version: 66.04
glider: 116
mission: 22
dive: 78
start: 8 4 109 19 20 38
data:
$ID,116
$MISSION,22
$DIVE,78
$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,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,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,30
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-59094.938
$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,47
$R_STBD_OVSHOOT,29
$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
$GPS1,190755,2154.372,-15943.736,8,1.8,14,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-67.9
$GPS2,191943,2154.420,-15943.992,16,1.8,33,9.8
$SPEED_LIMITS,0.100,0.324
$TGT_NAME,BobSW
$TGT_LATLONG,2153.790,-15942.207
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.293,-0.140
$KALMAN_X,-112453.3,315.8,-701.3,109366.6,-1637.4
$KALMAN_Y,26858.8,-311.2,163.5,-29746.5,778.3
$MHEAD_RNG_PITCHd_Wd,105.8,3282,-13.1,-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,-1.39,-243.3,0.0,0.0,0,94,0.00,0.00,-74.55,0.000,2,0.000,0.000,122,2635,3475
$GC,96,-1.39,-243.3,4.2,-10.2,11,126,15.90,2.40,-6.53,0.000,4,0.178,0.042,2788,1235,3933
$GC,172,-1.39,-243.3,29.2,-18.0,20,177,0.00,2.40,0.00,0.000,6,0.000,0.035,2788,2623,3933
$GC,243,-1.39,-243.3,41.4,-17.5,26,244,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2623,3933
$GC,306,-1.39,-243.3,52.5,-17.4,32,307,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2622,3934
$GC,370,-1.39,-243.3,62.6,-14.9,38,371,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2623,3933
$GC,434,-1.39,-243.3,71.9,-15.1,44,435,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2623,3934
$GC,497,-1.39,-243.3,80.4,-13.8,50,499,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2623,3933
$GC,561,-1.39,-243.3,89.9,-14.9,56,563,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2623,3933
$GC,626,-1.39,-243.3,99.6,-15.1,62,630,0.00,2.30,0.00,0.000,4,0.000,0.064,2788,3886,3933
$GC,670,-1.39,-243.3,107.3,-17.6,65,678,0.00,2.10,0.00,0.000,6,0.000,0.028,2788,2615,3934
$GC,740,-1.39,-243.3,118.5,-15.5,72,744,0.00,2.33,0.00,0.000,4,0.000,0.031,2788,1235,3933
$GC,792,-1.39,-243.3,126.0,-14.5,76,796,0.00,2.40,0.00,0.000,6,0.000,0.035,2788,2629,3933
$GC,863,-1.39,-243.3,135.1,-13.1,82,864,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2629,3933
$GC,926,-1.39,-243.3,142.5,-11.4,88,930,0.00,2.35,0.00,0.000,4,0.000,0.032,2788,1245,3933
$GC,982,-1.39,-243.3,148.7,-10.3,92,989,0.00,2.40,0.00,0.000,6,0.000,0.036,2788,2634,3933
$GC,1052,-1.39,-243.3,156.2,-11.3,99,1056,0.00,2.30,0.00,0.000,4,0.000,0.067,2788,3888,3928
$GC,1104,-1.39,-243.3,162.2,-11.0,103,1108,0.00,2.10,0.00,0.000,6,0.000,0.028,2788,2619,3926
$GC,1180,-1.39,-243.3,171.2,-12.0,110,1181,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2617,3928
$GC,1244,-1.39,-243.3,179.4,-12.9,116,1248,0.00,2.35,0.00,0.000,4,0.000,0.065,2788,3893,3929
$GC,1284,-1.39,-243.3,184.8,-14.0,119,1288,0.00,2.10,0.00,0.000,6,0.000,0.028,2788,2622,3929
$GC,1359,-1.39,-243.3,194.9,-12.8,126,1360,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2620,3930
$GC,1424,-1.39,-243.3,203.1,-12.7,132,1428,0.00,2.33,0.00,0.000,4,0.000,0.066,2788,3889,3922
$GC,1490,-1.39,-243.3,211.4,-11.7,137,1497,0.00,2.12,0.00,0.000,6,0.000,0.028,2788,2623,3924
$GC,1560,-1.39,-243.3,219.5,-11.9,144,1561,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2623,3927
$GC,1625,-1.39,-243.3,226.8,-11.7,150,1626,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2623,3927
$GC,1690,-1.39,-243.3,234.5,-11.9,156,1691,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2623,3926
$GC,1754,-1.39,-243.3,241.7,-11.1,162,1755,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2623,3927
$GC,1817,-1.39,-243.3,248.7,-10.7,168,1818,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2623,3928
$GC,1881,-1.39,-243.3,255.3,-10.2,174,1882,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2623,3927
$GC,1945,-1.39,-243.3,261.6,-9.9,180,1946,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2623,3926
$GC,2008,-1.39,-243.3,267.6,-9.4,186,2012,0.00,2.35,0.00,0.000,4,0.000,0.070,2788,3890,3906
