version: 66.04
glider: 116
mission: 22
dive: 82
start: 8 5 109 3 18 9
data:
$ID,116
$MISSION,22
$DIVE,82
$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,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,-59178.121
$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,53
$R_STBD_OVSHOOT,36
$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
$GPS1,030013,2155.042,-15945.456,9,1.2,14,9.8
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,0.64
$_SM_ANGLEo,-67.6
$GPS2,031714,2155.239,-15945.755,16,1.4,16,9.8
$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,-121806.6,-1746.8,236.0,116806.0,-2694.5
$KALMAN_Y,30539.5,653.9,-22.7,-32692.1,1336.5
$MHEAD_RNG_PITCHd_Wd,105.8,6662,-13.1,-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,16,-1.39,-243.3,0.0,0.0,0,107,0.00,0.00,-87.85,0.000,2,0.000,0.000,122,2655,3546
$GC,110,-1.39,-243.3,4.5,-12.0,13,140,16.02,2.42,-5.22,0.000,4,0.180,0.043,2788,1241,3930
$GC,314,-1.39,-243.3,53.0,-16.9,32,322,0.00,2.40,0.00,0.000,6,0.000,0.035,2788,2611,3933
$GC,385,-1.39,-243.3,64.5,-16.7,39,386,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2611,3934
$GC,449,-1.39,-243.3,74.4,-15.4,45,454,0.00,2.35,0.00,0.000,4,0.000,0.031,2788,1231,3934
$GC,478,-1.39,-243.3,78.4,-13.5,47,482,0.00,2.42,0.00,0.000,6,0.000,0.035,2788,2637,3934
$GC,548,-1.39,-243.3,88.1,-13.5,53,550,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2637,3934
$GC,612,-1.39,-243.3,96.9,-14.1,59,616,0.00,2.30,0.00,0.000,4,0.000,0.065,2788,3894,3934
$GC,667,-1.39,-243.3,104.9,-14.5,63,674,0.00,2.10,0.00,0.000,6,0.000,0.029,2788,2630,3934
$GC,737,-1.39,-243.3,113.8,-12.9,70,738,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2630,3934
$GC,803,-1.39,-243.3,122.2,-13.4,76,807,0.00,2.30,0.00,0.000,4,0.000,0.064,2788,3888,3935
$GC,875,-1.39,-243.3,132.8,-14.3,82,879,0.00,2.10,0.00,0.000,6,0.000,0.028,2788,2622,3934
$GC,950,-1.39,-243.3,142.1,-11.7,89,952,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2622,3934
$GC,1015,-1.39,-243.3,149.5,-11.5,95,1016,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2622,3934
$GC,1079,-1.39,-243.3,157.4,-12.6,101,1080,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2622,3935
$GC,1143,-1.39,-243.3,164.9,-11.8,107,1144,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2621,3934
$GC,1207,-1.39,-243.3,171.9,-10.8,113,1208,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2621,3934
$GC,1270,-1.39,-243.3,179.4,-11.6,119,1271,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2622,3935
$GC,1335,-1.39,-243.3,186.6,-11.0,125,1339,0.00,2.33,0.00,0.000,4,0.000,0.067,2788,3888,3934
$GC,1376,-1.39,-243.3,191.4,-11.6,128,1379,0.00,2.10,0.00,0.000,6,0.000,0.030,2788,2628,3935
$GC,1451,-1.39,-243.3,200.7,-12.0,135,1455,0.00,2.38,0.00,0.000,4,0.000,0.037,2788,1239,3934
$GC,1480,-1.39,-243.3,203.8,-11.8,137,1485,0.00,2.40,0.00,0.000,6,0.000,0.038,2788,2626,3935
$GC,1551,-1.39,-243.3,211.4,-10.9,143,1555,0.00,2.33,0.00,0.000,4,0.000,0.068,2788,3892,3934
$GC,1603,-1.39,-243.3,217.3,-11.3,147,1606,0.00,2.12,0.00,0.000,6,0.000,0.030,2788,2616,3935
$GC,1678,-1.39,-243.3,225.0,-9.8,154,1680,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2616,3935
$GC,1743,-1.39,-243.3,230.8,-9.4,160,1744,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2616,3934
$GC,1807,-1.39,-243.3,236.9,-9.4,166,1808,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2616,3935
$GC,1870,-1.39,-243.3,242.8,-9.2,172,1871,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2616,3935
$GC,1936,-1.39,-243.3,248.8,-9.4,178,1942,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2616,3934
$GC,2007,-1.39,-243.3,255.5,-9.3,185,2008,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2616,3934
