version: 66.04
glider: 116
mission: 22
dive: 37
start: 8 1 109 4 51 34
data:
$ID,116
$MISSION,22
$DIVE,37
$D_SURF,4
$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,250
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51716
$NAV_MODE,1
$FERRY_MAX,0
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-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,450
$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,30
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-58229.527
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,132
$PITCH_MAX,3449
$C_PITCH,3095
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,12
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,140
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,155
$ROLL_MAX,3900
$ROLL_DEG,40
$C_ROLL_DIVE,2628
$C_ROLL_CLIMB,2555
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,48
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,770
$VBD_MAX,3955
$C_VBD,2936
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,3
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,150
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-0.46644667
$PRESSURE_SLOPE,0.0001158926
$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,90
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,12
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,2
$XPDR_VALID,0
$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,0.0043738699
$SEABIRD_T_H,0.00063649943
$SEABIRD_T_I,2.5189185e-05
$SEABIRD_T_J,2.7386873e-06
$SEABIRD_C_G,-9.8703537
$SEABIRD_C_H,1.1242318
$SEABIRD_C_I,-0.0015997718
$SEABIRD_C_J,0.00020779716
$GPS1,044007,2152.625,-15942.081,36,0.9,36,9.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-64.0
$GPS2,045038,2152.615,-15942.294,11,1.9,11,9.8
$SPEED_LIMITS,0.100,0.324
$TGT_NAME,T0
$TGT_LATLONG,2154.000,-15942.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.125,0.169
$KALMAN_X,-52361.6,-1243.0,-61.7,53110.0,-1152.6
$KALMAN_Y,9624.2,284.6,-45.6,-16239.1,332.2
$MHEAD_RNG_PITCHd_Wd,26.7,2614,-22.3,-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,-1.97,-92.7,0.0,0.0,0,100,0.00,0.00,-79.43,0.000,6,0.000,0.000,126,2632,3314
$GC,102,-2.01,-124.9,3.4,-7.7,12,124,15.20,0.00,-2.10,0.000,6,0.181,0.000,2648,2632,3448
$GC,189,-2.01,-124.9,30.6,-24.4,23,193,0.00,2.28,0.00,0.000,4,0.000,0.058,2648,3885,3448
$GC,273,-2.01,-124.9,51.6,-24.8,30,277,0.00,2.12,0.00,0.000,6,0.000,0.028,2648,2614,3448
$GC,603,-2.01,-124.9,107.3,-14.7,61,604,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2614,3450
$GC,922,-2.01,-124.9,157.3,-16.1,91,926,0.00,2.35,0.00,0.000,4,0.000,0.034,2648,1233,3452
$GC,974,-2.01,-124.9,164.6,-13.8,95,978,0.00,2.42,0.00,0.000,6,0.000,0.036,2648,2635,3452
$GC,1298,-2.01,-124.9,207.6,-13.9,125,1299,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2635,3453
