version: 66.04
glider: 117
mission: 24
dive: 39
start: 8 2 109 13 7 48
data:
$ID,117
$MISSION,24
$DIVE,39
$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,200
$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,400
$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,-107153.96
$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,31
$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
$GPS1,125339,2154.806,-15943.094,40,1.6,48,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-56.1
$GPS2,130658,2154.753,-15943.146,13,2.7,32,9.8
$SPEED_LIMITS,0.100,0.296
$TGT_NAME,TB
$TGT_LATLONG,2153.300,-15940.300
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.290,-0.056
$KALMAN_X,-47863.1,1401.0,395.5,48067.8,-2446.4
$KALMAN_Y,11065.9,-194.8,-49.1,-12589.1,-19.6
$MHEAD_RNG_PITCHd_Wd,91.2,5582,-15.7,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.45,-194.6,0.0,0.0,0,111,0.00,0.00,-89.88,0.000,2,0.000,0.000,406,1961,3324
$GC,114,-1.45,-194.6,3.9,-7.6,15,135,11.02,0.00,-6.65,0.000,6,0.185,0.000,2222,1961,3713
$GC,207,-1.45,-194.6,26.9,-18.4,28,211,0.00,2.53,0.00,0.000,4,0.000,0.058,2221,569,3715
$GC,239,-1.45,-194.6,33.1,-19.0,30,246,0.00,2.38,0.00,0.000,6,0.000,0.030,2222,1966,3715
$GC,437,-1.45,-194.6,70.0,-16.9,49,438,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1971,3716
$GC,755,-1.45,-194.6,117.9,-14.3,79,757,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1971,3718
$GC,1074,-1.45,-194.6,157.7,-13.2,109,1075,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1971,3719
$GC,1392,-1.45,-194.6,198.5,-12.6,139,1393,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1971,3719
$GC,1711,-1.45,-194.6,241.0,-13.6,169,1716,0.00,2.50,0.00,0.000,4,0.000,0.058,2222,3361,3719
$GC,1740,-1.45,-194.6,244.7,-13.3,171,1744,0.00,2.40,0.00,0.000,6,0.000,0.037,2222,1971,3719
$GC,2066,-1.45,-194.6,283.4,-12.5,201,2070,0.00,2.58,0.00,0.000,4,0.000,0.067,2222,571,3719
$GC,2143,-1.45,-194.6,293.3,-11.2,207,2150,0.00,2.40,0.00,0.000,6,0.000,0.036,2222,1969,3719
$GC,2469,-1.45,-194.6,329.4,-10.6,238,2474,0.00,2.58,0.00,0.000,4,0.000,0.067,2222,571,3717
$GC,2520,-1.45,-194.6,335.3,-11.2,242,2525,0.00,2.42,0.00,0.000,6,0.000,0.038,2221,1978,3717
$GC,2847,-1.45,-194.6,372.6,-11.5,272,2851,0.00,2.53,0.00,0.000,4,0.000,0.064,2222,3363,3715
$GC,2920,-1.45,-194.6,381.0,-10.5,278,2924,0.00,2.45,0.00,0.000,6,0.000,0.041,2222,1966,3714
$GC,3253,-1.45,-194.6,416.5,-10.0,309,3257,0.00,2.58,0.00,0.000,4,0.000,0.064,2222,3371,3712
$GC,3307,-1.45,-194.6,422.5,-10.2,313,3315,0.00,2.47,0.00,0.000,6,0.000,0.043,2222,1964,3711
$GC,3634,-1.45,-194.6,458.5,-12.2,344,3636,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1962,3709
$GC,3952,-1.45,-194.6,490.0,-8.0,374,3953,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1960,3707
$GC,4270,-1.45,-194.6,518.1,-10.4,404,4271,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1960,3704
$GC,4589,-1.45,-194.6,551.9,-9.8,434,4590,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1960,3701
$GC,4908,-1.45,-194.6,579.7,-8.7,464,4912,0.00,2.60,0.00,0.000,4,0.000,0.068,2222,3367,3699
$GC,4958,-1.45,-194.6,584.4,-9.1,468,4963,0.00,2.47,0.00,0.000,6,0.000,0.046,2222,1973,3698
$GC,5285,-1.45,-194.6,612.4,-8.3,498,5289,0.00,2.65,0.00,0.000,4,0.000,0.077,2222,566,3696
$GC,5369,-1.45,-194.6,620.0,-9.0,505,5374,0.00,2.47,0.00,0.000,6,0.000,0.044,2221,1972,3695
$GC,5696,-1.45,-194.6,649.4,-9.4,535,5701,0.00,2.65,0.00,0.000,4,0.000,0.072,2222,561,3693
$GC,5736,-1.45,-194.6,653.5,-9.9,538,5740,0.00,2.50,0.00,0.000,6,0.000,0.044,2222,1979,3692
$STATE,5803,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5803,begin apogee
$GC,5809,-0.38,0.0,660.3,9.5,544,5988,1.15,0.00,173.48,1.083,6,0.104,0.000,2450,1981,2917
$STATE,5989,end apogee,CONTROL_FINISHED_OK
$STATE,5989,begin climb
