version: 66.04
glider: 117
mission: 24
dive: 113
start: 8 8 109 6 47 57
data:
$ID,117
$MISSION,24
$DIVE,113
$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,-108700.6
$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,28
$R_STBD_OVSHOOT,36
$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
$GPS1,063756,2157.362,-15947.522,11,1.7,17,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-52.1
$GPS2,064706,2157.458,-15947.670,17,1.1,33,9.8
$SPEED_LIMITS,0.122,0.350
$TGT_NAME,10N
$TGT_LATLONG,2154.033,-15942.617
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.269,-0.223
$KALMAN_X,-173298.2,-1521.6,270.8,168781.9,-5139.3
$KALMAN_Y,78173.4,961.1,1.2,-75897.2,4038.6
$MHEAD_RNG_PITCHd_Wd,119.8,10753,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.58,-243.3,0.0,0.0,0,118,0.00,0.00,-96.72,0.000,2,0.000,0.000,404,1977,3280
$GC,121,-1.58,-243.3,3.9,-8.2,16,148,10.57,2.47,-10.60,0.000,4,0.178,0.060,2191,3362,3913
$GC,207,-1.58,-243.3,28.0,-22.2,27,211,0.00,2.40,0.00,0.000,6,0.000,0.034,2191,1965,3914
$GC,277,-1.58,-243.3,44.1,-23.0,33,281,0.00,2.50,0.00,0.000,4,0.000,0.050,2191,3368,3915
$GC,305,-1.58,-243.3,49.7,-20.0,35,309,0.00,2.40,0.00,0.000,6,0.000,0.032,2191,1966,3915
$GC,375,-1.58,-243.3,63.4,-20.9,41,376,0.00,0.00,0.00,0.000,6,0.000,0.000,2191,1966,3915
$GC,438,-1.58,-243.3,76.3,-19.9,47,443,0.00,2.50,0.00,0.000,4,0.000,0.057,2191,570,3915
$GC,515,-1.58,-243.3,90.3,-18.6,53,523,0.00,2.38,0.00,0.000,6,0.000,0.028,2191,1983,3916
$GC,586,-1.58,-243.3,103.5,-19.2,60,587,0.00,0.00,0.00,0.000,6,0.000,0.000,2191,1984,3916
$GC,650,-1.58,-243.3,115.6,-18.5,66,651,0.00,0.00,0.00,0.000,6,0.000,0.000,2191,1984,3916
$GC,713,-1.58,-243.3,127.5,-18.5,72,714,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,1984,3917
$GC,777,-1.58,-243.3,138.7,-17.6,78,778,0.00,0.00,0.00,0.000,6,0.000,0.000,2191,1984,3917
$GC,841,-1.58,-243.3,149.5,-16.5,84,845,0.00,2.45,0.00,0.000,4,0.000,0.051,2191,3366,3918
$GC,884,-1.58,-243.3,156.6,-15.4,87,891,0.00,2.40,0.00,0.000,6,0.000,0.033,2191,1963,3918
$GC,955,-1.58,-243.3,168.3,-17.3,94,959,0.00,2.53,0.00,0.000,4,0.000,0.060,2191,566,3918
$GC,1039,-1.58,-243.3,182.9,-16.8,101,1043,0.00,2.38,0.00,0.000,6,0.000,0.030,2191,1975,3919
$GC,1109,-1.58,-243.3,194.4,-16.6,107,1110,0.00,0.00,0.00,0.000,6,0.000,0.000,2191,1975,3919
$GC,1173,-1.58,-243.3,205.1,-16.8,113,1174,0.00,0.00,0.00,0.000,6,0.000,0.000,2191,1976,3919
$GC,1236,-1.58,-243.3,215.8,-17.0,119,1240,0.00,2.55,0.00,0.000,4,0.000,0.058,2191,567,3918
