version: 66.04
glider: 117
mission: 24
dive: 116
start: 8 8 109 13 52 29
data:
$ID,117
$MISSION,24
$DIVE,116
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$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,300
$T_MISSION,360
$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,-108768.02
$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,37
$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
$GPS1,134336,2156.606,-15946.739,13,1.4,29,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-56.3
$GPS2,135137,2156.789,-15946.970,10,1.3,15,9.8
$SPEED_LIMITS,0.110,0.337
$TGT_NAME,10N
$TGT_LATLONG,2154.033,-15942.617
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.271,-0.201
$KALMAN_X,-183841.1,830.1,649.5,177786.5,-9876.2
$KALMAN_Y,85326.4,-170.1,-704.4,-82444.1,7026.1
$MHEAD_RNG_PITCHd_Wd,116.7,9055,-15.2,-11.000
$D_GRID,990
$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,-1.47,-243.3,0.0,0.0,0,116,0.00,0.00,-96.82,0.000,2,0.000,0.000,407,1956,3318
$GC,119,-1.47,-243.3,4.0,-8.3,16,147,10.88,2.50,-9.77,0.000,4,0.182,0.067,2215,577,3912
$GC,227,-1.47,-243.3,32.7,-21.2,29,231,0.00,2.35,0.00,0.000,6,0.000,0.029,2215,1971,3914
$GC,297,-1.47,-243.3,45.9,-18.6,35,298,0.00,0.00,0.00,0.000,6,0.000,0.000,2215,1971,3914
$GC,360,-1.47,-243.3,56.8,-17.5,41,364,0.00,2.47,0.00,0.000,4,0.000,0.050,2215,3367,3915
$GC,415,-1.47,-243.3,66.7,-17.7,45,422,0.00,2.38,0.00,0.000,6,0.000,0.032,2215,1976,3915
$GC,486,-1.47,-243.3,76.7,-14.6,52,487,0.00,0.00,0.00,0.000,6,0.000,0.000,2215,1976,3916
$GC,549,-1.47,-243.3,86.5,-15.4,58,550,0.00,0.00,0.00,0.000,6,0.000,0.000,2215,1976,3916
$GC,613,-1.47,-243.3,96.8,-16.0,64,614,0.00,0.00,0.00,0.000,6,0.000,0.000,2215,1976,3917
$GC,677,-1.47,-243.3,107.3,-16.6,70,681,0.00,2.53,0.00,0.000,4,0.000,0.058,2215,574,3917
$GC,720,-1.47,-243.3,114.9,-16.7,73,727,0.00,2.35,0.00,0.000,6,0.000,0.030,2215,1967,3917
$GC,790,-1.47,-243.3,127.0,-18.1,80,791,0.00,0.00,0.00,0.000,6,0.000,0.000,2215,1967,3918
$GC,854,-1.47,-243.3,138.4,-18.1,86,855,0.00,0.00,0.00,0.000,6,0.000,0.000,2215,1970,3918
$GC,918,-1.47,-243.3,149.8,-17.8,92,919,0.00,0.00,0.00,0.000,6,0.000,0.000,2215,1969,3918
$GC,981,-1.47,-243.3,160.6,-16.9,98,982,0.00,0.00,0.00,0.000,6,0.000,0.000,2215,1969,3919
$GC,1045,-1.47,-243.3,171.3,-16.6,104,1049,0.00,2.50,0.00,0.000,4,0.000,0.053,2215,3368,3919
$GC,1067,-1.47,-243.3,175.0,-16.7,105,1074,0.00,2.40,0.00,0.000,6,0.000,0.034,2215,1971,3919
$GC,1137,-1.47,-243.3,185.4,-15.2,112,1138,0.00,0.00,0.00,0.000,6,0.000,0.000,2215,1971,3919
$GC,1201,-1.47,-243.3,194.5,-14.2,118,1205,0.00,2.55,0.00,0.000,4,0.000,0.061,2215,563,3919
$GC,1233,-1.47,-243.3,199.5,-15.3,120,1240,0.00,2.38,0.00,0.000,6,0.000,0.031,2215,1967,3919
$GC,1303,-1.47,-243.3,209.4,-14.4,127,1307,0.00,2.50,0.00,0.000,4,0.000,0.054,2215,3367,3920