$GC,1617,-2.01,-124.9,251.0,-13.2,155,1619,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2635,3453
$GC,1935,-2.01,-124.9,290.8,-11.6,185,1940,0.00,2.33,0.00,0.000,4,0.000,0.074,2648,3886,3453
$GC,2046,-2.01,-124.9,304.6,-11.5,194,2054,0.00,2.15,0.00,0.000,6,0.000,0.031,2648,2637,3453
$GC,2372,-2.01,-124.9,343.5,-12.5,225,2376,0.00,2.42,0.00,0.000,4,0.000,0.042,2648,1234,3451
$GC,2450,-2.01,-124.9,353.1,-11.4,232,2455,0.00,2.45,0.00,0.000,6,0.000,0.043,2648,2626,3451
$GC,2775,-2.01,-124.9,389.0,-10.9,262,2779,0.00,2.35,0.00,0.000,4,0.000,0.074,2647,3893,3448
$GC,2821,-2.01,-124.9,394.1,-11.7,266,2826,0.00,2.17,0.00,0.000,6,0.000,0.035,2648,2625,3448
$GC,3146,-2.01,-124.9,431.8,-11.6,296,3150,0.00,2.38,0.00,0.000,4,0.000,0.075,2648,3887,3445
$GC,3233,-2.01,-124.9,443.7,-12.9,303,3241,0.00,2.20,0.00,0.000,6,0.000,0.037,2648,2631,3445
$GC,3559,-2.01,-124.9,480.8,-11.0,334,3563,0.00,2.47,0.00,0.000,4,0.000,0.050,2648,1230,3442
$GC,3700,-2.01,-124.9,495.9,-10.9,346,3704,0.00,2.50,0.00,0.000,6,0.000,0.048,2648,2633,3441
$GC,4024,-2.01,-124.9,532.3,-12.0,376,4025,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2633,3438
$GC,4343,-2.01,-124.9,568.3,-11.6,406,4347,0.00,2.40,0.00,0.000,4,0.000,0.085,2648,3890,3436
$GC,4438,-2.01,-124.9,580.5,-12.1,414,4442,0.00,2.20,0.00,0.000,6,0.000,0.040,2648,2630,3436
$GC,4763,-2.01,-124.9,617.8,-11.1,444,4766,0.00,2.55,0.00,0.000,4,0.000,0.064,2648,1222,3433
$GC,4857,-2.01,-124.9,629.1,-11.5,452,4865,0.00,2.58,0.00,0.000,6,0.000,0.058,2648,2631,3432
$STATE,5106,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5106,begin apogee
$GC,5111,-0.42,0.0,660.1,13.0,476,5280,1.73,0.00,161.85,0.921,6,0.098,0.000,2999,2545,2936
$STATE,5281,end apogee,CONTROL_FINISHED_OK
$STATE,5281,begin climb
$GC,5283,2.01,124.9,668.4,0.0,493,5461,2.05,0.00,168.12,0.884,6,0.054,0.000,3457,2545,2426
$GC,5780,2.02,128.3,631.3,9.8,539,5784,0.00,2.55,0.00,0.000,4,0.000,0.053,3457,1143,2420
$GC,5898,2.02,128.3,619.3,10.3,549,5903,0.00,2.58,0.00,0.000,6,0.000,0.047,3457,2566,2420
$GC,6223,2.03,135.0,587.7,9.5,579,6240,0.00,2.60,12.20,0.824,4,0.000,0.051,3457,1153,2385
$GC,6311,2.03,135.0,578.5,10.2,586,6319,0.00,2.58,0.00,0.000,6,0.000,0.048,3457,2556,2384
$GC,6637,2.03,135.7,544.6,9.9,617,6641,0.00,2.55,0.00,0.000,4,0.000,0.080,3457,3891,2384
$GC,6698,2.03,135.7,538.3,10.7,622,6705,0.00,2.38,0.00,0.000,6,0.000,0.041,3457,2538,2383
$GC,7023,2.03,136.6,507.4,9.9,653,7024,0.00,0.00,0.00,0.000,6,0.000,0.000,3457,2538,2382
$GC,7341,2.06,165.5,479.2,7.9,683,7383,0.00,0.00,39.70,0.865,6,0.000,0.000,3457,2538,2261
$GC,7702,2.07,174.3,446.2,9.4,717,7720,0.00,2.53,12.35,0.797,4,0.000,0.054,3457,1159,2225
$GC,7822,2.07,174.3,433.3,11.1,727,7826,0.00,2.53,0.00,0.000,6,0.000,0.047,3457,2558,2224
$GC,8147,2.07,174.3,398.1,11.4,757,8151,0.00,2.53,0.00,0.000,4,0.000,0.077,3456,3893,2222
