version: 66.04
glider: 117
mission: 24
dive: 115
start: 8 8 109 11 29 12
data:
$ID,117
$MISSION,24
$DIVE,115
$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,180
$T_MISSION,220
$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,-108752.16
$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,36
$R_STBD_OVSHOOT,42
$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
$GPS1,111954,2156.944,-15947.110,40,1.6,40,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-53.9
$GPS2,112820,2157.080,-15947.294,14,1.6,14,9.8
$SPEED_LIMITS,0.122,0.350
$TGT_NAME,10N
$TGT_LATLONG,2154.033,-15942.617
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.284,-0.204
$KALMAN_X,-179579.7,-493.6,195.7,174743.2,-3612.7
$KALMAN_Y,82433.4,694.0,-318.8,-80264.3,2582.8
$MHEAD_RNG_PITCHd_Wd,115.8,9820,-16.6,-12.222
$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,-1.58,-243.3,0.0,0.0,0,117,0.00,0.00,-96.95,0.000,2,0.000,0.000,402,1948,3311
$GC,120,-1.58,-243.3,4.1,-9.0,16,146,10.65,0.00,-10.00,0.000,6,0.179,0.000,2192,1948,3911
$GC,212,-1.58,-243.3,30.4,-24.0,28,213,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,1948,3912
$GC,276,-1.58,-243.3,45.5,-23.2,34,280,0.00,2.47,0.00,0.000,4,0.000,0.056,2192,574,3912
$GC,297,-1.58,-243.3,50.9,-23.9,35,304,0.00,2.35,0.00,0.000,6,0.000,0.028,2192,1971,3912
$GC,367,-1.58,-243.3,67.0,-23.0,42,371,0.00,2.45,0.00,0.000,4,0.000,0.048,2192,3362,3913
$GC,411,-1.58,-243.3,76.0,-19.6,45,418,0.00,2.38,0.00,0.000,6,0.000,0.031,2192,1972,3913
$GC,481,-1.58,-243.3,89.0,-18.3,52,486,0.00,2.53,0.00,0.000,4,0.000,0.056,2192,566,3913
$GC,514,-1.58,-243.3,94.8,-16.8,54,521,0.00,2.38,0.00,0.000,6,0.000,0.028,2192,1976,3914
$GC,584,-1.58,-243.3,106.1,-16.2,61,585,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,1976,3914
$GC,648,-1.58,-243.3,116.2,-15.7,67,652,0.00,2.47,0.00,0.000,4,0.000,0.051,2192,3368,3914
$GC,680,-1.58,-243.3,121.9,-17.1,69,687,0.00,2.40,0.00,0.000,6,0.000,0.033,2192,1968,3915
$GC,750,-1.58,-243.3,133.9,-17.7,76,751,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,1967,3915
$GC,814,-1.58,-243.3,145.5,-18.4,82,818,0.00,2.53,0.00,0.000,4,0.000,0.059,2192,569,3916
$GC,842,-1.58,-243.3,150.6,-18.5,84,846,0.00,2.38,0.00,0.000,6,0.000,0.030,2192,1976,3916
$GC,919,-1.58,-243.3,162.6,-15.5,91,923,0.00,2.47,0.00,0.000,4,0.000,0.051,2192,3368,3916
$GC,951,-1.58,-243.3,168.1,-16.3,93,958,0.00,2.40,0.00,0.000,6,0.000,0.034,2192,1968,3916
$GC,1023,-1.58,-243.3,178.9,-15.7,100,1024,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,1968,3916
$GC,1085,-1.58,-243.3,188.0,-14.3,106,1086,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,1968,3916
$GC,1149,-1.58,-243.3,197.5,-15.2,112,1153,0.00,2.53,0.00,0.000,4,0.000,0.060,2192,572,3917
$GC,1188,-1.58,-243.3,203.2,-14.2,115,1192,0.00,2.38,0.00,0.000,6,0.000,0.030,2192,1978,3917
$GC,1258,-1.58,-243.3,213.1,-14.1,121,1262,0.00,2.55,0.00,0.000,4,0.000,0.058,2191,569,3917
$GC,1290,-1.58,-243.3,218.3,-15.1,123,1297,0.00,2.38,0.00,0.000,6,0.000,0.030,2192,1969,3917
$GC,1360,-1.58,-243.3,228.2,-14.2,130,1361,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,1969,3917
$GC,1424,-1.58,-243.3,236.5,-12.7,136,1425,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,1974,3917
$GC,1487,-1.58,-243.3,244.7,-12.8,142,1489,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,1974,3917
$GC,1551,-1.58,-243.3,253.6,-14.2,148,1552,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,1974,3916
$GC,1615,-1.58,-243.3,262.3,-14.0,154,1616,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,1974,3917