$GC,2071,-1.39,-243.3,261.4,-9.2,191,2072,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2616,3934
$GC,2136,-1.39,-243.3,267.2,-9.3,197,2142,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2616,3935
$GC,2207,-1.39,-243.3,273.6,-8.7,204,2209,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2616,3935
$GC,2272,-1.39,-243.3,279.1,-8.8,210,2273,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2616,3935
$GC,2336,-1.39,-243.3,284.4,-8.3,216,2337,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2616,3934
$GC,2399,-1.39,-243.3,289.4,-8.0,222,2400,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2616,3935
$GC,2462,-1.39,-243.3,294.0,-7.3,228,2469,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2616,3932
$GC,2534,-1.39,-243.3,299.5,-7.5,235,2535,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2616,3932
$GC,2597,-1.39,-243.3,304.2,-7.4,241,2599,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2616,3931
$GC,2788,-1.39,-243.3,317.8,-6.8,259,2792,0.00,2.40,0.00,0.000,4,0.000,0.074,2788,3895,3929
$GC,2854,-1.39,-243.3,322.9,-7.7,264,2862,0.00,2.15,0.00,0.000,6,0.000,0.035,2788,2633,3928
$GC,3055,-1.39,-243.3,337.0,-7.4,283,3061,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2633,3926
$GC,3252,-1.39,-243.3,352.9,-8.3,302,3253,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2633,3925
$GC,3444,-1.39,-243.3,367.7,-7.9,320,3445,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2633,3922
$GC,3634,-1.39,-243.3,381.0,-6.4,338,3636,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2633,3921
$GC,3826,-1.39,-243.3,392.2,-5.7,356,3827,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2633,3919
$GC,4017,-1.39,-243.3,402.3,-4.5,374,4018,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2633,3918
$GC,4208,-1.39,-243.3,411.6,-4.7,392,4209,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2633,3916
$GC,4399,-1.39,-243.3,422.8,-5.5,410,4400,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2633,3916
$GC,4590,-1.39,-243.3,438.2,-8.1,428,4594,0.00,2.47,0.00,0.000,4,0.000,0.049,2788,1232,3915
$GC,4625,-1.39,-243.3,441.1,-8.6,431,4629,0.00,2.50,0.00,0.000,6,0.000,0.048,2788,2634,3915
$GC,4822,-1.39,-243.3,457.9,-10.4,449,4826,0.00,2.38,0.00,0.000,4,0.000,0.082,2788,3890,3913
$GC,4873,-1.39,-243.3,463.8,-12.1,453,4877,0.00,2.17,0.00,0.000,6,0.000,0.039,2788,2633,3912
$GC,5071,-1.39,-243.3,483.9,-9.4,471,5072,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2630,3912
$GC,5262,-1.39,-243.3,500.9,-8.4,489,5266,0.00,2.42,0.00,0.000,4,0.000,0.084,2788,3897,3912
$GC,5302,-1.39,-243.3,504.3,-8.4,492,5306,0.00,2.20,0.00,0.000,6,0.000,0.040,2788,2627,3912
$GC,5499,-1.39,-243.3,520.5,-9.3,510,5500,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2627,3910
$GC,5691,-1.39,-243.3,538.7,-9.9,528,5692,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2627,3909
$GC,5881,-1.39,-243.3,557.6,-10.0,546,5886,0.00,2.45,0.00,0.000,4,0.000,0.088,2788,3891,3908
$GC,5938,-1.39,-243.3,563.2,-10.0,550,5945,0.00,2.20,0.00,0.000,6,0.000,0.040,2788,2630,3907
$GC,6136,-1.39,-243.3,579.5,-8.1,569,6137,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2630,3907
$GC,6326,-1.39,-243.3,596.7,-9.8,587,6330,0.00,2.45,0.00,0.000,4,0.000,0.091,2788,3895,3905
$GC,6384,-1.39,-243.3,603.3,-11.9,592,6388,0.00,2.22,0.00,0.000,6,0.000,0.041,2788,2625,3905
$GC,6581,-1.39,-243.3,625.4,-11.4,610,6585,0.00,2.47,0.00,0.000,4,0.000,0.094,2788,3891,3904
$GC,6636,-1.39,-243.3,631.8,-12.2,614,6643,0.00,2.22,0.00,0.000,6,0.000,0.041,2788,2626,3904
$GC,6833,-1.39,-243.3,651.8,-9.1,633,6835,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2626,3902
