version: 66.04
glider: 117
mission: 24
dive: 38
start: 8 2 109 9 23 32
data:
$ID,117
$MISSION,24
$DIVE,38
$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,-107120.25
$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,38
$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
$GPS1,090837,2153.642,-15940.968,41,1.7,41,9.8
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-53.4
$GPS2,092241,2153.669,-15941.184,10,1.9,14,9.8
$SPEED_LIMITS,0.100,0.296
$TGT_NAME,TA
$TGT_LATLONG,2155.000,-15943.400
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.235,0.180
$KALMAN_X,-45699.9,99.8,-197.5,51166.0,-496.7
$KALMAN_Y,10897.1,315.1,-30.8,-14958.5,-42.4
$MHEAD_RNG_PITCHd_Wd,297.6,4538,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-1.45,-194.6,0.0,0.0,0,118,0.00,0.00,-96.38,0.000,2,0.000,0.000,406,1961,3302
$GC,121,-1.45,-194.6,3.7,-6.9,16,148,10.90,2.55,-7.20,0.000,4,0.181,0.068,2220,577,3715
$GC,400,-1.45,-194.6,61.9,-15.5,45,407,0.00,2.38,0.00,0.000,6,0.000,0.029,2220,1984,3716
$GC,725,-1.45,-194.6,106.7,-12.3,76,726,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,1984,3717
$GC,1044,-1.45,-194.6,151.4,-14.0,106,1048,0.00,2.55,0.00,0.000,4,0.000,0.059,2220,576,3719
$GC,1098,-1.45,-194.6,158.9,-13.1,110,1105,0.00,2.35,0.00,0.000,6,0.000,0.031,2220,1967,3719
$GC,1425,-1.45,-194.6,203.1,-12.3,141,1426,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,1967,3719
$GC,1742,-1.45,-194.6,241.5,-12.5,171,1746,0.00,2.50,0.00,0.000,4,0.000,0.057,2220,3361,3720
$GC,1804,-1.45,-194.6,248.9,-11.6,176,1808,0.00,2.40,0.00,0.000,6,0.000,0.037,2220,1968,3719
$GC,2130,-1.45,-194.6,283.6,-11.8,206,2134,0.00,2.58,0.00,0.000,4,0.000,0.067,2220,569,3719
$GC,2203,-1.45,-194.6,292.6,-12.9,212,2207,0.00,2.40,0.00,0.000,6,0.000,0.036,2220,1967,3719
$GC,2530,-1.45,-194.6,330.1,-11.3,242,2535,0.00,2.55,0.00,0.000,4,0.000,0.061,2220,3372,3717
$GC,2585,-1.45,-194.6,337.3,-12.4,246,2593,0.00,2.45,0.00,0.000,6,0.000,0.041,2220,1967,3717
$GC,2912,-1.45,-194.6,374.7,-11.4,277,2916,0.00,2.60,0.00,0.000,4,0.000,0.072,2220,565,3716
$GC,2985,-1.45,-194.6,383.4,-11.7,283,2989,0.00,2.42,0.00,0.000,6,0.000,0.039,2220,1971,3715
$GC,3318,-1.45,-194.6,423.3,-11.8,314,3322,0.00,2.55,0.00,0.000,4,0.000,0.066,2220,3365,3711
$GC,3361,-1.45,-194.6,429.4,-12.7,317,3368,0.00,2.45,0.00,0.000,6,0.000,0.044,2219,1973,3711
$GC,3688,-1.45,-194.6,465.7,-10.8,348,3689,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,1971,3708
$GC,4005,-1.45,-194.6,496.3,-9.6,378,4009,0.00,2.58,0.00,0.000,4,0.000,0.067,2220,3369,3706
$GC,4090,-1.45,-194.6,505.2,-10.7,385,4094,0.00,2.47,0.00,0.000,6,0.000,0.046,2219,1966,3705
$GC,4417,-1.45,-194.6,540.3,-10.4,415,4423,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,1965,3702
$GC,4743,-1.45,-194.6,571.9,-9.5,446,4747,0.00,2.65,0.00,0.000,4,0.000,0.078,2220,561,3699
$GC,4798,-1.45,-194.6,577.2,-9.1,450,4805,0.00,2.47,0.00,0.000,6,0.000,0.044,2220,1966,3698
$GC,5124,-1.45,-194.6,608.6,-9.6,481,5129,0.00,2.60,0.00,0.000,4,0.000,0.071,2220,3368,3696
$GC,5187,-1.45,-194.6,615.0,-9.4,486,5191,0.00,2.50,0.00,0.000,6,0.000,0.048,2220,1959,3695
$GC,5515,-1.45,-194.6,649.9,-11.2,516,5520,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,1959,3693
$STATE,5603,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5604,begin apogee
$GC,5609,-0.38,0.0,660.3,11.0,525,5788,1.17,0.00,173.45,1.075,6,0.104,0.000,2452,1959,2917
$STATE,5789,end apogee,CONTROL_FINISHED_OK
$STATE,5789,begin climb
$GC,5791,1.45,194.6,668.7,0.0,543,5983,1.90,2.65,179.88,1.029,4,0.068,0.075,2858,591,2122
$GC,6008,1.49,228.3,658.9,8.8,564,6046,0.00,2.53,32.40,0.976,6,0.000,0.044,2859,1997,1986
$GC,6372,1.55,280.6,629.2,8.2,598,6429,0.00,2.70,48.85,1.002,4,0.000,0.074,2859,3397,1772
