903,3896
$GC,5282,-1.37,-243.3,575.0,-9.4,493,5286,0.00,2.60,0.00,0.000,4,0.000,0.065,2249,3310,3894
$GC,5348,-1.37,-243.3,582.0,-10.1,498,5355,0.00,2.53,0.00,0.000,6,0.000,0.048,2249,1895,3893
$GC,5675,-1.37,-243.3,611.2,-7.8,529,5679,0.00,2.65,0.00,0.000,4,0.000,0.082,2249,501,3890
$GC,5748,-1.37,-243.3,617.3,-7.6,535,5752,0.00,2.47,0.00,0.000,6,0.000,0.044,2249,1906,3890
$GC,6075,-1.37,-243.3,645.8,-8.8,565,6079,0.00,2.58,0.00,0.000,4,0.000,0.068,2249,3300,3889
$GC,6185,-1.37,-243.3,656.9,-10.7,574,6192,0.00,2.50,0.00,0.000,6,0.000,0.048,2249,1899,3887
$STATE,6221,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6221,begin apogee
$GC,6228,-0.38,0.0,660.5,10.1,578,6449,1.05,0.00,215.80,1.075,6,0.098,0.000,2461,2002,2917
$STATE,6450,end apogee,CONTROL_FINISHED_OK
$STATE,6450,begin climb
$GC,6452,1.37,243.3,671.2,0.0,600,6692,1.83,2.67,222.77,1.032,4,0.068,0.068,2845,3378,1924
$GC,6776,1.44,300.8,652.8,8.4,628,6839,0.00,2.53,54.83,0.998,6,0.000,0.048,2845,1985,1690
$GC,7157,1.44,300.8,613.3,10.9,664,7161,0.00,2.65,0.00,0.000,4,0.000,0.069,2845,3390,1681
$GC,7200,1.44,300.8,608.4,10.6,667,7207,0.00,2.53,0.00,0.000,6,0.000,0.048,2845,1990,1681
$GC,7527,1.46,315.1,576.9,9.6,698,7551,0.10,2.78,12.82,0.937,4,0.059,0.079,2873,585,1632
$GC,7585,1.46,315.1,570.2,12.0,703,7590,0.00,2.53,0.00,0.000,6,0.000,0.046,2873,1996,1631
$GC,7911,1.46,315.1,533.1,11.5,733,7916,0.00,2.62,0.00,0.000,4,0.000,0.071,2875,3395,1628
$GC,7966,1.46,315.1,525.9,12.7,737,7974,0.00,2.55,0.00,0.000,6,0.000,0.049,2873,1981,1627
$GC,8293,1.47,326.0,491.4,9.7,768,8309,0.00,2.67,10.77,0.907,4,0.000,0.068,2873,3387,1588
$GC,8332,1.47,326.0,487.3,10.3,771,8337,0.00,2.53,0.00,0.000,6,0.000,0.048,2873,1990,1588
$GC,8659,1.47,326.0,453.3,11.5,801,8663,0.00,2.62,0.00,0.000,4,0.000,0.069,2873,3393,1586
$GC,8686,1.47,326.0,449.8,12.0,803,8691,0.00,2.53,0.00,0.000,6,0.000,0.048,2873,1989,1585
$GC,9013,1.47,326.0,413.5,10.3,833,9017,0.00,2.62,0.00,0.000,4,0.000,0.068,2873,3391,1584
$GC,9040,1.47,326.0,410.5,10.9,835,9045,0.00,2.53,0.00,0.000,6,0.000,0.048,2873,1983,1583
$GC,9366,1.47,326.0,377.0,10.5,865,9371,0.00,2.62,0.00,0.000,4,0.000,0.067,2873,3391,1583
$GC,9410,1.47,326.0,372.3,10.1,868,9417,0.00,2.50,0.00,0.000,6,0.000,0.046,2873,1989,1583
$GC,9737,1.51,356.4,341.6,9.2,899,9768,0.00,0.00,28.73,0.895,6,0.000,0.000,2873,1989,1464
$GC,10084,1.51,356.4,307.0,10.1,932,10088,0.00,2.60,0.00,0.000,4,0.000,0.064,2873,3386,1459
