version: 66.04
glider: 116
mission: 22
dive: 72
start: 8 4 109 5 18 58
data:
$ID,116
$MISSION,22
$DIVE,72
$D_SURF,4
$D_FLARE,3
$D_TGT,270
$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,90
$T_MISSION,125
$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,225
$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,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,30
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-58948.617
$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,2530
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,49
$R_STBD_OVSHOOT,26
$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
$GPS1,050931,2154.293,-15942.572,41,1.6,42,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-66.6
$GPS2,051808,2154.381,-15942.717,9,1.9,9,9.8
$SPEED_LIMITS,0.100,0.310
$TGT_NAME,BobNE
$TGT_LATLONG,2154.185,-15941.805
$TGT_RADIUS,400.000
$KALMAN_CONTROL,0.293,-0.103
$KALMAN_X,-100428.3,-1168.6,-171.5,100485.7,-747.5
$KALMAN_Y,22654.3,586.7,14.0,-26361.0,364.7
$MHEAD_RNG_PITCHd_Wd,99.7,1608,-13.9,-10.000
$D_GRID,270
$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,16,-1.43,-219.0,0.0,0.0,0,107,0.00,0.00,-87.40,0.000,2,0.000,0.000,124,2633,3369
$GC,110,-1.43,-219.0,3.5,-7.9,13,139,15.95,0.00,-6.72,0.000,6,0.181,0.000,2778,2634,3832
$GC,209,-1.43,-219.0,32.6,-17.9,24,210,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2634,3833
$GC,273,-1.43,-219.0,42.7,-15.4,30,274,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,2634,3834
$GC,337,-1.43,-219.0,52.7,-15.1,36,341,0.00,2.28,0.00,0.000,4,0.000,0.059,2777,3889,3834
$GC,421,-1.43,-219.0,68.1,-19.6,43,425,0.00,2.10,0.00,0.000,6,0.000,0.027,2777,2616,3834
$GC,496,-1.43,-219.0,80.2,-15.7,50,500,0.00,2.33,0.00,0.000,4,0.000,0.031,2777,1239,3834
$GC,595,-1.43,-219.0,93.5,-13.1,58,603,0.00,2.40,0.00,0.000,6,0.000,0.034,2777,2618,3835
$GC,665,-1.43,-219.0,102.7,-13.1,65,667,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2618,3835
$GC,730,-1.43,-219.0,110.6,-12.4,71,734,0.00,2.30,0.00,0.000,4,0.000,0.063,2777,3887,3835
$GC,802,-1.43,-219.0,119.7,-12.9,77,806,0.00,2.08,0.00,0.000,6,0.000,0.028,2777,2635,3835
$GC,877,-1.43,-219.0,129.1,-12.7,84,878,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2635,3836
$GC,942,-1.43,-219.0,137.0,-12.8,90,946,0.00,2.30,0.00,0.000,4,0.000,0.064,2777,3890,3836
$GC,971,-1.43,-219.0,140.7,-13.5,92,975,0.00,2.10,0.00,0.000,6,0.000,0.028,2777,2620,3836
$GC,1047,-1.43,-219.0,149.6,-11.4,99,1048,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2619,3836
$GC,1112,-1.43,-219.0,157.1,-11.6,105,1113,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2619,3837
$GC,1176,-1.43,-219.0,164.5,-11.6,111,1178,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2619,3837
$GC,1241,-1.43,-219.0,171.7,-11.5,117,1242,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2619,3837
$GC,1303,-1.43,-219.0,178.8,-11.5,123,1305,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2619,3837
$GC,1366,-1.43,-219.0,185.8,-10.9,129,1368,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2619,3837
$GC,1430,-1.43,-219.0,192.4,-10.1,135,1431,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2619,3837
$GC,1493,-1.43,-219.0,198.7,-10.0,141,1497,0.00,2.35,0.00,0.000,4,0.000,0.067,2777,3891,3837
$GC,1566,-1.43,-219.0,206.9,-10.8,147,1570,0.00,2.10,0.00,0.000,6,0.000,0.028,2777,2629,3837
$GC,1642,-1.43,-219.0,215.1,-11.1,154,1643,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2626,3837
$GC,1706,-1.43,-219.0,222.5,-11.3,160,1707,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2626,3837
$GC,1770,-1.43,-219.0,229.5,-11.3,166,1771,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2626,3837
$GC,1833,-1.43,-219.0,236.3,-10.8,172,1838,0.00,2.33,0.00,0.000,4,0.000,0.067,2777,3884,3837
$GC,1866,-1.43,-219.0,240.1,-11.2,174,1874,0.00,2.12,0.00,0.000,6,0.000,0.030,2776,2632,3837
$GC,1936,-1.43,-219.0,247.5,-10.7,181,1937,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2632,3837
$GC,2001,-1.43,-219.0,253.8,-9.9,187,2003,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2632,3837
$GC,2065,-1.43,-219.0,259.5,-9.0,193,2066,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2632,3837