$STATE,2027,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2027,begin apogee
$GC,2034,-0.42,0.0,270.2,10.4,187,2343,0.98,0.00,299.60,0.620,6,0.071,0.000,3001,2533,2936
$STATE,2344,end apogee,CONTROL_FINISHED_OK
$STATE,2344,begin climb
$GC,2346,1.39,243.3,285.5,0.0,218,2656,1.75,2.55,298.77,0.611,4,0.046,0.043,3396,1139,1943
$GC,2894,1.49,323.5,250.3,7.8,265,3003,0.00,2.45,101.95,0.601,6,0.000,0.037,3396,2534,1618
$GC,3075,1.54,366.2,235.4,8.8,281,3140,0.15,0.00,61.08,0.591,6,0.045,0.000,3447,2534,1443
$GC,3200,1.54,366.2,220.5,12.4,293,3202,0.00,0.00,0.00,0.000,6,0.000,0.000,3447,2534,1441
$GC,3264,1.54,366.2,211.9,13.8,299,3268,0.00,2.53,0.00,0.000,4,0.000,0.069,3447,3888,1440
$GC,3329,1.54,366.2,201.8,15.0,304,3337,0.00,2.35,0.00,0.000,6,0.000,0.032,3447,2534,1439
$GC,3399,1.54,366.2,192.6,13.0,311,3400,0.00,0.00,0.00,0.000,6,0.000,0.000,3447,2533,1439
$GC,3464,1.54,366.2,183.8,13.6,317,3465,0.00,0.00,0.00,0.000,6,0.000,0.000,3448,2532,1441
$GC,3530,1.54,366.2,175.0,14.2,323,3531,0.00,0.00,0.00,0.000,6,0.000,0.000,3447,2532,1444
$GC,3593,1.54,366.2,166.0,14.2,329,3594,0.00,0.00,0.00,0.000,6,0.000,0.000,3447,2533,1444
$GC,3656,1.54,366.2,157.3,13.8,335,3657,0.00,0.00,0.00,0.000,6,0.000,0.000,3447,2533,1444
$GC,3720,1.54,366.2,148.7,13.3,341,3721,0.00,0.00,0.00,0.000,6,0.000,0.000,3447,2532,1446
$GC,3782,1.54,366.2,140.2,13.6,347,3784,0.00,0.00,0.00,0.000,6,0.000,0.000,3447,2533,1447
$GC,3846,1.54,366.2,131.7,13.5,353,3850,0.00,2.45,0.00,0.000,4,0.000,0.040,3448,1125,1448
$GC,3901,1.54,366.2,123.8,13.8,357,3908,0.00,2.47,0.00,0.000,6,0.000,0.036,3448,2540,1448
$GC,3972,1.54,366.2,114.7,12.9,364,3973,0.00,0.00,0.00,0.000,6,0.000,0.000,3448,2540,1448
$GC,4035,1.54,366.2,107.2,11.5,370,4039,0.00,2.45,0.00,0.000,4,0.000,0.038,3448,1134,1448
$GC,4091,1.54,366.2,100.6,11.3,374,4098,0.00,2.45,0.00,0.000,6,0.000,0.035,3447,2539,1448
$GC,4162,1.54,366.2,93.2,11.1,381,4166,0.00,2.47,0.00,0.000,4,0.000,0.064,3447,3891,1448
$GC,4205,1.54,366.2,88.2,10.4,384,4213,0.00,2.33,0.00,0.000,6,0.000,0.030,3447,2526,1448
$GC,4275,1.57,389.4,81.8,9.4,391,4316,0.00,0.00,33.08,0.552,6,0.000,0.000,3447,2526,1354
$GC,4379,1.57,389.4,69.9,11.8,401,4383,0.00,2.50,0.00,0.000,4,0.000,0.061,3447,3887,1352
$GC,4411,1.57,389.4,66.2,10.9,403,4418,0.00,2.33,0.00,0.000,6,0.000,0.029,3447,2528,1352
$GC,4483,1.59,411.5,59.4,9.4,410,4520,0.00,2.42,30.70,0.532,4,0.000,0.036,3447,1142,1259
$GC,4558,1.59,411.5,50.8,12.0,416,4566,0.00,2.45,0.00,0.000,6,0.000,0.033,3448,2533,1258
$GC,4629,1.59,411.5,42.4,12.6,423,4630,0.00,0.00,0.00,0.000,6,0.000,0.000,3448,2533,1257
$GC,4694,1.59,411.5,34.8,11.7,429,4695,0.00,0.00,0.00,0.000,6,0.000,0.000,3447,2533,1257
$GC,4757,1.59,411.5,26.6,12.8,435,4762,0.00,2.47,0.00,0.000,4,0.000,0.061,3447,3894,1257
$GC,4778,1.59,411.5,23.4,13.3,436,4786,0.00,2.33,0.00,0.000,6,0.000,0.029,3447,2525,1257
$GC,4852,1.59,411.5,14.0,13.4,447,4858,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2525,1258
$GC,4927,1.59,411.5,6.4,10.4,460,4934,0.00,0.00,0.00,0.000,6,0.000,0.000,3447,2525,1258
$STATE,4949,end climb,SURFACE_DEPTH_REACHED
$STATE,4949,begin surface coast
$FINISH,0.1,1.022892
$STATE,4990,end surface coast,CONTROL_FINISHED_OK
$STATE,4990,begin surface
$SM_CCo,5075,0.00,0.000,0,0,1254,412.59
$SM_GC,1.11,14.52,0.00,0.00,0.038,0.000,0.000,122,2640,1254,-13.60,0.34,412.59
$IRIDIUM_FIX,2148.09,-15942.95,291098,171735
$TT8_MAMPS,0.073632
$HUMID,1849
$INTERNAL_PRESSURE,11.475
$TCM_TEMP,24.10
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.8,22.326
$10V_AH,10.1,7.714
$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,33.300,75.850,825.175,0.000,0.000,24.885,25.683,469.556,0.000,0.000,37.777,33.302,949.653,2137.143,813.211,968.353,918.166,33.364,1493.320,0.000,895.373,0.000,0.000,0.000
$DEVICE_MAMPS,177.944,69.797,619.736,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,304.516,0.000,0.000,0.000,0.000,0.000,232.221,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,15864,471
$CAP_FILE_SIZE,208285,0
$CFSIZE,260034560,248336384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040809,204655,2154.479,-15944.339,69,0.9,70,9.8