version: 66.04
glider: 116
mission: 22
dive: 88
start: 8 5 109 23 47 22
data:
$ID,116
$MISSION,22
$DIVE,88
$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,-59316.266
$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,48
$R_STBD_OVSHOOT,30
$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
$GPS1,232407,2154.584,-15942.768,31,1.6,31,9.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-65.9
$GPS2,234626,2154.769,-15943.257,14,1.2,14,9.8
$SPEED_LIMITS,0.100,0.324
$TGT_NAME,BobSW
$TGT_LATLONG,2153.790,-15942.207
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.280,-0.164
$KALMAN_X,-137576.0,-1008.8,-310.4,136679.4,-1200.5
$KALMAN_Y,38142.3,357.5,104.3,-40994.6,574.0
$MHEAD_RNG_PITCHd_Wd,110.6,2558,-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,-243.3,0.0,0.0,0,100,0.00,0.00,-80.88,0.000,2,0.000,0.000,123,2643,3483
$GC,103,-1.39,-243.3,4.2,-10.5,12,132,16.05,2.22,-6.40,0.000,4,0.180,0.072,2786,3890,3933
$GC,160,-1.39,-243.3,26.5,-21.0,19,168,0.00,2.15,0.00,0.000,6,0.000,0.030,2787,2632,3933
$GC,231,-1.39,-243.3,39.0,-17.3,26,232,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2632,3932
$GC,296,-1.39,-243.3,49.7,-16.5,32,300,0.00,2.28,0.00,0.000,4,0.000,0.061,2787,3883,3933
$GC,339,-1.39,-243.3,58.1,-18.9,35,347,0.00,2.15,0.00,0.000,6,0.000,0.030,2786,2622,3933
$GC,411,-1.39,-243.3,69.4,-16.2,42,415,0.00,2.35,0.00,0.000,4,0.000,0.032,2787,1240,3933
$GC,463,-1.39,-243.3,76.1,-12.6,46,467,0.00,2.40,0.00,0.000,6,0.000,0.035,2787,2627,3933
$GC,533,-1.39,-243.3,84.8,-11.9,52,537,0.00,2.30,0.00,0.000,4,0.000,0.063,2786,3889,3933
$GC,573,-1.39,-243.3,89.7,-12.5,55,577,0.00,2.10,0.00,0.000,6,0.000,0.028,2786,2624,3933
$GC,648,-1.39,-243.3,98.7,-12.4,62,652,0.00,2.35,0.00,0.000,4,0.000,0.031,2787,1235,3933
$GC,680,-1.39,-243.3,103.1,-13.3,64,687,0.00,2.45,0.00,0.000,6,0.000,0.035,2787,2633,3933
$GC,751,-1.39,-243.3,112.5,-13.5,71,753,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2632,3934
$GC,815,-1.39,-243.3,120.8,-12.8,77,819,0.00,2.30,0.00,0.000,4,0.000,0.065,2787,3889,3933
$GC,866,-1.39,-243.3,127.8,-13.1,81,870,0.00,2.10,0.00,0.000,6,0.000,0.028,2786,2626,3933
$GC,942,-1.39,-243.3,136.6,-11.3,88,944,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2626,3933
$GC,1006,-1.39,-243.3,143.8,-11.2,94,1008,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2626,3933
$GC,1070,-1.39,-243.3,150.6,-10.6,100,1071,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2626,3934
$GC,1133,-1.39,-243.3,157.6,-11.1,106,1135,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2626,3933