$GC,2129,-1.43,-219.0,264.9,-8.4,199,2130,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2631,3837
$GC,2193,-1.43,-219.0,269.8,-7.5,205,2194,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2632,3836
$STATE,2200,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2200,begin apogee
$GC,2205,-0.42,0.0,270.6,7.7,206,2486,1.05,0.00,271.45,0.628,6,0.073,0.000,3001,2539,2936
$STATE,2487,end apogee,CONTROL_FINISHED_OK
$STATE,2487,begin climb
$GC,2489,1.43,219.0,279.6,0.0,234,2775,1.80,2.53,271.17,0.615,4,0.047,0.044,3407,1132,2042
$GC,2959,1.48,259.3,248.1,8.8,274,3017,0.00,2.47,50.40,0.601,6,0.000,0.038,3407,2533,1879
$GC,3077,1.50,277.9,237.7,9.4,285,3110,0.00,2.53,24.38,0.584,4,0.000,0.041,3407,1130,1803
$GC,3133,1.51,289.0,232.1,9.7,290,3157,0.00,2.47,15.98,0.567,6,0.000,0.039,3407,2530,1757
$GC,3219,1.51,289.0,223.5,10.0,298,3224,0.00,2.53,0.00,0.000,4,0.000,0.071,3406,3887,1755
$GC,3259,1.51,289.0,219.0,11.8,301,3263,0.00,2.33,0.00,0.000,6,0.000,0.033,3407,2528,1755
$GC,3330,1.51,289.0,211.5,10.5,307,3331,0.00,0.00,0.00,0.000,6,0.000,0.000,3407,2526,1753
$GC,3393,1.51,289.0,204.8,10.2,313,3397,0.00,2.55,0.00,0.000,4,0.000,0.067,3406,3893,1753
$GC,3444,1.51,289.0,199.3,10.3,317,3449,0.00,2.35,0.00,0.000,6,0.000,0.033,3406,2520,1752
$GC,3515,1.54,310.2,192.5,9.3,323,3549,0.10,2.58,27.05,0.597,4,0.058,0.066,3441,3886,1671
$GC,3587,1.54,310.2,183.9,12.5,329,3595,0.00,2.35,0.00,0.000,6,0.000,0.032,3441,2532,1670
$GC,3658,1.54,310.2,176.0,11.5,336,3662,0.00,2.45,0.00,0.000,4,0.000,0.041,3441,1133,1668
$GC,3713,1.54,310.2,169.4,11.3,340,3720,0.00,2.45,0.00,0.000,6,0.000,0.037,3441,2531,1668
$GC,3784,1.54,310.2,161.5,11.4,347,3788,0.00,2.50,0.00,0.000,4,0.000,0.066,3441,3887,1667
$GC,3846,1.54,310.2,154.1,12.2,352,3850,0.00,2.33,0.00,0.000,6,0.000,0.031,3441,2520,1667
$GC,3917,1.54,310.2,145.9,11.8,358,3918,0.00,0.00,0.00,0.000,6,0.000,0.000,3441,2518,1666
$GC,3981,1.54,310.2,138.7,11.1,364,3985,0.00,2.40,0.00,0.000,4,0.000,0.040,3441,1138,1666
$GC,4069,1.54,313.6,130.0,9.9,371,4076,0.00,2.42,0.00,0.000,6,0.000,0.036,3441,2531,1665
$GC,4140,1.54,313.7,123.2,10.0,378,4141,0.00,0.00,0.00,0.000,6,0.000,0.000,3441,2531,1665
$GC,4204,1.57,332.3,117.1,9.4,384,4234,0.00,0.00,27.67,0.582,6,0.000,0.000,3442,2531,1581
$GC,4296,1.57,332.3,106.2,11.8,393,4297,0.00,0.00,0.00,0.000,6,0.000,0.000,3441,2531,1580
$GC,4361,1.57,332.3,98.5,12.2,399,4365,0.00,2.50,0.00,0.000,4,0.000,0.064,3441,3892,1579
$GC,4483,1.57,332.3,83.3,11.8,409,4490,0.00,2.33,0.00,0.000,6,0.000,0.029,3441,2513,1578
$GC,4552,1.57,332.3,75.8,10.1,416,4556,0.00,2.38,0.00,0.000,4,0.000,0.037,3441,1136,1578
$GC,4704,1.64,389.2,60.7,8.2,429,4786,0.00,2.42,71.18,0.551,6,0.000,0.033,3441,2543,1348
$GC,4848,1.66,410.7,47.1,9.3,442,4884,0.00,2.50,27.58,0.521,4,0.000,0.061,3441,3889,1261
$GC,4945,1.66,410.7,35.6,12.6,450,4953,0.00,2.30,0.00,0.000,6,0.000,0.028,3441,2520,1260
$GC,5016,1.69,436.6,28.5,9.2,457,5056,0.00,0.00,32.70,0.510,6,0.000,0.000,3441,2520,1156
$GC,5119,1.69,436.6,17.5,10.9,468,5125,0.00,0.00,0.00,0.000,6,0.000,0.000,3441,2520,1155
$GC,5193,1.69,436.6,9.3,12.3,481,5200,0.00,0.00,0.00,0.000,6,0.000,0.000,3441,2520,1155
$STATE,5243,end climb,SURFACE_DEPTH_REACHED
$STATE,5243,begin surface coast
$FINISH,0.0,1.023278
$STATE,5284,end surface coast,CONTROL_FINISHED_OK
$STATE,5284,begin surface
$SM_CCo,5369,0.00,0.000,0,0,1150,437.86
$SM_GC,0.96,14.45,0.00,0.00,0.036,0.000,0.000,124,2639,1150,-13.59,0.31,437.86
$IRIDIUM_FIX,2145.77,-15940.77,291098,030343
$TT8_MAMPS,0.069797
$HUMID,1859
$INTERNAL_PRESSURE,11.4653
$TCM_TEMP,24.10
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.9,21.105
$10V_AH,9.6,7.127
$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,33.350,80.750,819.550,0.000,0.000,31.065,26.034,322.429,0.000,0.000,38.451,9.945,1000.003,2269.068,823.628,1023.869,767.110,33.344,1544.986,0.000,983.846,0.000,0.000,0.000
$DEVICE_MAMPS,181.012,70.564,628.173,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,321.947,0.000,0.000,0.000,0.000,0.000,120.420,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,15891,497
$CAP_FILE_SIZE,215397,0
$CFSIZE,260034560,249151488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040809,064913,2154.232,-15942.473,8,1.4,14,9.8