version: 66.04
glider: 117
mission: 24
dive: 51
start: 8 3 109 6 25 3
data:
$ID,117
$MISSION,24
$DIVE,51
$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,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,-107406.2
$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,24
$R_STBD_OVSHOOT,32
$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
$GPS1,061543,2154.541,-15942.685,12,1.6,29,9.8
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-57.2
$GPS2,062413,2154.636,-15942.863,15,1.6,32,9.8
$SPEED_LIMITS,0.100,0.279
$TGT_NAME,TB
$TGT_LATLONG,2153.300,-15940.300
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.252,-0.120
$KALMAN_X,-55252.3,-1444.0,-69.3,59262.1,-1215.3
$KALMAN_Y,16890.8,948.6,143.8,-19973.4,402.8
$MHEAD_RNG_PITCHd_Wd,105.7,5053,-16.8,-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,17,-1.50,-170.3,0.0,0.0,0,93,0.00,0.00,-73.00,0.000,2,0.000,0.000,402,1982,3177
$GC,96,-1.50,-170.3,3.1,-5.2,12,123,10.68,2.58,-8.38,0.000,4,0.176,0.071,2210,566,3615
$GC,152,-1.50,-170.3,17.2,-20.6,21,159,0.00,2.40,0.00,0.000,6,0.000,0.030,2210,1986,3615
$GC,224,-1.50,-170.3,31.5,-20.6,29,225,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,1989,3615
$GC,415,-1.50,-170.3,67.1,-17.8,47,417,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,1989,3616
$GC,734,-1.50,-170.3,110.7,-13.8,77,735,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,1989,3618
$GC,1053,-1.50,-170.3,155.1,-14.2,107,1057,0.00,2.58,0.00,0.000,4,0.000,0.061,2210,563,3619
$GC,1080,-1.50,-170.3,158.9,-14.1,109,1085,0.00,2.38,0.00,0.000,6,0.000,0.033,2210,1966,3619
$GC,1407,-1.50,-170.3,200.9,-12.2,139,1411,0.00,2.50,0.00,0.000,4,0.000,0.056,2210,3366,3620
$GC,1457,-1.50,-170.3,207.8,-13.6,143,1461,0.00,2.42,0.00,0.000,6,0.000,0.038,2211,1959,3620
$GC,1783,-1.50,-170.3,241.3,-10.1,173,1784,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,1959,3620
$GC,2100,-1.50,-170.3,276.8,-12.1,203,2101,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,1959,3620
$GC,2419,-1.50,-170.3,313.7,-12.7,233,2423,0.00,2.58,0.00,0.000,4,0.000,0.063,2210,3367,3620
$GC,2486,-1.50,-170.3,322.6,-13.5,238,2493,0.00,2.45,0.00,0.000,6,0.000,0.042,2210,1970,3619
$GC,2812,-1.50,-170.3,364.2,-12.2,269,2813,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,1970,3617
$GC,3129,-1.50,-170.3,402.8,-10.5,299,3130,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,1969,3614
$GC,3448,-1.50,-170.3,435.6,-11.4,329,3452,0.00,2.58,0.00,0.000,4,0.000,0.067,2210,3367,3611
$GC,3487,-1.50,-170.3,439.9,-11.5,332,3491,0.00,2.47,0.00,0.000,6,0.000,0.045,2210,1964,3611
$GC,3814,-1.50,-170.3,473.2,-9.4,362,3818,0.00,2.58,0.00,0.000,4,0.000,0.066,2210,3362,3608
$GC,3876,-1.50,-170.3,479.7,-10.6,367,3880,0.00,2.45,0.00,0.000,6,0.000,0.046,2210,1972,3607
$GC,4202,-1.50,-170.3,512.0,-9.5,397,4203,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,1971,3604
$GC,4519,-1.50,-170.3,542.8,-10.2,427,4524,0.00,2.65,0.00,0.000,4,0.000,0.079,2210,566,3602
$GC,4581,-1.50,-170.3,550.1,-11.5,432,4586,0.00,2.45,0.00,0.000,6,0.000,0.043,2210,1969,3601
$GC,4908,-1.50,-170.3,583.1,-9.2,462,4912,0.00,2.58,0.00,0.000,4,0.000,0.070,2210,3367,3599
$GC,4997,-1.50,-170.3,591.9,-8.8,469,5004,0.00,2.50,0.00,0.000,6,0.000,0.048,2210,1962,3598
$GC,5324,-1.50,-170.3,622.1,-9.1,500,5325,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,1962,3595
$GC,5640,-1.50,-170.3,654.3,-10.7,530,5641,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,1962,3593
$STATE,5691,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5691,begin apogee
$GC,5696,-0.38,0.0,660.1,10.8,535,5855,1.23,0.00,150.68,1.085,6,0.102,0.000,2452,1961,2917
$STATE,5856,end apogee,CONTROL_FINISHED_OK
$STATE,5856,begin climb
$GC,5858,1.50,170.3,667.6,0.0,551,6021,1.95,0.00,156.57,1.041,6,0.068,0.000,2872,1961,2223