$GC,8209,2.07,174.3,390.6,13.0,762,8213,0.00,2.35,0.00,0.000,6,0.000,0.041,3457,2550,2222
$GC,8534,2.08,182.0,358.4,9.4,792,8547,0.00,0.00,10.75,0.757,6,0.000,0.000,3457,2550,2193
$GC,8864,2.09,189.3,328.0,9.5,823,8880,0.00,2.58,10.62,0.739,4,0.000,0.074,3456,3888,2164
$GC,8902,2.09,189.3,323.9,10.8,826,8910,0.00,2.38,0.00,0.000,6,0.000,0.039,3457,2555,2163
$GC,9228,2.11,201.8,292.7,9.1,857,9253,0.00,2.55,17.30,0.752,4,0.000,0.051,3457,1157,2113
$GC,9291,2.11,201.8,286.1,10.4,862,9299,0.00,2.55,0.00,0.000,6,0.000,0.044,3457,2559,2112
$GC,9618,2.12,213.8,253.9,9.1,893,9638,0.00,0.00,16.38,0.726,6,0.000,0.000,3457,2559,2064
$GC,9955,2.12,213.8,222.4,10.1,925,9960,0.00,2.50,0.00,0.000,4,0.000,0.072,3456,3892,2063
$GC,10018,2.12,213.8,215.4,11.4,930,10022,0.00,2.33,0.00,0.000,6,0.000,0.038,3457,2552,2062
$GC,10343,2.13,224.1,185.1,9.3,960,10368,0.00,2.58,14.07,0.676,4,0.000,0.067,3456,3885,2022
$GC,10395,2.13,224.1,179.7,10.1,964,10403,0.00,2.33,0.00,0.000,6,0.000,0.036,3457,2547,2022
$GC,10720,2.15,236.8,150.4,9.1,995,10741,0.00,0.00,17.30,0.655,6,0.000,0.000,3457,2546,1970
$GC,11060,2.20,273.8,122.3,7.3,1027,11114,0.00,2.55,47.38,0.646,4,0.000,0.064,3456,3895,1819
$GC,11149,2.20,273.8,113.7,11.3,1034,11153,0.00,2.33,0.00,0.000,6,0.000,0.033,3456,2541,1817
$GC,11473,2.20,273.8,80.5,10.7,1064,11477,0.00,2.40,0.00,0.000,4,0.000,0.041,3457,1158,1815
$GC,11669,2.20,273.8,60.1,10.5,1081,11677,0.00,2.45,0.00,0.000,6,0.000,0.035,3457,2563,1815
$GC,11995,2.25,318.8,35.0,6.7,1112,12059,0.00,2.50,56.08,0.562,4,0.000,0.061,3456,3882,1636
$GC,12206,2.28,342.7,18.4,8.3,1132,12242,0.00,2.25,28.62,0.529,6,0.000,0.029,3457,2546,1539
$GC,12309,2.28,342.7,7.9,12.4,1149,12315,0.00,0.00,0.00,0.000,6,0.000,0.000,3457,2546,1538
$STATE,12353,end climb,SURFACE_DEPTH_REACHED
$STATE,12353,begin surface coast
$FINISH,-0.2,1.012034
$STATE,12416,end surface coast,CONTROL_FINISHED_OK
$STATE,12416,begin surface
$SM_CCo,12441,51.47,0.512,0,0,1101,450.13
$SM_GC,0.92,0.00,0.00,51.47,0.000,0.000,0.512,126,2639,1101,-13.66,0.34,450.13
$IRIDIUM_FIX,2145.77,-15942.95,261098,040458
$TT8_MAMPS,0.072098
$HUMID,1822
$INTERNAL_PRESSURE,11.3676
$TCM_TEMP,23.90
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.5,14.704
$10V_AH,10.0,4.575
$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,33.575,102.050,612.725,51.475,0.000,53.225,52.452,351.179,0.000,0.000,84.664,11.212,2275.009,6931.707,714.423,2041.481,1160.088,33.339,1817.919,0.000,1992.629,0.000,0.000,0.000
$DEVICE_MAMPS,181.012,85.137,921.167,511.589,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,785.137,0.000,0.000,0.000,0.000,0.000,158.740,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,37800,1168
$CAP_FILE_SIZE,416635,0
$CFSIZE,260034560,252952576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010809,082101,2154.081,-15941.594,39,1.6,39,9.8