$GC,1679,-1.58,-243.3,270.9,-13.0,160,1680,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,1974,3917
$GC,1742,-1.58,-243.3,279.1,-12.6,166,1743,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,1974,3917
$GC,1806,-1.58,-243.3,287.7,-13.5,172,1807,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,1974,3917
$GC,1870,-1.58,-243.3,296.4,-13.6,178,1871,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,1974,3917
$GC,1933,-1.58,-243.3,305.1,-13.7,184,1935,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,1974,3916
$GC,2125,-1.58,-243.3,329.7,-12.4,202,2126,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,1974,3916
$GC,2317,-1.58,-243.3,352.8,-12.7,220,2321,0.00,2.55,0.00,0.000,4,0.000,0.064,2192,574,3915
$GC,2372,-1.58,-243.3,360.4,-13.4,224,2379,0.00,2.40,0.00,0.000,6,0.000,0.035,2192,1977,3915
$GC,2571,-1.58,-243.3,381.7,-10.1,243,2572,0.00,0.00,0.00,0.000,6,0.000,0.000,2191,1977,3914
$GC,2762,-1.58,-243.3,402.5,-10.9,261,2763,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,1977,3913
$GC,2953,-1.58,-243.3,422.5,-10.6,279,2957,0.00,2.53,0.00,0.000,4,0.000,0.062,2192,3364,3911
$GC,3007,-1.58,-243.3,429.1,-12.4,283,3015,0.00,2.42,0.00,0.000,6,0.000,0.041,2192,1977,3910
$GC,3206,-1.58,-243.3,452.2,-11.7,302,3207,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,1976,3909
$GC,3397,-1.58,-243.3,474.3,-11.6,320,3398,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,1975,3908
$GC,3588,-1.58,-243.3,497.7,-12.2,338,3589,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,1974,3906
$GC,3779,-1.58,-243.3,502.2,-0.2,356,3783,0.00,2.55,0.00,0.000,6,0.000,0.062,2192,3367,3904
$STATE,3784,end dive,NO_VERTICAL_VELOCITY
$STATE,3784,begin apogee
$GC,3792,-0.38,0.0,502.1,0.0,356,4011,1.23,0.00,211.65,0.914,6,0.070,0.000,2455,1986,2917
$STATE,4012,end apogee,CONTROL_FINISHED_OK
$STATE,4012,begin climb
$GC,4014,1.58,243.3,502.1,0.0,378,4238,1.98,0.00,214.55,0.875,6,0.061,0.000,2886,1986,1925
$GC,4428,1.62,279.9,472.3,11.0,417,4468,0.00,0.00,33.47,0.840,6,0.000,0.000,2886,1985,1774
$GC,4659,1.65,299.6,445.9,11.6,439,4680,0.00,0.00,18.45,0.814,6,0.000,0.000,2886,1985,1695
$GC,4871,1.74,378.2,424.0,9.6,459,4950,0.15,2.67,72.60,0.852,4,0.048,0.071,2929,589,1375
$GC,4973,1.74,378.2,411.5,13.7,468,4978,0.00,2.47,0.00,0.000,6,0.000,0.039,2929,1992,1371
$GC,5171,1.74,378.2,381.1,14.7,486,5175,0.00,2.60,0.00,0.000,4,0.000,0.064,2930,3399,1367
$GC,5221,1.74,378.2,373.9,15.0,490,5228,0.00,2.50,0.00,0.000,6,0.000,0.042,2929,1991,1366
$GC,5418,1.74,378.2,345.1,14.6,509,5422,0.00,2.60,0.00,0.000,4,0.000,0.071,2929,592,1364
$GC,5450,1.74,378.2,340.4,14.0,511,5457,0.00,2.45,0.00,0.000,6,0.000,0.038,2930,1997,1364
$GC,5648,1.74,378.2,311.8,15.4,530,5649,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,1999,1363
$GC,5839,1.74,378.2,285.2,12.8,548,5843,0.00,2.62,0.00,0.000,4,0.000,0.066,2929,587,1361
$GC,5871,1.76,387.5,281.2,11.9,550,5883,0.00,2.45,7.15,0.681,6,0.000,0.037,2929,1994,1337
$GC,5948,1.76,387.5,270.6,14.6,557,5949,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,1994,1336
$GC,6011,1.76,387.5,260.4,16.2,563,6013,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,1994,1335
$GC,6075,1.76,387.5,249.6,17.0,569,6079,0.00,2.60,0.00,0.000,4,0.000,0.063,2929,591,1335
$GC,6107,1.76,387.5,244.3,15.8,571,6114,0.00,2.45,0.00,0.000,6,0.000,0.035,2929,2006,1334
$GC,6177,1.76,387.5,233.2,16.3,578,6182,0.00,2.53,0.00,0.000,4,0.000,0.061,2929,3389,1334
$GC,6206,1.76,387.5,228.5,16.9,580,6210,0.00,2.45,0.00,0.000,6,0.000,0.039,2929,1992,1334