$GC,1275,-1.58,-243.3,222.1,-15.8,122,1280,0.00,2.38,0.00,0.000,6,0.000,0.031,2191,1971,3919
$GC,1345,-1.58,-243.3,232.4,-14.6,128,1349,0.00,2.50,0.00,0.000,4,0.000,0.054,2191,3374,3919
$GC,1373,-1.58,-243.3,236.7,-15.7,130,1377,0.00,2.40,0.00,0.000,6,0.000,0.035,2191,1970,3919
$GC,1450,-1.58,-243.3,247.9,-14.7,137,1451,0.00,0.00,0.00,0.000,6,0.000,0.000,2191,1971,3919
$GC,1512,-1.58,-243.3,257.5,-15.0,143,1516,0.00,2.50,0.00,0.000,4,0.000,0.052,2191,3367,3920
$GC,1563,-1.58,-243.3,265.5,-15.0,147,1570,0.00,2.40,0.00,0.000,6,0.000,0.035,2191,1971,3919
$GC,1633,-1.58,-243.3,275.6,-14.4,154,1637,0.00,2.55,0.00,0.000,4,0.000,0.064,2191,573,3919
$GC,1654,-1.58,-243.3,278.8,-14.6,155,1661,0.00,2.38,0.00,0.000,6,0.000,0.033,2191,1967,3920
$GC,1725,-1.58,-243.3,288.2,-13.7,162,1727,0.00,0.00,0.00,0.000,6,0.000,0.000,2191,1967,3920
$GC,1788,-1.58,-243.3,296.7,-12.9,168,1789,0.00,0.00,0.00,0.000,6,0.000,0.000,2191,1967,3920
$GC,1851,-1.58,-243.3,305.4,-13.8,174,1856,0.00,2.53,0.00,0.000,4,0.000,0.058,2191,3370,3920
$GC,1891,-1.58,-243.3,310.9,-14.0,177,1896,0.00,2.42,0.00,0.000,6,0.000,0.039,2191,1973,3920
$GC,2089,-1.58,-243.3,337.6,-13.7,195,2090,0.00,0.00,0.00,0.000,6,0.000,0.000,2191,1973,3919
$GC,2280,-1.58,-243.3,363.0,-12.6,213,2284,0.00,2.60,0.00,0.000,4,0.000,0.069,2191,562,3919
$GC,2334,-1.58,-243.3,370.0,-12.5,217,2341,0.00,2.42,0.00,0.000,6,0.000,0.035,2191,1972,3918
$GC,2532,-1.58,-243.3,394.3,-11.8,236,2537,0.00,2.55,0.00,0.000,4,0.000,0.063,2191,3370,3916
$GC,2599,-1.58,-243.3,402.8,-13.3,241,2606,0.00,2.47,0.00,0.000,6,0.000,0.041,2191,1961,3916
$GC,2797,-1.58,-243.3,428.0,-12.4,260,2798,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,1960,3915
$GC,2988,-1.58,-243.3,451.9,-12.7,278,2992,0.00,2.58,0.00,0.000,4,0.000,0.063,2191,3367,3913
$GC,3020,-1.58,-243.3,456.0,-12.8,280,3027,0.00,2.47,0.00,0.000,6,0.000,0.042,2191,1962,3913
$GC,3218,-1.58,-243.3,478.1,-9.4,299,3219,0.00,0.00,0.00,0.000,6,0.000,0.000,2191,1961,3911
$STATE,3374,end dive,NO_VERTICAL_VELOCITY
$STATE,3375,begin apogee
$GC,3380,-0.38,0.0,478.0,0.0,314,3598,1.20,0.00,209.45,0.907,6,0.064,0.000,2453,1961,2917
$STATE,3599,end apogee,CONTROL_FINISHED_OK
$STATE,3599,begin climb
$GC,3602,1.58,243.3,477.7,0.0,336,3826,1.98,2.75,210.32,0.871,4,0.061,0.064,2886,3393,1925
$GC,3889,1.66,307.0,457.6,10.1,362,3957,0.00,2.50,57.38,0.844,6,0.000,0.044,2886,1994,1665
$GC,4149,1.72,355.1,431.8,10.6,386,4199,0.12,2.70,43.62,0.839,4,0.052,0.072,2923,585,1469