$GC,10127,1.51,356.4,302.2,11.4,935,10134,0.00,2.50,0.00,0.000,6,0.000,0.045,2873,1986,1459
$GC,10454,1.51,356.4,267.5,11.1,966,10458,0.00,2.60,0.00,0.000,4,0.000,0.064,2873,3389,1458
$GC,10504,1.51,356.4,261.3,11.7,970,10509,0.00,2.50,0.00,0.000,6,0.000,0.044,2873,1985,1458
$GC,10831,1.52,363.6,227.0,9.8,1000,10844,0.00,2.67,6.85,0.696,4,0.000,0.075,2873,580,1436
$GC,10867,1.52,366.1,223.2,9.9,1003,10879,0.00,2.50,3.88,0.530,6,0.000,0.040,2873,2002,1424
$GC,11197,1.58,412.7,195.5,8.7,1034,11246,0.00,2.62,43.08,0.772,4,0.000,0.064,2873,3379,1234
$GC,11288,1.58,412.7,186.0,11.9,1042,11292,0.00,2.47,0.00,0.000,6,0.000,0.041,2873,1990,1231
$GC,11614,1.58,412.7,149.8,11.2,1072,11615,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,1990,1228
$GC,11933,1.60,432.1,120.6,9.5,1102,11957,0.12,2.60,17.17,0.673,4,0.048,0.067,2912,582,1154
$GC,11981,1.60,432.1,115.2,11.8,1106,11985,0.00,2.47,0.00,0.000,6,0.000,0.037,2912,2002,1153
$GC,12307,1.60,432.1,80.5,10.3,1136,12311,0.00,2.53,0.00,0.000,4,0.000,0.061,2911,3382,1151
$GC,12346,1.60,432.1,76.2,11.3,1139,12350,0.00,2.45,0.00,0.000,6,0.000,0.037,2912,1977,1151
$GC,12671,1.60,432.1,41.8,10.1,1169,12672,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,1977,1151
$GC,12862,1.64,463.5,24.1,9.1,1187,12893,0.00,0.00,27.73,0.576,6,0.000,0.000,2911,1977,1027
$GC,13093,1.71,523.8,2.8,8.3,1224,13107,0.00,0.00,11.98,0.517,2,0.000,0.000,2911,1976,960
$STATE,13107,end climb,SURFACE_DEPTH_REACHED
$STATE,13107,begin surface coast
$FINISH,0.6,1.022967
$STATE,13129,end surface coast,CONTROL_FINISHED_OK
$STATE,13129,begin surface
$SM_CCo,13212,0.00,0.000,0,0,956,481.03
$SM_GC,1.31,11.07,0.00,0.00,0.034,0.000,0.000,410,1891,956,-9.81,-0.40,481.03
$IRIDIUM_FIX,2143.45,-15943.76,251098,010112
$TT8_MAMPS,0.059826
$HUMID,1957
$INTERNAL_PRESSURE,7.47099
$TCM_TEMP,24.20
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.6,9.076
$10V_AH,10.1,3.840
$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,25.675,137.500,656.400,0.000,0.000,22.893,29.647,487.229,0.000,0.000,111.684,15.368,2269.169,7870.889,740.936,2149.138,902.989,33.357,1891.543,0.000,2082.617,0.000,0.000,0.000
$DEVICE_MAMPS,194.051,82.069,1074.567,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,868.561,0.000,0.000,0.000,0.000,0.000,168.878,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,37857,1230
$CAP_FILE_SIZE,134237,0
$CFSIZE,260165632,255283200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310709,090030,2152.145,-15940.651,38,1.9,43,9.8