$GC,1198,-1.39,-243.3,164.1,-9.7,112,1202,0.00,2.33,0.00,0.000,4,0.000,0.065,2787,3889,3934
$GC,1241,-1.39,-243.3,168.8,-10.7,115,1249,0.00,2.12,0.00,0.000,6,0.000,0.029,2787,2630,3934
$GC,1312,-1.39,-243.3,176.9,-11.8,122,1316,0.00,2.38,0.00,0.000,4,0.000,0.035,2787,1239,3933
$GC,1344,-1.39,-243.3,180.5,-10.3,124,1352,0.00,2.42,0.00,0.000,6,0.000,0.036,2786,2622,3933
$GC,1416,-1.39,-243.3,188.4,-11.3,131,1420,0.00,2.33,0.00,0.000,4,0.000,0.067,2787,3888,3933
$GC,1468,-1.39,-243.3,194.0,-10.9,135,1471,0.00,2.10,0.00,0.000,6,0.000,0.030,2787,2627,3933
$GC,1543,-1.39,-243.3,201.5,-10.2,142,1544,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2626,3934
$GC,1608,-1.39,-243.3,208.6,-11.1,148,1612,0.00,2.38,0.00,0.000,4,0.000,0.036,2786,1238,3934
$GC,1650,-1.39,-243.3,213.6,-10.4,151,1659,0.00,2.45,0.00,0.000,6,0.000,0.038,2787,2627,3934
$GC,1721,-1.39,-243.3,220.7,-10.6,158,1725,0.00,2.33,0.00,0.000,4,0.000,0.069,2787,3890,3933
$GC,1772,-1.39,-243.3,226.4,-11.5,162,1776,0.00,2.12,0.00,0.000,6,0.000,0.031,2786,2626,3934
$GC,1848,-1.39,-243.3,234.0,-9.4,169,1849,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2625,3934
$GC,1912,-1.39,-243.3,241.0,-11.1,175,1916,0.00,2.40,0.00,0.000,4,0.000,0.038,2787,1232,3934
$GC,1968,-1.39,-243.3,248.1,-12.1,179,1975,0.00,2.45,0.00,0.000,6,0.000,0.039,2786,2636,3934
$GC,2038,-1.39,-243.3,256.2,-11.8,186,2042,0.00,2.33,0.00,0.000,4,0.000,0.071,2786,3890,3934
$GC,2077,-1.39,-243.3,261.0,-11.8,189,2081,0.00,2.12,0.00,0.000,6,0.000,0.032,2786,2630,3934
$GC,2152,-1.39,-243.3,269.5,-11.1,196,2153,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2629,3934
$STATE,2161,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2161,begin apogee
$GC,2166,-0.42,0.0,270.6,11.0,197,2476,1.02,0.00,303.20,0.627,6,0.071,0.000,3007,2525,2936
$STATE,2477,end apogee,CONTROL_FINISHED_OK
$STATE,2478,begin climb
$GC,2479,1.39,243.3,283.8,0.0,228,2794,1.75,2.50,303.12,0.614,4,0.047,0.044,3400,1135,1944
$GC,2909,1.44,284.8,252.5,8.8,264,2970,0.00,2.47,52.70,0.597,6,0.000,0.038,3400,2534,1775
$GC,3031,1.44,284.8,239.9,11.3,275,3035,0.00,2.55,0.00,0.000,4,0.000,0.071,3399,3894,1773
$GC,3052,1.44,284.8,236.8,13.5,276,3060,0.00,2.40,0.00,0.000,6,0.000,0.034,3399,2524,1772
$GC,3124,1.44,284.8,228.5,11.4,283,3128,0.00,2.47,0.00,0.000,4,0.000,0.044,3400,1126,1771
$GC,3176,1.44,284.8,223.0,10.7,287,3180,0.00,2.50,0.00,0.000,6,0.000,0.038,3400,2539,1771
$GC,3246,1.44,284.8,215.2,11.0,293,3251,0.00,2.53,0.00,0.000,4,0.000,0.071,3399,3890,1770