$GC,6464,1.57,296.3,621.3,9.5,606,6488,0.12,2.55,16.23,0.937,6,0.057,0.048,2892,1991,1709
$GC,6805,1.57,296.3,584.6,11.5,638,6806,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,1991,1701
$GC,7123,1.57,296.3,548.9,11.1,668,7128,0.00,2.65,0.00,0.000,4,0.000,0.071,2892,3397,1698
$GC,7156,1.57,296.3,544.9,12.0,670,7163,0.00,2.55,0.00,0.000,6,0.000,0.048,2893,1985,1698
$GC,7483,1.57,296.3,508.6,11.0,701,7484,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,1985,1697
$GC,7799,1.57,296.3,476.4,10.2,731,7800,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,1985,1696
$GC,8118,1.57,296.3,440.3,11.9,761,8122,0.00,2.65,0.00,0.000,4,0.000,0.070,2892,3393,1694
$GC,8191,1.57,296.3,431.6,11.7,767,8195,0.00,2.50,0.00,0.000,6,0.000,0.048,2892,1994,1694
$GC,8519,1.60,321.5,395.2,9.1,797,8546,0.00,0.00,21.83,0.919,6,0.000,0.000,2892,1994,1606
$GC,8865,1.60,321.5,362.6,10.1,830,8867,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,1994,1601
$GC,9183,1.62,332.4,333.1,9.6,860,9196,0.00,0.00,10.62,0.828,6,0.000,0.000,2892,1994,1561
$GC,9513,1.62,332.4,294.7,12.5,891,9514,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,1994,1557
$GC,9830,1.62,332.4,260.4,11.0,921,9831,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,1993,1557
$GC,10148,1.62,332.4,225.4,10.2,951,10153,0.00,2.58,0.00,0.000,4,0.000,0.063,2892,3390,1557
$GC,10200,1.63,342.0,220.5,9.7,955,10215,0.00,2.47,9.45,0.733,6,0.000,0.042,2892,1990,1522
$GC,10542,1.70,399.5,192.1,8.0,987,10600,0.00,2.67,51.92,0.762,4,0.000,0.059,2892,3393,1288
$GC,10623,1.70,399.5,183.8,10.1,994,10630,0.00,2.50,0.00,0.000,6,0.000,0.040,2892,1990,1286
$GC,10949,1.70,399.5,148.9,10.6,1025,10954,0.00,2.60,0.00,0.000,4,0.000,0.067,2892,588,1281
$GC,10971,1.70,399.5,145.9,12.8,1026,10978,0.00,2.47,0.00,0.000,6,0.000,0.035,2892,2010,1280
$GC,11298,1.70,403.9,109.4,9.8,1057,11306,0.00,0.00,4.07,0.462,6,0.000,0.000,2892,2010,1270
$GC,11626,1.70,403.9,76.0,10.1,1088,11630,0.00,2.62,0.00,0.000,4,0.000,0.061,2892,584,1270
$GC,11681,1.71,408.8,70.4,9.8,1092,11692,0.00,2.42,6.10,0.522,6,0.000,0.034,2892,1995,1249
$GC,12018,1.80,485.4,45.2,7.4,1124,12090,0.17,2.60,65.35,0.618,4,0.044,0.058,2956,3396,937
$GC,12108,1.80,485.4,36.6,11.1,1132,12113,0.10,2.47,0.00,0.000,6,0.086,0.035,2936,1981,936
$GC,12309,1.80,485.4,14.5,10.6,1154,12315,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,1981,933
$GC,12383,1.80,485.4,6.3,10.8,1167,12390,0.00,2.53,0.00,0.000,4,0.000,0.060,2936,595,932
$GC,12413,1.80,485.4,2.9,11.9,1172,12420,0.00,2.40,0.00,0.000,6,0.000,0.030,2936,2005,932
$STATE,12424,end climb,SURFACE_DEPTH_REACHED
$STATE,12425,begin surface coast
$FINISH,0.5,0.998786
$STATE,12443,end surface coast,CONTROL_FINISHED_OK
$STATE,12443,begin surface
$SM_CCo,12525,0.00,0.000,0,0,930,487.41
$SM_GC,1.41,11.02,0.00,0.00,0.028,0.000,0.000,406,1961,930,-9.78,-0.28,487.41
$IRIDIUM_FIX,2145.77,-15940.77,271098,050545
$TT8_MAMPS,0.17641
$HUMID,1934
$INTERNAL_PRESSURE,7.48076
$TCM_TEMP,24.40
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.2,12.659
$10V_AH,10.1,5.516
$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,25.400,101.175,620.150,0.000,0.000,24.858,43.496,576.598,0.000,0.000,86.360,14.991,2152.758,7520.407,711.448,1982.567,999.055,33.364,1758.776,0.000,1919.323,0.000,0.000,0.000
$DEVICE_MAMPS,181.012,114.283,1075.334,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,830.080,0.000,0.000,0.000,0.000,0.000,161.923,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,37752,1177
$CAP_FILE_SIZE,123678,0
$CFSIZE,260165632,253411328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020809,125339,2154.806,-15943.094,40,1.6,48,9.8