$GC,4232,1.72,355.1,421.1,14.2,393,4239,0.00,2.50,0.00,0.000,6,0.000,0.040,2923,1994,1466
$GC,4429,1.72,355.1,395.0,12.6,412,4434,0.00,2.60,0.00,0.000,4,0.000,0.066,2923,3394,1461
$GC,4481,1.73,370.0,388.9,11.7,416,4504,0.00,2.50,13.70,0.785,6,0.000,0.044,2923,1995,1407
$GC,4694,1.73,370.0,362.8,12.9,436,4699,0.00,2.65,0.00,0.000,4,0.000,0.073,2923,588,1404
$GC,4750,1.73,370.0,355.1,13.4,440,4757,0.00,2.47,0.00,0.000,6,0.000,0.040,2923,1994,1403
$GC,4948,1.75,380.9,329.9,11.9,459,4963,0.00,2.67,10.15,0.756,4,0.000,0.068,2923,588,1364
$GC,5004,1.75,380.9,322.6,13.8,464,5008,0.00,2.47,0.00,0.000,6,0.000,0.039,2923,1993,1363
$GC,5202,1.83,449.7,301.8,9.9,482,5271,0.00,2.70,63.72,0.820,4,0.000,0.064,2923,3401,1083
$GC,5295,1.87,477.7,291.9,11.3,490,5330,0.10,2.53,26.30,0.775,6,0.058,0.044,2954,1993,968
$GC,5392,1.87,477.7,279.2,13.7,499,5397,0.00,2.65,0.00,0.000,4,0.000,0.071,2954,585,964
$GC,5443,1.87,477.7,272.0,14.6,503,5448,0.00,2.47,0.00,0.000,6,0.000,0.038,2954,1996,963
$GC,5513,1.87,477.7,262.9,12.8,509,5514,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,1997,962
$GC,5577,1.87,477.7,254.7,12.5,515,5578,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,1996,960
$GC,5640,1.87,477.7,246.7,12.2,521,5641,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,1997,960
$GC,5704,1.87,477.7,238.6,12.6,527,5705,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,1997,960
$GC,5768,1.87,477.7,230.2,13.5,533,5769,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,1997,959
$GC,5832,1.87,477.7,221.2,14.2,539,5833,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,1998,959
$GC,5895,1.87,477.7,211.6,15.8,545,5899,0.00,2.62,0.00,0.000,4,0.000,0.065,2954,586,958
$GC,5950,1.87,477.7,202.1,17.7,549,5957,0.00,2.45,0.00,0.000,6,0.000,0.035,2954,2003,958
$GC,6020,1.87,477.7,191.0,16.0,556,6024,0.00,2.62,0.00,0.000,4,0.000,0.064,2954,585,957
$GC,6064,1.87,477.7,183.7,17.5,559,6071,0.00,2.45,0.00,0.000,6,0.000,0.035,2953,1994,957
$GC,6134,1.87,477.7,173.5,14.5,566,6135,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,1994,956
$GC,6197,1.87,477.7,165.0,13.0,572,6201,0.00,2.60,0.00,0.000,4,0.000,0.064,2954,589,956
$GC,6226,1.87,477.7,161.1,14.4,574,6230,0.00,2.45,0.00,0.000,6,0.000,0.034,2954,2006,956
$GC,6296,1.87,477.7,151.7,13.2,580,6300,0.00,2.53,0.00,0.000,4,0.000,0.060,2954,3392,956
$GC,6350,1.87,477.7,144.5,13.6,584,6357,0.00,2.47,0.00,0.000,6,0.000,0.038,2954,1979,955
$GC,6421,1.87,477.7,135.6,12.8,591,6425,0.00,2.55,0.00,0.000,4,0.000,0.062,2954,588,955
