version: 66.04
glider: 117
mission: 24
dive: 28
start: 8 1 109 12 48 22
data:
$ID,117
$MISSION,24
$DIVE,28
$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,175
$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,450
$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,-106927.32
$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,30
$R_STBD_OVSHOOT,40
$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
$GPS1,123807,2151.722,-15941.075,34,1.5,34,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-54.7
$GPS2,124731,2151.774,-15941.216,14,1.7,31,9.8
$SPEED_LIMITS,0.100,0.279
$TGT_NAME,T2
$TGT_LATLONG,2150.420,-15941.560
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.058,-0.209
$KALMAN_X,-31339.2,1178.4,-37.6,35515.8,-1355.7
$KALMAN_Y,8870.1,-458.6,117.5,-15816.3,255.6
$MHEAD_RNG_PITCHd_Wd,154.7,2577,-22.2,-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,-1.83,-99.0,0.0,0.0,0,104,0.00,0.00,-85.22,0.000,2,0.000,0.000,404,1958,3317
$GC,108,-1.88,-141.1,3.7,-7.2,14,129,10.60,2.53,-3.20,0.000,4,0.189,0.068,2124,572,3495
$GC,195,-1.88,-141.1,28.5,-22.7,26,203,0.00,2.38,0.00,0.000,6,0.000,0.030,2124,1967,3496
$GC,393,-1.88,-141.1,68.1,-17.9,45,397,0.00,2.55,0.00,0.000,4,0.000,0.058,2125,563,3497
$GC,478,-1.88,-141.1,83.9,-18.0,52,482,0.00,2.40,0.00,0.000,6,0.000,0.030,2124,1980,3498
$GC,804,-1.88,-141.1,140.6,-17.6,82,805,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,1986,3500
$GC,1123,-1.88,-141.1,188.3,-15.9,112,1124,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,1986,3502
$GC,1440,-1.88,-141.1,236.4,-14.5,142,1444,0.00,2.58,0.00,0.000,4,0.000,0.064,2124,575,3503
$GC,1479,-1.88,-141.1,242.2,-15.4,145,1483,0.00,2.40,0.00,0.000,6,0.000,0.035,2124,1977,3503
$GC,1805,-1.88,-141.1,288.8,-13.5,175,1809,0.00,2.50,0.00,0.000,4,0.000,0.059,2125,3363,3503
$GC,1833,-1.88,-141.1,292.8,-14.3,177,1837,0.00,2.42,0.00,0.000,6,0.000,0.039,2124,1969,3503
$GC,2159,-1.88,-141.1,336.4,-12.9,207,2160,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,1969,3503
$GC,2476,-1.88,-141.1,378.1,-13.3,237,2480,0.00,2.60,0.00,0.000,4,0.000,0.071,2124,569,3500
$GC,2526,-1.88,-141.1,385.1,-14.1,241,2531,0.00,2.42,0.00,0.000,6,0.000,0.038,2124,1967,3500
$GC,2852,-1.88,-141.1,427.1,-12.1,271,2857,0.00,2.58,0.00,0.000,4,0.000,0.065,2124,3372,3498
$GC,2903,-1.88,-141.1,433.8,-12.3,275,2908,0.00,2.47,0.00,0.000,6,0.000,0.044,2124,1967,3497
$GC,3230,-1.88,-141.1,474.4,-12.1,305,3234,0.00,2.62,0.00,0.000,4,0.000,0.075,2125,567,3495
$GC,3363,-1.88,-141.1,492.2,-13.5,316,3370,0.00,2.45,0.00,0.000,6,0.000,0.041,2124,1969,3494
$GC,3690,-1.88,-141.1,531.5,-11.9,347,3694,0.00,2.58,0.00,0.000,4,0.000,0.067,2124,3368,3492
$GC,3722,-1.88,-141.1,535.8,-12.8,349,3729,0.00,2.47,0.00,0.000,6,0.000,0.045,2124,1972,3493
$GC,4048,-1.88,-141.1,571.8,-10.7,380,4053,0.00,2.58,0.00,0.000,4,0.000,0.064,2124,3367,3488
$GC,4137,-1.88,-141.1,582.0,-10.4,387,4144,0.00,2.47,0.00,0.000,6,0.000,0.045,2124,1971,3488
$GC,4464,-1.88,-141.2,614.5,-10.0,418,4469,0.00,2.62,0.00,0.000,4,0.000,0.076,2124,568,3485
$GC,4486,-1.88,-141.2,616.9,-10.3,419,4493,0.00,2.47,0.00,0.000,6,0.000,0.042,2124,1978,3485
$GC,4812,-1.88,-141.2,653.4,-12.1,450,4813,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,1978,3482
$STATE,4872,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4872,begin apogee
$GC,4878,-0.38,0.0,660.9,11.8,456,5016,1.73,0.00,128.18,1.063,6,0.123,0.000,2452,1979,2917
$STATE,5017,end apogee,CONTROL_FINISHED_OK
$STATE,5017,begin climb
$GC,5019,1.88,141.2,665.9,0.0,470,5161,2.35,2.70,132.05,1.026,4,0.067,0.070,2953,3389,2340
