version: 66.04
glider: 117
mission: 24
dive: 114
start: 8 8 109 9 4 43
data:
$ID,117
$MISSION,24
$DIVE,114
$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,-108736.77
$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,43
$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
$GPS1,085458,2157.183,-15947.551,8,3.5,28,9.8
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-53.8
$GPS2,090352,2157.266,-15947.713,15,6.8,34,9.8
$SPEED_LIMITS,0.122,0.350
$TGT_NAME,10N
$TGT_LATLONG,2154.033,-15942.617
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.294,-0.190
$KALMAN_X,-175873.5,-1562.1,-38.4,171617.5,-4037.7
$KALMAN_Y,79683.8,1261.9,188.1,-78238.2,2646.3
$MHEAD_RNG_PITCHd_Wd,113.1,10608,-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,-97.62,0.000,2,0.000,0.000,404,2003,3309
$GC,120,-1.58,-243.3,3.7,-7.1,16,148,10.60,2.42,-10.18,0.000,4,0.177,0.062,2192,3359,3912
$GC,171,-1.58,-243.3,20.0,-24.1,24,175,0.00,2.40,0.00,0.000,6,0.000,0.033,2192,1963,3913
$GC,241,-1.58,-243.3,35.9,-22.2,30,242,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,1963,3915
$GC,304,-1.58,-243.3,49.3,-21.5,36,309,0.00,2.47,0.00,0.000,4,0.000,0.048,2192,3356,3914
$GC,337,-1.58,-243.3,56.6,-21.4,38,344,0.00,2.38,0.00,0.000,6,0.000,0.032,2192,1971,3915
$GC,408,-1.58,-243.3,67.9,-14.6,45,409,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,1970,3915
$GC,471,-1.58,-243.3,77.9,-16.5,51,472,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,1970,3915
$GC,535,-1.58,-243.3,88.6,-16.8,57,536,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,1970,3915
$GC,598,-1.58,-243.3,99.6,-17.6,63,603,0.00,2.50,0.00,0.000,4,0.000,0.058,2192,569,3916
$GC,687,-1.58,-243.3,115.5,-18.2,70,694,0.00,2.35,0.00,0.000,6,0.000,0.029,2192,1965,3916
$GC,758,-1.58,-243.3,127.0,-16.2,77,759,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,1965,3916
$GC,821,-1.58,-243.3,137.9,-17.2,83,822,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,1965,3917
$GC,885,-1.58,-243.3,148.1,-15.8,89,886,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,1967,3917
$GC,949,-1.58,-243.3,158.3,-16.1,95,953,0.00,2.47,0.00,0.000,4,0.000,0.051,2192,3362,3917
$GC,981,-1.58,-243.3,163.7,-15.7,97,988,0.00,2.40,0.00,0.000,6,0.000,0.034,2192,1958,3918
$GC,1051,-1.58,-243.3,174.6,-15.7,104,1052,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,1958,3918
$GC,1115,-1.58,-243.3,184.7,-15.5,110,1116,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,1958,3918
$GC,1178,-1.58,-243.3,194.9,-15.7,116,1180,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,1958,3918
$GC,1242,-1.58,-243.3,204.5,-14.9,122,1246,0.00,2.53,0.00,0.000,4,0.000,0.061,2191,566,3919
$GC,1314,-1.58,-243.3,215.7,-15.7,128,1321,0.00,2.40,0.00,0.000,6,0.000,0.031,2192,1980,3918
$GC,1384,-1.58,-243.3,226.5,-16.1,135,1385,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,1980,3919
$GC,1447,-1.58,-243.3,236.6,-15.7,141,1452,0.00,2.55,0.00,0.000,4,0.000,0.059,2192,576,3919
$GC,1491,-1.58,-243.3,244.2,-16.8,144,1498,0.00,2.38,0.00,0.000,6,0.000,0.031,2192,1977,3919
$GC,1562,-1.58,-243.3,255.0,-15.6,151,1563,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,1977,3919
$GC,1625,-1.58,-243.3,264.5,-14.6,157,1629,0.00,2.50,0.00,0.000,4,0.000,0.056,2192,3370,3919
$GC,1680,-1.58,-243.3,273.1,-14.9,161,1688,0.00,2.42,0.00,0.000,6,0.000,0.037,2192,1967,3919
$GC,1751,-1.58,-243.3,283.1,-14.6,168,1752,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,1967,3919
$GC,1814,-1.58,-243.3,292.0,-13.8,174,1819,0.00,2.55,0.00,0.000,4,0.000,0.063,2192,570,3919