$GC,6276,1.76,387.5,217.4,15.5,586,6277,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,1992,1333
$GC,6340,1.76,387.5,208.0,14.8,592,6344,0.00,2.60,0.00,0.000,4,0.000,0.065,2929,584,1333
$GC,6394,1.76,387.5,198.5,17.3,596,6401,0.00,2.45,0.00,0.000,6,0.000,0.034,2929,2004,1333
$GC,6464,1.76,387.5,188.1,14.6,603,6466,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2004,1332
$GC,6528,1.76,387.5,179.0,14.2,609,6529,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2004,1333
$GC,6592,1.76,387.5,170.1,14.4,615,6593,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2004,1332
$GC,6655,1.76,387.5,160.7,14.5,621,6657,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2008,1332
$GC,6719,1.76,387.5,151.4,14.7,627,6720,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2008,1332
$GC,6783,1.76,387.5,142.7,13.7,633,6784,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2008,1332
$GC,6847,1.76,387.5,134.0,13.8,639,6850,0.00,2.50,0.00,0.000,4,0.000,0.056,2930,3391,1332
$GC,6898,1.76,387.5,126.9,13.1,643,6905,0.00,2.45,0.00,0.000,6,0.000,0.036,2929,1985,1332
$GC,6968,1.77,401.0,118.5,11.8,650,6990,0.00,2.65,12.60,0.650,4,0.000,0.061,2929,585,1281
$GC,7029,1.77,401.0,109.6,14.0,655,7036,0.00,2.42,0.00,0.000,6,0.000,0.032,2929,1995,1281
$GC,7100,1.77,401.0,100.6,13.2,662,7104,0.00,2.58,0.00,0.000,4,0.000,0.059,2929,589,1280
$GC,7132,1.77,401.0,95.9,13.8,664,7139,0.00,2.40,0.00,0.000,6,0.000,0.031,2931,1992,1280
$GC,7202,1.77,401.0,86.8,13.1,671,7203,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,1993,1279
$GC,7266,1.77,401.9,78.7,12.2,677,7267,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,1993,1279
$GC,7330,1.80,425.3,71.3,11.4,683,7362,0.00,2.65,22.50,0.627,4,0.000,0.058,2930,591,1182
$GC,7385,1.80,425.3,65.0,12.5,688,7389,0.00,2.42,0.00,0.000,6,0.000,0.031,2930,2002,1181
$GC,7455,1.83,447.7,56.9,11.5,694,7481,0.00,2.58,20.55,0.603,4,0.000,0.057,2929,3381,1090
$GC,7523,1.92,518.0,50.7,9.9,700,7592,0.12,2.42,60.58,0.595,6,0.044,0.035,2972,1988,805
$GC,7654,1.92,518.0,33.2,15.1,712,7656,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,1988,801
$GC,7718,1.92,518.0,24.9,12.9,718,7719,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,1987,801
$GC,7783,1.92,518.0,16.9,12.9,726,7789,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,1988,800
$GC,7857,1.92,522.5,8.2,12.1,739,7871,0.00,2.60,4.65,0.414,4,0.000,0.059,2971,589,786
$GC,7894,1.92,522.5,3.4,12.9,745,7901,0.00,2.40,0.00,0.000,6,0.000,0.029,2971,1998,784
$STATE,7906,end climb,SURFACE_DEPTH_REACHED
$STATE,7906,begin surface coast
$FINISH,0.5,1.009891
$STATE,7917,end surface coast,CONTROL_FINISHED_OK
$STATE,7917,begin surface
$SM_CCo,8000,0.00,0.000,0,0,783,523.47
$SM_GC,1.15,11.23,0.00,0.00,0.029,0.000,0.000,407,1955,783,-9.77,-0.42,523.47
$IRIDIUM_FIX,2148.09,-15945.13,021198,090902
$TT8_MAMPS,0.06136
$HUMID,2031
$INTERNAL_PRESSURE,7.45146
$TCM_TEMP,23.60
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.8,25.819
$10V_AH,10.1,11.379
$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,25.350,119.475,678.750,0.000,0.000,23.632,27.593,302.231,0.000,0.000,55.242,14.753,1446.394,4284.027,799.317,1314.911,663.116,33.352,1630.539,0.000,1276.383,0.000,0.000,0.000
$DEVICE_MAMPS,179.478,167.206,914.264,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,519.200,0.000,0.000,0.000,0.000,0.000,146.325,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,25298,749
$CAP_FILE_SIZE,114981,0
$CFSIZE,260165632,246517760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080809,134336,2156.606,-15946.739,13,1.4,29,9.8