$GC,5991,1.45,194.6,666.7,0.0,562,6182,1.90,2.78,177.65,1.045,4,0.069,0.071,2856,3399,2122
$GC,6200,1.50,234.7,654.6,8.6,581,6246,0.00,2.55,38.10,0.985,6,0.000,0.048,2855,1994,1960
$GC,6564,1.51,245.8,618.9,9.6,615,6579,0.00,2.72,10.12,0.894,4,0.000,0.076,2856,584,1915
$GC,6598,1.52,253.8,615.5,9.7,618,6613,0.00,2.55,9.77,0.882,6,0.000,0.044,2856,2006,1881
$GC,6939,1.52,256.6,583.2,9.9,650,6940,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,2010,1875
$GC,7258,1.54,273.3,551.8,9.4,680,7282,0.00,2.67,18.33,0.978,4,0.000,0.073,2856,3396,1802
$GC,7317,1.55,278.0,546.0,9.8,685,7330,0.10,2.55,5.90,0.793,6,0.060,0.049,2885,1991,1783
$GC,7647,1.56,288.7,515.1,9.6,716,7659,0.00,0.00,10.65,0.933,6,0.000,0.000,2885,1991,1740
$GC,7977,1.60,315.7,484.2,9.1,747,8012,0.00,2.70,26.67,0.989,4,0.000,0.071,2885,3390,1629
$GC,8069,1.60,315.7,475.1,10.5,755,8073,0.00,2.53,0.00,0.000,6,0.000,0.048,2885,1991,1625
$GC,8397,1.63,344.5,444.5,9.0,785,8426,0.00,0.00,27.33,0.951,6,0.000,0.000,2885,1991,1512
$GC,8743,1.63,344.5,408.7,10.3,818,8748,0.00,2.62,0.00,0.000,4,0.000,0.069,2885,3390,1506
$GC,8771,1.63,344.5,405.5,11.2,820,8776,0.00,2.50,0.00,0.000,6,0.000,0.046,2885,1993,1506
$GC,9098,1.66,367.5,371.1,9.2,850,9124,0.00,2.72,21.20,0.902,4,0.000,0.075,2884,585,1418
$GC,9155,1.66,367.5,365.1,10.8,855,9159,0.00,2.53,0.00,0.000,6,0.000,0.042,2885,2003,1416
$GC,9481,1.66,367.5,331.7,11.4,885,9482,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2004,1413
$GC,9798,1.66,372.0,297.1,9.8,915,9808,0.00,0.00,4.80,0.645,6,0.000,0.000,2885,2005,1400
$GC,10128,1.66,372.0,263.2,11.3,946,10129,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2005,1399
$GC,10447,1.70,398.4,233.2,9.1,976,10482,0.12,2.72,25.02,0.791,4,0.048,0.067,2924,592,1291
$GC,10509,1.70,398.4,225.9,12.2,981,10517,0.00,2.50,0.00,0.000,6,0.000,0.038,2924,2007,1290
$GC,10836,1.70,398.4,185.9,12.8,1012,10840,0.00,2.55,0.00,0.000,4,0.000,0.062,2924,3398,1288
$GC,10880,1.70,398.4,180.4,11.9,1015,10887,0.00,2.47,0.00,0.000,6,0.000,0.040,2924,1991,1288
$GC,11206,1.70,398.4,145.2,12.1,1046,11210,0.00,2.58,0.00,0.000,4,0.000,0.066,2924,592,1287
$GC,11261,1.70,398.4,137.9,12.2,1050,11268,0.00,2.45,0.00,0.000,6,0.000,0.035,2925,2009,1287
$GC,11589,1.70,398.4,102.9,11.9,1081,11590,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2009,1286
$GC,11904,1.78,466.0,71.3,7.7,1111,11970,0.00,0.00,58.33,0.630,6,0.000,0.000,2924,2014,1017
$GC,12288,1.78,466.0,35.8,10.4,1147,12293,0.00,2.60,0.00,0.000,4,0.000,0.058,2924,590,1011
$GC,12328,1.78,466.0,31.3,11.3,1150,12333,0.00,2.40,0.00,0.000,6,0.000,0.030,2924,2001,1011
$GC,12531,1.89,556.1,12.6,6.9,1175,12595,0.12,2.53,56.20,0.538,4,0.044,0.051,2971,3389,745
$STATE,12622,end climb,SURFACE_DEPTH_REACHED
$STATE,12622,begin surface coast
$FINISH,0.7,1.022886
$STATE,12631,end surface coast,CONTROL_FINISHED_OK
$STATE,12631,begin surface
$SM_CCo,12715,0.00,0.000,0,0,740,534.02
$SM_GC,1.19,11.27,0.00,0.00,0.030,0.000,0.000,403,1964,740,-9.77,-0.08,534.02
$IRIDIUM_FIX,2143.45,-15926.09,271098,090940
$TT8_MAMPS,0.057525
$HUMID,1911
$INTERNAL_PRESSURE,7.47099
$TCM_TEMP,24.60
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.6,12.901
$10V_AH,10.1,5.629
$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,25.700,101.900,663.550,0.000,0.000,25.436,26.032,536.960,0.000,0.000,112.448,33.080,2160.767,7692.272,710.283,2005.072,942.204,33.354,1772.727,0.000,1924.592,0.000,0.000,0.000
$DEVICE_MAMPS,184.847,77.467,1083.004,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,840.078,0.000,0.000,0.000,0.000,0.000,166.739,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,37783,1191
$CAP_FILE_SIZE,124966,0
$CFSIZE,260165632,253259776
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020809,164100,2154.581,-15941.334,38,1.0,43,9.8