$GC,6453,1.87,477.7,131.0,13.8,593,6460,0.00,2.42,0.00,0.000,6,0.000,0.032,2954,2003,955
$GC,6524,1.87,477.7,121.9,13.2,600,6528,0.00,2.50,0.00,0.000,4,0.000,0.057,2954,3385,954
$GC,6552,1.87,477.7,117.8,14.5,602,6556,0.00,2.42,0.00,0.000,6,0.000,0.036,2954,1991,954
$GC,6621,1.87,477.7,108.4,13.5,608,6626,0.00,2.58,0.00,0.000,4,0.000,0.061,2954,585,954
$GC,6684,1.87,477.7,99.7,13.6,613,6688,0.00,2.40,0.00,0.000,6,0.000,0.031,2954,1994,954
$GC,6754,1.87,477.7,90.4,13.3,619,6755,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,1994,954
$GC,6817,1.87,477.7,82.0,13.5,625,6821,0.00,2.55,0.00,0.000,4,0.000,0.058,2953,593,954
$GC,6901,1.87,477.7,70.9,13.1,632,6906,0.00,2.40,0.00,0.000,6,0.000,0.031,2954,1996,954
$GC,6971,1.87,477.7,62.0,12.7,638,6975,0.00,2.53,0.00,0.000,4,0.000,0.057,2954,3395,954
$GC,6999,1.87,477.7,58.7,13.1,640,7003,0.00,2.42,0.00,0.000,6,0.000,0.035,2953,1991,954
$GC,7069,1.92,521.7,50.0,10.7,646,7109,0.00,0.00,35.95,0.603,6,0.000,0.000,2954,1990,789
$GC,7173,1.99,576.5,38.8,10.4,656,7185,0.00,0.00,10.50,0.535,6,0.000,0.000,2954,1991,746
$GC,7247,1.99,576.5,29.5,12.4,663,7248,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,1991,745
$GC,7310,2.01,592.1,22.2,11.7,669,7312,0.12,0.00,0.00,0.000,6,0.044,0.000,3002,1991,744
$GC,7376,2.01,592.1,12.8,15.8,679,7383,0.12,0.00,0.00,0.000,6,0.082,0.000,2977,1991,744
$GC,7451,2.01,592.1,2.2,14.0,692,7457,0.00,2.53,0.00,0.000,4,0.000,0.058,2977,595,744
$STATE,7462,end climb,SURFACE_DEPTH_REACHED
$STATE,7462,begin surface coast
$FINISH,0.5,1.010583
$STATE,7474,end surface coast,CONTROL_FINISHED_OK
$STATE,7474,begin surface
$SM_CCo,7558,0.00,0.000,0,0,742,533.53
$SM_GC,1.15,11.12,0.00,0.00,0.025,0.000,0.000,404,2002,742,-9.77,0.90,533.53
$IRIDIUM_FIX,2150.42,-15947.31,021198,040441
$TT8_MAMPS,0.059059
$HUMID,2016
$INTERNAL_PRESSURE,7.49052
$TCM_TEMP,24.30
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.8,25.423
$10V_AH,10.1,11.199
$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,25.350,150.175,681.100,0.000,0.000,25.907,31.369,320.351,0.000,0.000,52.532,33.524,1373.339,3906.815,787.692,1361.126,678.719,33.349,1644.188,0.000,1295.610,0.000,0.000,0.000
$DEVICE_MAMPS,177.944,72.865,906.594,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,483.627,0.000,0.000,0.000,0.000,0.000,125.540,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,22080,696
$CAP_FILE_SIZE,117016,0
$CFSIZE,260165632,246706176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080809,085458,2157.183,-15947.551,8,3.5,28,9.8