$GC,1865,-1.58,-243.3,299.0,-13.6,178,1869,0.00,2.40,0.00,0.000,6,0.000,0.033,2192,1978,3919
$GC,1935,-1.58,-243.3,308.6,-13.5,184,1939,0.00,2.50,0.00,0.000,4,0.000,0.059,2192,3362,3919
$GC,1974,-1.58,-243.3,313.6,-13.0,187,1978,0.00,2.42,0.00,0.000,6,0.000,0.039,2192,1965,3919
$GC,2173,-1.58,-243.3,340.7,-13.7,205,2177,0.00,2.58,0.00,0.000,4,0.000,0.067,2192,566,3919
$GC,2194,-1.58,-243.3,343.8,-13.4,206,2201,0.00,2.40,0.00,0.000,6,0.000,0.034,2192,1967,3919
$GC,2392,-1.58,-243.3,369.3,-12.2,225,2396,0.00,2.55,0.00,0.000,4,0.000,0.061,2192,3371,3918
$GC,2421,-1.58,-243.3,372.9,-13.2,227,2425,0.00,2.45,0.00,0.000,6,0.000,0.040,2192,1969,3918
$GC,2619,-1.58,-243.3,396.0,-12.1,245,2623,0.00,2.60,0.00,0.000,4,0.000,0.069,2192,560,3916
$GC,2647,-1.58,-243.3,399.3,-12.6,247,2651,0.00,2.45,0.00,0.000,6,0.000,0.035,2192,1984,3916
$GC,2844,-1.58,-243.3,422.7,-11.6,265,2846,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,1984,3915
$GC,3036,-1.58,-243.3,445.0,-12.1,283,3037,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,1985,3913
$GC,3227,-1.58,-243.3,467.4,-12.5,301,3231,0.00,2.53,0.00,0.000,4,0.000,0.063,2192,3365,3911
$GC,3277,-1.58,-243.3,473.9,-13.3,305,3281,0.00,2.45,0.00,0.000,6,0.000,0.042,2192,1970,3910
$GC,3475,-1.58,-243.3,498.3,-8.2,323,3476,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,1970,3909
$STATE,3621,end dive,NO_VERTICAL_VELOCITY
$STATE,3621,begin apogee
$GC,3627,-0.38,0.0,498.2,0.0,337,3845,1.17,0.00,210.62,0.918,6,0.054,0.000,2456,1970,2917
$STATE,3846,end apogee,CONTROL_FINISHED_OK
$STATE,3846,begin climb
$GC,3848,1.58,243.3,498.2,0.0,359,4076,1.98,2.70,212.90,0.875,4,0.063,0.064,2886,3392,1924
$GC,4228,1.68,326.2,471.9,9.4,392,4313,0.00,2.50,75.05,0.857,6,0.000,0.043,2886,1992,1586
$GC,4504,1.75,385.0,443.2,10.2,418,4565,0.17,0.00,54.22,0.844,6,0.048,0.000,2934,1992,1346
$GC,4755,1.75,385.0,407.2,15.3,442,4759,0.00,2.65,0.00,0.000,4,0.000,0.072,2934,590,1339
$GC,4787,1.75,385.0,401.9,15.8,444,4794,0.00,2.47,0.00,0.000,6,0.000,0.038,2934,1998,1339
$GC,4985,1.75,385.0,372.9,13.5,463,4986,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,1998,1337
$GC,5176,1.75,385.0,347.7,12.8,481,5177,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,1999,1335
$GC,5368,1.77,402.8,325.5,11.6,499,5388,0.00,0.00,15.30,0.789,6,0.000,0.000,2934,2000,1274
$GC,5578,1.77,402.8,298.7,13.1,519,5583,0.00,2.65,0.00,0.000,4,0.000,0.067,2934,584,1271
$GC,5629,1.77,402.8,291.5,14.2,523,5633,0.00,2.47,0.00,0.000,6,0.000,0.038,2934,1995,1270
$GC,5699,1.77,402.8,282.1,13.1,529,5700,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,1996,1270
$GC,5762,1.77,402.8,273.7,13.5,535,5763,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,1995,1269
$GC,5826,1.77,402.8,265.8,12.3,541,5830,0.00,2.58,0.00,0.000,4,0.000,0.064,2934,3396,1269
$GC,5858,1.78,408.9,261.6,12.0,543,5870,0.00,2.50,6.35,0.661,6,0.000,0.043,2934,1989,1249
$GC,5935,1.80,424.5,252.6,11.7,550,5955,0.00,0.00,15.77,0.758,6,0.000,0.000,2934,1989,1186
$GC,6019,1.81,432.0,242.6,12.0,558,6033,0.00,2.67,7.97,0.681,4,0.000,0.068,2934,588,1155
$GC,6056,1.81,432.0,237.6,13.5,561,6063,0.00,2.47,0.00,0.000,6,0.000,0.035,2933,2006,1154
$GC,6127,1.81,432.0,229.0,12.4,568,6131,0.00,2.65,0.00,0.000,4,0.000,0.064,2934,583,1152
$GC,6155,1.81,432.0,225.6,12.5,570,6159,0.00,2.45,0.00,0.000,6,0.000,0.035,2933,1996,1152
$GC,6225,1.82,443.0,217.2,11.9,576,6238,0.00,0.00,11.00,0.706,6,0.000,0.000,2934,1996,1111