$GC,5195,1.88,141.2,653.8,10.9,486,5200,0.00,2.53,0.00,0.000,6,0.000,0.046,2953,1993,2337
$GC,5521,1.88,141.2,618.1,10.7,516,5526,0.00,2.62,0.00,0.000,4,0.000,0.068,2953,3389,2330
$GC,5666,1.88,141.2,601.7,11.3,528,5673,0.00,2.50,0.00,0.000,6,0.000,0.046,2953,1994,2329
$GC,5993,1.90,150.3,570.0,9.4,559,6006,0.00,2.67,7.10,0.840,4,0.000,0.075,2953,587,2304
$GC,6052,1.90,150.3,563.7,11.4,564,6056,0.00,2.53,0.00,0.000,6,0.000,0.044,2953,2004,2303
$GC,6378,1.90,150.3,528.5,11.3,594,6382,0.00,2.60,0.00,0.000,4,0.000,0.071,2954,3392,2301
$GC,6589,1.90,150.3,502.3,11.6,612,6596,0.00,2.50,0.00,0.000,6,0.000,0.047,2953,1995,2300
$GC,6916,1.90,150.3,465.4,11.0,643,6920,0.00,2.60,0.00,0.000,4,0.000,0.067,2953,3389,2299
$GC,7067,1.90,150.3,448.2,12.1,656,7072,0.00,2.50,0.00,0.000,6,0.000,0.047,2953,1992,2298
$GC,7394,1.91,159.3,416.0,9.4,686,7407,0.00,2.72,8.45,0.842,4,0.000,0.075,2953,589,2268
$GC,7547,1.91,159.3,400.0,10.4,699,7554,0.00,2.50,0.00,0.000,6,0.000,0.043,2954,2000,2265
$GC,7873,1.93,175.0,371.5,8.9,730,7897,0.00,2.65,15.00,0.880,4,0.000,0.067,2953,3398,2203
$GC,8034,1.93,175.0,355.1,10.3,744,8038,0.00,2.53,0.00,0.000,6,0.000,0.045,2953,1988,2200
$GC,8360,1.93,177.5,320.6,9.8,774,8364,0.00,2.60,0.00,0.000,4,0.000,0.064,2954,3390,2198
$GC,8482,1.95,194.9,308.2,8.8,784,8506,0.00,2.50,18.33,0.841,6,0.000,0.044,2954,1985,2122
$GC,8825,1.96,204.4,276.6,9.4,816,8841,0.00,2.65,9.15,0.756,4,0.000,0.061,2953,3385,2085
$GC,8904,1.96,204.4,268.2,11.4,823,8909,0.00,2.47,0.00,0.000,6,0.000,0.042,2954,1993,2082
$GC,9231,1.98,218.3,237.0,9.1,853,9250,0.00,0.00,13.68,0.760,6,0.000,0.000,2954,1992,2025
$GC,9569,1.98,218.3,204.1,10.8,885,9574,0.00,2.58,0.00,0.000,4,0.000,0.057,2953,3401,2022
$GC,9688,1.98,218.3,190.0,12.8,895,9692,0.00,2.45,0.00,0.000,6,0.000,0.038,2953,1992,2022
$GC,10021,1.98,218.3,151.1,10.2,926,10025,0.00,2.55,0.00,0.000,4,0.000,0.055,2953,3396,2021
$GC,10105,1.98,218.3,142.1,10.4,933,10109,0.00,2.45,0.00,0.000,6,0.000,0.036,2954,1988,2021
$GC,10430,1.99,228.8,112.3,9.3,963,10446,0.10,2.60,9.68,0.611,4,0.058,0.054,2985,3388,1984
$GC,10591,1.99,228.8,94.1,11.7,977,10598,0.00,2.42,0.00,0.000,6,0.000,0.035,2985,1991,1983
$GC,10918,2.00,239.2,62.8,9.3,1008,10931,0.00,0.00,10.52,0.564,6,0.000,0.000,2985,1990,1941
$GC,11247,2.05,277.3,36.1,7.4,1039,11285,0.00,2.60,32.95,0.568,4,0.000,0.061,2985,594,1785
$GC,11348,2.05,277.3,25.7,11.6,1048,11352,0.00,2.42,0.00,0.000,6,0.000,0.030,2985,2014,1783
$GC,11554,2.05,277.3,6.9,10.9,1079,11561,0.00,2.47,0.00,0.000,4,0.000,0.054,2985,3392,1782
$STATE,11599,end climb,SURFACE_DEPTH_REACHED
$STATE,11599,begin surface coast
$FINISH,0.8,1.022941
$STATE,11605,end surface coast,CONTROL_FINISHED_OK
$STATE,11605,begin surface
$SM_CCo,11630,83.35,0.522,0,0,1081,450.13
$SM_GC,1.38,0.00,0.00,83.35,0.000,0.000,0.522,409,1958,1081,-9.81,-0.34,450.13
$IRIDIUM_FIX,2145.77,-15940.77,261098,090900
$TT8_MAMPS,0.079768
$HUMID,1872
$INTERNAL_PRESSURE,7.49052
$TCM_TEMP,24.50
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.6,10.944
$10V_AH,10.1,4.781
$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,26.100,121.550,385.075,83.350,0.000,28.390,25.764,334.763,0.000,0.000,78.831,33.415,2068.179,6927.673,594.606,1975.950,711.824,33.351,1602.427,0.000,1907.991,0.000,0.000,0.000
$DEVICE_MAMPS,189.449,75.933,1063.062,522.327,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,767.697,0.000,0.000,0.000,0.000,0.000,147.805,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,34671,1088
$CAP_FILE_SIZE,117915,0
$CFSIZE,260165632,254308352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010809,160437,2150.370,-15941.706,24,1.8,24,9.8