$GC,1324,-1.47,-243.3,212.7,-14.3,128,1331,0.00,2.40,0.00,0.000,6,0.000,0.035,2215,1971,3920
$GC,1396,-1.47,-243.3,222.8,-15.3,135,1400,0.00,2.55,0.00,0.000,4,0.000,0.061,2215,567,3920
$GC,1428,-1.47,-243.3,228.3,-15.1,137,1435,0.00,2.40,0.00,0.000,6,0.000,0.031,2215,1984,3920
$GC,1500,-1.47,-243.3,238.7,-14.6,144,1501,0.00,0.00,0.00,0.000,6,0.000,0.000,2215,1984,3920
$GC,1562,-1.47,-243.3,247.7,-13.4,150,1563,0.00,0.00,0.00,0.000,6,0.000,0.000,2215,1989,3920
$GC,1626,-1.47,-243.3,253.6,-8.9,156,1630,0.00,2.47,0.00,0.000,4,0.000,0.054,2215,3364,3920
$GC,1659,-1.47,-243.3,258.1,-13.5,158,1666,0.00,2.40,0.00,0.000,6,0.000,0.036,2215,1972,3920
$GC,1729,-1.47,-243.3,267.5,-13.8,165,1731,0.00,0.00,0.00,0.000,6,0.000,0.000,2215,1972,3920
$GC,1793,-1.47,-243.3,275.8,-12.5,171,1797,0.00,2.58,0.00,0.000,4,0.000,0.064,2215,560,3920
$GC,1836,-1.47,-243.3,282.0,-13.6,174,1843,0.00,2.40,0.00,0.000,6,0.000,0.031,2215,1974,3920
$GC,1906,-1.47,-243.3,291.1,-13.6,181,1907,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,1974,3920
$GC,1970,-1.47,-243.3,300.6,-15.1,187,1971,0.00,0.00,0.00,0.000,6,0.000,0.000,2215,1974,3920
$GC,2161,-1.47,-243.3,328.5,-14.9,205,2165,0.00,2.50,0.00,0.000,4,0.000,0.058,2215,3364,3919
$GC,2199,-1.47,-243.3,334.2,-14.9,208,2207,0.00,2.42,0.00,0.000,6,0.000,0.038,2215,1967,3919
$GC,2397,-1.47,-243.3,362.4,-14.9,227,2402,0.00,2.58,0.00,0.000,4,0.000,0.067,2215,565,3918
$GC,2493,-1.47,-243.3,376.8,-14.1,235,2498,0.00,2.40,0.00,0.000,6,0.000,0.034,2215,1965,3918
$GC,2691,-1.47,-243.3,402.4,-11.7,253,2695,0.00,2.55,0.00,0.000,4,0.000,0.060,2215,3373,3916
$GC,2741,-1.47,-243.3,408.2,-11.1,257,2746,0.00,2.45,0.00,0.000,6,0.000,0.039,2215,1970,3916
$GC,2939,-1.47,-243.3,431.4,-11.6,275,2940,0.00,0.00,0.00,0.000,6,0.000,0.000,2215,1969,3915
$GC,3130,-1.47,-243.3,455.8,-13.3,293,3131,0.00,0.00,0.00,0.000,6,0.000,0.000,2215,1967,3914
$GC,3321,-1.47,-243.3,478.6,-10.6,311,3323,0.00,0.00,0.00,0.000,6,0.000,0.000,2215,1966,3912
$GC,3512,-1.47,-243.3,497.1,-10.0,329,3513,0.00,0.00,0.00,0.000,6,0.000,0.000,2215,1965,3911
$GC,3703,-1.47,-243.3,516.7,-11.2,347,3705,0.00,0.00,0.00,0.000,6,0.000,0.000,2214,1965,3909
$GC,3894,-1.47,-243.3,537.8,-11.6,365,3895,0.00,0.00,0.00,0.000,6,0.000,0.000,2215,1965,3908
$GC,4086,-1.47,-243.3,542.1,0.1,383,4090,0.00,2.58,0.00,0.000,6,0.000,0.064,2215,3373,3907
$STATE,4090,end dive,NO_VERTICAL_VELOCITY
$STATE,4091,begin apogee
$GC,4099,-0.38,0.0,542.0,0.0,383,4319,1.08,0.00,214.55,0.953,6,0.056,0.000,2455,1991,2917
$STATE,4320,end apogee,CONTROL_FINISHED_OK
$STATE,4320,begin climb
$GC,4323,1.47,243.3,542.0,0.0,405,4552,1.88,2.62,215.32,0.916,4,0.063,0.070,2856,593,1924
$GC,4590,1.47,243.3,523.1,11.1,428,4598,0.00,2.47,0.00,0.000,6,0.000,0.038,2858,1995,1921