$STATE,6927,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6927,begin apogee
$GC,6932,-0.42,0.0,660.6,9.6,642,7254,1.02,0.00,314.85,0.926,6,0.078,0.000,3004,2529,2936
$STATE,7256,end apogee,CONTROL_FINISHED_OK
$STATE,7256,begin climb
$GC,7258,1.39,243.3,679.2,0.0,674,7596,1.77,2.78,326.30,0.882,4,0.052,0.098,3401,3890,1944
$GC,7677,1.45,295.9,656.7,8.5,710,7760,0.00,2.42,72.85,0.858,6,0.000,0.041,3401,2530,1729
$GC,7951,1.45,295.9,631.5,11.3,735,7955,0.00,2.67,0.00,0.000,4,0.000,0.090,3401,3890,1724
$GC,7994,1.45,295.9,625.6,13.3,738,8002,0.00,2.45,0.00,0.000,6,0.000,0.041,3401,2529,1724
$GC,8192,1.45,295.9,600.3,13.4,757,8197,0.00,2.67,0.00,0.000,4,0.000,0.087,3401,3897,1723
$GC,8224,1.45,295.9,595.5,15.4,759,8232,0.00,2.47,0.00,0.000,6,0.000,0.041,3401,2523,1723
$GC,8422,1.45,295.9,567.5,13.9,778,8423,0.00,0.00,0.00,0.000,6,0.000,0.000,3401,2523,1722
$GC,8613,1.45,295.9,541.6,13.5,796,8614,0.00,0.00,0.00,0.000,6,0.000,0.000,3401,2523,1721
$GC,8804,1.45,295.9,515.9,13.1,814,8809,0.00,2.65,0.00,0.000,4,0.000,0.084,3401,3892,1720
$GC,8836,1.45,295.9,511.4,14.5,816,8844,0.00,2.45,0.00,0.000,6,0.000,0.041,3401,2521,1720
$GC,9035,1.45,295.9,487.7,11.0,835,9036,0.00,0.00,0.00,0.000,6,0.000,0.000,3401,2521,1721
$GC,9225,1.45,295.9,467.7,10.9,853,9229,0.00,2.62,0.00,0.000,4,0.000,0.081,3401,3892,1719
$GC,9257,1.45,295.9,463.9,12.3,855,9264,0.00,2.40,0.00,0.000,6,0.000,0.041,3401,2529,1719
$GC,9454,1.45,295.9,442.2,11.3,874,9459,0.00,2.62,0.00,0.000,4,0.000,0.081,3401,3895,1719
$GC,9506,1.45,295.9,436.1,12.0,878,9510,0.00,2.40,0.00,0.000,6,0.000,0.041,3401,2528,1719
$GC,9703,1.45,295.9,414.0,11.7,896,9707,0.00,2.53,0.00,0.000,4,0.000,0.053,3401,1125,1719
$GC,9759,1.45,295.9,406.7,13.4,900,9766,0.00,2.53,0.00,0.000,6,0.000,0.046,3401,2533,1718
$GC,9957,1.45,295.9,378.9,15.1,919,9958,0.00,0.00,0.00,0.000,6,0.000,0.000,3401,2533,1718
$GC,10147,1.45,295.9,351.6,13.4,937,10149,0.00,0.00,0.00,0.000,6,0.000,0.000,3401,2533,1718
$GC,10338,1.45,295.9,328.3,11.7,955,10339,0.00,0.00,0.00,0.000,6,0.000,0.000,3401,2533,1717
$GC,10530,1.46,304.4,308.6,9.8,973,10542,0.00,0.00,8.95,0.728,6,0.000,0.000,3402,2533,1695
$GC,10733,1.49,330.3,289.5,9.3,992,10774,0.00,0.00,35.78,0.787,6,0.000,0.000,3402,2533,1589
$GC,10836,1.51,339.9,279.7,9.7,1002,10860,0.00,2.62,14.23,0.728,4,0.000,0.074,3401,3882,1550
$GC,10884,1.51,339.9,274.9,10.3,1006,10889,0.00,2.38,0.00,0.000,6,0.000,0.038,3401,2526,1549
$GC,10955,1.53,356.8,267.9,9.5,1012,10986,0.12,0.00,23.45,0.742,6,0.054,0.000,3439,2523,1481
$GC,11048,1.53,356.8,256.8,12.2,1021,11049,0.00,0.00,0.00,0.000,6,0.000,0.000,3439,2524,1479
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$STATE,13166,end climb,SURFACE_DEPTH_REACHED
$STATE,13166,begin surface coast
$FINISH,-0.3,1.022959
$STATE,13211,end surface coast,CONTROL_FINISHED_OK
$STATE,13211,begin surface
$SM_CCo,13297,0.00,0.000,0,0,1057,461.16
$SM_GC,0.86,14.48,0.00,0.00,0.034,0.000,0.000,124,2632,1057,-13.58,0.14,461.16
$IRIDIUM_FIX,2145.77,-15945.93,301098,000002
$TT8_MAMPS,0.077467
$HUMID,1876
$INTERNAL_PRESSURE,11.3579
$TCM_TEMP,23.80
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.5,23.227
$10V_AH,10.0,8.219
$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
$DEVICE_SECS,33.425,135.400,927.950,0.000,0.000,23.427,25.495,749.719,0.000,0.000,92.409,17.624,2490.767,6987.757,985.764,2171.020,1674.901,33.362,2291.500,0.000,2088.853,0.000,0.000,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,826.883,0.000,0.000,0.000,0.000,0.000,174.134,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,37841,1234
$CAP_FILE_SIZE,490518,0
$CFSIZE,260034560,247410688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050809,070101,2154.929,-15944.938,42,1.3,42,9.8