$GC,6300,1.84,454.8,208.3,11.8,583,6314,0.00,0.00,11.88,0.698,6,0.000,0.000,2934,1997,1063
$GC,6374,1.86,472.4,200.1,11.6,590,6398,0.00,2.60,17.45,0.714,4,0.000,0.062,2934,588,990
$GC,6414,1.86,472.4,194.6,13.9,593,6421,0.00,2.45,0.00,0.000,6,0.000,0.034,2934,1995,989
$GC,6484,1.86,472.4,185.9,12.7,600,6488,0.00,2.55,0.00,0.000,4,0.000,0.057,2934,3397,988
$GC,6535,1.86,472.4,179.5,12.6,604,6539,0.00,2.47,0.00,0.000,6,0.000,0.038,2934,1989,987
$GC,6605,1.87,483.4,171.2,11.9,610,6621,0.00,2.60,10.62,0.653,4,0.000,0.063,2934,591,945
$GC,6644,1.87,483.4,166.0,14.1,613,6648,0.00,2.42,0.00,0.000,6,0.000,0.032,2934,2001,944
$GC,6714,1.87,483.4,156.4,14.0,619,6715,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2001,943
$GC,6777,1.87,483.4,147.0,15.0,625,6778,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2002,943
$GC,6841,1.87,483.4,138.2,14.0,631,6842,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2005,943
$GC,6905,1.87,484.7,130.2,12.2,637,6906,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2005,942
$GC,6968,1.87,484.7,122.3,12.3,643,6973,0.00,2.60,0.00,0.000,4,0.000,0.060,2934,584,942
$GC,7012,1.88,489.1,116.8,12.1,646,7023,0.00,2.40,5.85,0.538,6,0.000,0.031,2934,1992,923
$GC,7094,1.88,489.1,106.8,12.4,654,7095,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,1992,922
$GC,7158,1.89,500.9,99.0,11.8,660,7175,0.00,2.60,11.57,0.602,4,0.000,0.058,2934,585,874
$GC,7213,1.89,500.9,91.5,13.5,664,7220,0.00,2.42,0.00,0.000,6,0.000,0.031,2934,1996,873
$GC,7284,1.91,515.3,83.1,11.7,671,7305,0.10,0.00,13.95,0.596,6,0.052,0.000,2969,1996,816
$GC,7368,1.91,515.3,71.8,12.4,679,7369,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,1996,814
$GC,7432,1.91,515.3,63.9,12.6,685,7433,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,1996,814
$GC,7496,1.93,530.6,56.4,11.7,691,7516,0.00,0.00,15.00,0.573,6,0.000,0.000,2969,1996,753
$GC,7580,1.98,571.5,47.2,10.8,699,7590,0.00,0.00,3.05,0.318,6,0.000,0.000,2969,1996,745
$GC,7653,2.00,587.3,38.7,11.7,706,7658,0.00,2.58,0.00,0.000,4,0.000,0.058,2969,588,745
$GC,7693,2.00,587.3,33.0,15.2,709,7697,0.00,2.40,0.00,0.000,6,0.000,0.029,2969,2004,744
$GC,7763,2.00,587.3,23.8,13.7,715,7764,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2004,744
$GC,7829,2.01,591.8,15.8,12.1,724,7835,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2004,744
$GC,7903,2.01,591.8,6.3,13.2,737,7909,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2004,744
$STATE,7936,end climb,SURFACE_DEPTH_REACHED
$STATE,7936,begin surface coast
$FINISH,0.5,1.012733
$STATE,7954,end surface coast,CONTROL_FINISHED_OK
$STATE,7954,begin surface
$SM_CCo,8036,0.00,0.000,0,0,742,533.28
$SM_GC,1.16,11.10,0.00,0.00,0.025,0.000,0.000,401,1947,742,-9.78,-0.59,533.28
$IRIDIUM_FIX,2150.42,-15907.60,021198,060610
$TT8_MAMPS,0.058292
$HUMID,2015
$INTERNAL_PRESSURE,7.49052
$TCM_TEMP,24.10
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.8,25.625
$10V_AH,10.1,11.291
$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,25.125,125.000,698.575,0.000,0.000,27.992,26.966,307.832,0.000,0.000,55.588,35.547,1454.865,4250.130,807.666,1387.318,671.619,33.330,1671.954,0.000,1323.318,0.000,0.000,0.000
$DEVICE_MAMPS,177.177,86.671,918.099,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,516.927,0.000,0.000,0.000,0.000,0.000,153.952,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,25305,746
$CAP_FILE_SIZE,118995,0
$CFSIZE,260165632,246611968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080809,111954,2156.944,-15947.110,40,1.6,40,9.8