$GC,4789,1.57,329.7,505.4,8.4,447,4870,0.12,0.00,78.55,0.901,6,0.054,0.000,2891,1996,1573
$GC,5061,1.57,329.7,474.5,11.3,473,5066,0.00,2.65,0.00,0.000,4,0.000,0.068,2891,589,1565
$GC,5105,1.57,329.7,469.1,11.6,476,5112,0.00,2.47,0.00,0.000,6,0.000,0.038,2891,1994,1564
$GC,5303,1.59,343.0,448.5,10.6,495,5317,0.00,0.00,11.88,0.821,6,0.000,0.000,2891,1996,1518
$GC,5504,1.60,351.6,427.0,10.7,514,5520,0.00,2.70,9.05,0.786,4,0.000,0.067,2891,596,1483
$GC,5550,1.60,356.5,422.1,10.9,518,5562,0.00,2.47,6.00,0.698,6,0.000,0.038,2891,2005,1463
$GC,5753,1.61,359.5,400.8,10.9,537,5762,0.00,0.00,3.95,0.566,6,0.000,0.000,2891,2006,1451
$GC,5953,1.67,412.7,380.3,9.4,556,6007,0.00,0.00,50.90,0.875,6,0.000,0.000,2891,2007,1234
$GC,6195,1.73,459.5,356.1,9.6,579,6245,0.12,2.72,42.85,0.864,4,0.048,0.068,2931,601,1043
$GC,6286,1.73,459.5,345.1,13.1,587,6290,0.00,2.45,0.00,0.000,6,0.000,0.038,2931,1996,1041
$GC,6483,1.73,459.5,318.9,13.4,605,6484,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,1997,1037
$GC,6674,1.73,459.5,291.2,15.1,623,6679,0.00,2.62,0.00,0.000,4,0.000,0.067,2931,596,1036
$GC,6714,1.73,459.5,285.1,15.9,626,6718,0.00,2.45,0.00,0.000,6,0.000,0.036,2931,2003,1035
$GC,6784,1.73,459.5,274.3,15.9,632,6788,0.00,2.55,0.00,0.000,4,0.000,0.063,2931,3390,1035
$GC,6816,1.73,459.5,269.2,14.7,634,6823,0.00,2.47,0.00,0.000,6,0.000,0.041,2931,1993,1035
$GC,6886,1.73,459.5,259.8,13.8,641,6890,0.00,2.62,0.00,0.000,4,0.000,0.070,2931,585,1035
$GC,6941,1.73,459.5,251.4,15.8,645,6948,0.00,2.45,0.00,0.000,6,0.000,0.036,2931,1993,1034
$GC,7011,1.73,459.5,240.8,15.5,652,7012,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,1999,1034
$GC,7075,1.73,459.5,231.3,14.6,658,7076,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,1999,1034
$GC,7138,1.73,459.5,222.3,14.1,664,7139,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,1999,1033
$GC,7202,1.73,459.5,213.3,14.0,670,7203,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,1999,1033
$GC,7266,1.73,459.5,205.0,13.3,676,7270,0.00,2.60,0.00,0.000,4,0.000,0.064,2931,582,1034
$GC,7298,1.73,459.5,200.4,13.8,678,7305,0.00,2.45,0.00,0.000,6,0.000,0.035,2931,1999,1032
$GC,7368,1.73,459.5,190.9,13.5,685,7370,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,1999,1032
$GC,7432,1.73,459.5,182.9,12.6,691,7436,0.00,2.60,0.00,0.000,4,0.000,0.062,2931,589,1032
$GC,7493,1.73,459.5,174.9,12.7,696,7498,0.00,2.42,0.00,0.000,6,0.000,0.034,2931,1996,1032
$GC,7563,1.73,459.5,166.3,12.4,702,7567,0.00,2.53,0.00,0.000,4,0.000,0.058,2931,3388,1032
$GC,7607,1.73,459.5,160.9,11.7,705,7614,0.00,2.45,0.00,0.000,6,0.000,0.038,2931,1991,1032
$GC,7677,1.73,459.5,153.3,11.4,712,7681,0.00,2.58,0.00,0.000,4,0.000,0.064,2931,592,1032
$GC,7720,1.73,459.5,147.8,11.9,715,7727,0.00,2.42,0.00,0.000,6,0.000,0.034,2931,1996,1031