$GC,6338,1.56,218.6,636.0,8.1,596,6388,0.00,2.75,44.55,1.011,4,0.000,0.071,2872,3397,2024
$GC,6423,1.60,245.6,629.1,8.9,603,6458,0.00,2.55,26.20,0.983,6,0.000,0.049,2872,1992,1914
$GC,6775,1.60,245.6,594.2,10.6,636,6779,0.00,2.65,0.00,0.000,4,0.000,0.069,2871,3394,1906
$GC,6807,1.60,245.6,590.4,10.8,638,6814,0.00,2.53,0.00,0.000,6,0.000,0.048,2872,1993,1905
$GC,7134,1.60,245.6,555.2,10.1,669,7138,0.00,2.62,0.00,0.000,4,0.000,0.069,2872,3396,1903
$GC,7218,1.60,245.6,545.7,11.9,676,7222,0.00,2.53,0.00,0.000,6,0.000,0.048,2872,1991,1903
$GC,7544,1.60,247.4,509.3,9.9,706,7545,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,1991,1902
$GC,7862,1.66,293.0,482.7,8.2,736,7912,0.12,2.72,42.35,0.983,4,0.054,0.069,2905,3394,1722
$GC,7952,1.66,293.0,474.1,10.0,744,7956,0.00,2.53,0.00,0.000,6,0.000,0.048,2905,1994,1719
$GC,8278,1.66,293.0,437.9,11.6,774,8280,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,1994,1713
$GC,8595,1.66,293.0,398.8,12.6,804,8599,0.00,2.62,0.00,0.000,4,0.000,0.069,2905,3395,1712
$GC,8702,1.66,293.0,385.0,12.7,813,8706,0.00,2.53,0.00,0.000,6,0.000,0.048,2905,1988,1711
$GC,9028,1.70,332.5,351.0,8.4,843,9074,0.00,2.78,35.22,0.904,4,0.000,0.080,2905,588,1560
$GC,9097,1.71,339.1,344.5,9.7,849,9110,0.00,2.50,7.28,0.759,6,0.000,0.043,2905,1999,1534
$GC,9427,1.71,339.1,309.6,10.8,880,9431,0.00,2.60,0.00,0.000,4,0.000,0.067,2905,3394,1529
$GC,9511,1.71,339.1,300.1,11.0,887,9515,0.00,2.53,0.00,0.000,6,0.000,0.047,2905,1986,1528
$GC,9837,1.71,339.1,262.6,10.9,917,9841,0.00,2.60,0.00,0.000,4,0.000,0.062,2905,3391,1526
$GC,9865,1.71,339.1,259.4,11.0,919,9869,0.00,2.50,0.00,0.000,6,0.000,0.044,2905,1986,1527
$GC,10191,1.71,339.1,224.2,10.4,949,10196,0.00,2.62,0.00,0.000,4,0.000,0.074,2905,587,1526
$GC,10214,1.71,339.1,221.4,12.0,950,10221,0.00,2.47,0.00,0.000,6,0.000,0.038,2905,2004,1525
$GC,10541,1.72,346.2,187.7,9.7,981,10553,0.00,2.55,6.45,0.652,4,0.000,0.061,2905,3394,1505
$GC,10581,1.72,346.2,183.1,10.8,984,10588,0.00,2.50,0.00,0.000,6,0.000,0.041,2905,1984,1504
$GC,10908,1.72,346.2,148.4,11.4,1015,10912,0.00,2.62,0.00,0.000,4,0.000,0.067,2905,584,1503
$GC,10936,1.72,346.2,145.1,12.4,1017,10940,0.00,2.45,0.00,0.000,6,0.000,0.036,2906,1999,1503
$GC,11260,1.72,346.2,111.9,10.4,1047,11264,0.00,2.50,0.00,0.000,4,0.000,0.057,2905,3386,1502
$GC,11311,1.72,346.2,106.3,11.2,1051,11315,0.00,2.42,0.00,0.000,6,0.000,0.038,2905,1992,1503
$GC,11637,1.77,382.5,76.0,8.6,1081,11672,0.00,0.00,32.58,0.637,6,0.000,0.000,2907,1992,1357
$GC,11988,1.86,462.7,45.2,6.8,1114,12068,0.17,2.67,68.80,0.591,4,0.038,0.064,2966,593,1028
$GC,12141,1.86,462.7,27.6,12.2,1127,12148,0.00,2.42,0.00,0.000,6,0.000,0.032,2966,2007,1026
$GC,12347,1.86,462.7,3.7,10.8,1158,12353,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2011,1024
$STATE,12363,end climb,SURFACE_DEPTH_REACHED
$STATE,12363,begin surface coast
$FINISH,0.5,1.011848
$STATE,12381,end surface coast,CONTROL_FINISHED_OK
$STATE,12381,begin surface
$SM_CCo,12464,0.00,0.000,0,0,1020,465.09
$SM_GC,1.32,11.15,0.00,0.00,0.028,0.000,0.000,406,1958,1020,-9.77,-0.28,465.09
$IRIDIUM_FIX,2143.45,-15943.76,281098,040401
$TT8_MAMPS,0.057525
$HUMID,2015
$INTERNAL_PRESSURE,7.51005
$TCM_TEMP,24.40
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.5,14.425
$10V_AH,10.0,6.229
$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,25.300,106.975,570.675,0.000,0.000,23.405,29.370,302.154,0.000,0.000,378.516,32.229,2149.960,7546.669,629.311,1985.553,670.750,33.335,1678.314,0.000,1915.109,0.000,0.000,0.000
$DEVICE_MAMPS,176.410,88.205,1085.305,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,820.465,0.000,0.000,0.000,0.000,0.000,206.587,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,37817,1164
$CAP_FILE_SIZE,118651,0
$CFSIZE,260165632,252506112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030809,095401,2153.880,-15941.271,40,1.2,40,9.8