$GC,7791,1.79,503.8,140.7,9.7,722,7837,0.00,2.58,37.33,0.719,4,0.000,0.057,2931,3386,862
$GC,7871,1.79,503.8,132.1,11.1,729,7875,0.00,2.45,0.00,0.000,6,0.000,0.038,2931,1992,860
$GC,7941,1.79,503.8,124.7,11.3,735,7945,0.00,2.58,0.00,0.000,4,0.000,0.063,2931,594,859
$GC,7984,1.79,503.8,119.5,12.3,738,7991,0.00,2.42,0.00,0.000,6,0.000,0.033,2931,2001,858
$GC,8054,1.79,503.8,111.7,11.2,745,8056,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2001,858
$GC,8118,1.79,503.8,104.5,11.5,751,8119,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2001,857
$GC,8182,1.79,503.8,97.0,11.7,757,8186,0.00,2.58,0.00,0.000,4,0.000,0.059,2931,587,858
$GC,8225,1.80,518.2,92.3,10.6,760,8245,0.00,2.42,12.75,0.636,6,0.000,0.032,2931,1996,804
$GC,8307,1.81,527.2,83.8,10.7,768,8319,0.00,0.00,9.60,0.601,6,0.000,0.000,2931,1996,767
$GC,8380,1.81,527.2,75.2,11.8,775,8382,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,1997,765
$GC,8444,1.83,540.2,68.5,10.6,781,8455,0.00,0.00,5.72,0.516,6,0.000,0.000,2931,1997,745
$GC,8518,1.87,574.9,61.3,9.9,788,8519,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,1997,745
$GC,8582,1.94,629.0,55.4,9.4,794,8587,0.15,2.58,0.00,0.000,4,0.039,0.057,2981,587,745
$GC,8648,1.94,629.0,46.2,14.3,799,8655,0.00,2.40,0.00,0.000,6,0.000,0.030,2981,1998,744
$GC,8718,1.94,629.0,37.3,13.0,806,8723,0.00,2.50,0.00,0.000,4,0.000,0.054,2981,3389,744
$GC,8758,1.94,629.0,32.1,14.2,809,8763,0.00,2.42,0.00,0.000,6,0.000,0.034,2981,1985,745
$GC,8828,1.94,629.0,22.7,13.7,815,8832,0.00,2.53,0.00,0.000,4,0.000,0.059,2981,595,744
$GC,8862,1.94,629.0,17.8,14.1,818,8869,0.00,2.38,0.00,0.000,6,0.000,0.029,2981,1996,744
$GC,8938,1.95,634.8,9.1,10.8,831,8944,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,1996,744
$STATE,8993,end climb,SURFACE_DEPTH_REACHED
$STATE,8993,begin surface coast
$FINISH,0.4,1.008702
$STATE,9005,end surface coast,CONTROL_FINISHED_OK
$STATE,9005,begin surface
$SM_CCo,9087,0.00,0.000,0,0,741,533.53
$SM_GC,1.26,11.25,0.00,0.00,0.029,0.000,0.000,402,2001,741,-9.78,0.90,533.53
$IRIDIUM_FIX,2148.09,-15945.13,021198,111156
$TT8_MAMPS,0.059059
$HUMID,2030
$INTERNAL_PRESSURE,7.47099
$TCM_TEMP,23.90
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.8,26.031
$10V_AH,10.1,11.477
$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,25.475,149.650,698.450,0.000,0.000,22.817,24.979,283.008,0.000,0.000,61.982,15.231,1640.975,4907.949,830.412,1530.571,660.539,33.343,1774.938,0.000,1482.736,0.000,0.000,0.000
$DEVICE_MAMPS,181.779,69.797,953.381,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,588.358,0.000,0.000,0.000,0.000,0.000,163.324,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,28346,843
$CAP_FILE_SIZE,129397,0
$CFSIZE,260165632,246415360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080809,162507,2156.255,-15946.442,36,1.7,36,9.8