$GC,3278,1.44,284.8,211.0,11.9,295,3286,0.00,2.38,0.00,0.000,6,0.000,0.033,3399,2523,1769
$GC,3349,1.44,284.8,203.4,10.8,302,3350,0.00,0.00,0.00,0.000,6,0.000,0.000,3399,2521,1769
$GC,3414,1.44,284.8,196.5,10.5,308,3415,0.00,0.00,0.00,0.000,6,0.000,0.000,3400,2521,1768
$GC,3478,1.44,284.8,189.8,10.8,314,3479,0.00,0.00,0.00,0.000,6,0.000,0.000,3399,2521,1768
$GC,3541,1.47,312.5,183.9,9.2,320,3582,0.00,0.00,35.03,0.596,6,0.000,0.000,3400,2521,1662
$GC,3644,1.47,312.5,173.6,10.3,330,3645,0.00,0.00,0.00,0.000,6,0.000,0.000,3400,2521,1660
$GC,3709,1.50,335.9,167.5,9.3,336,3743,0.00,0.00,31.20,0.588,6,0.000,0.000,3399,2521,1566
$GC,3802,1.50,335.9,158.5,10.2,345,3803,0.00,0.00,0.00,0.000,6,0.000,0.000,3399,2521,1564
$GC,3867,1.50,335.9,151.6,11.1,351,3871,0.00,2.55,0.00,0.000,4,0.000,0.065,3399,3890,1563
$GC,3918,1.50,335.9,145.3,12.9,355,3922,0.00,2.33,0.00,0.000,6,0.000,0.032,3399,2531,1562
$GC,3989,1.50,335.9,137.0,11.7,361,3990,0.00,0.00,0.00,0.000,6,0.000,0.000,3399,2530,1562
$GC,4052,1.50,335.9,129.6,11.5,367,4054,0.00,0.00,0.00,0.000,6,0.000,0.000,3400,2530,1561
$GC,4116,1.50,335.9,122.2,12.1,373,4120,0.00,2.42,0.00,0.000,4,0.000,0.040,3400,1136,1561
$GC,4160,1.50,335.9,116.1,12.8,376,4167,0.00,2.47,0.00,0.000,6,0.000,0.037,3400,2531,1561
$GC,4231,1.50,335.9,108.0,10.9,383,4233,0.00,0.00,0.00,0.000,6,0.000,0.000,3400,2531,1561
$GC,4295,1.50,335.9,101.8,10.5,389,4296,0.00,0.00,0.00,0.000,6,0.000,0.000,3399,2531,1560
$GC,4359,1.51,341.5,95.4,9.8,395,4373,0.10,2.47,6.82,0.484,4,0.057,0.038,3437,1130,1544
$GC,4396,1.51,341.5,91.1,11.0,398,4400,0.00,2.45,0.00,0.000,6,0.000,0.035,3437,2532,1544
$GC,4467,1.51,341.5,82.5,12.8,404,4471,0.00,2.50,0.00,0.000,4,0.000,0.064,3436,3893,1543
$GC,4518,1.51,341.5,76.1,12.6,408,4523,0.00,2.33,0.00,0.000,6,0.000,0.031,3437,2524,1543
$GC,4589,1.51,341.5,67.9,11.7,414,4590,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2521,1542
$GC,4653,1.51,341.5,59.5,13.1,420,4654,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2521,1542
$GC,4716,1.51,341.5,51.0,13.3,426,4718,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2521,1542
$GC,4781,1.51,344.0,44.3,9.9,432,4793,0.00,2.42,4.60,0.403,4,0.000,0.038,3437,1131,1533
$GC,4843,1.51,344.0,37.1,11.6,437,4851,0.00,2.45,0.00,0.000,6,0.000,0.035,3437,2540,1533
$GC,4915,1.53,358.4,30.3,9.6,444,4940,0.00,2.47,19.83,0.525,4,0.000,0.061,3436,3888,1473
$GC,4965,1.56,383.3,25.7,9.3,448,5002,0.00,2.33,32.40,0.523,6,0.000,0.031,3437,2517,1373
$GC,5066,1.64,449.3,16.4,8.2,460,5149,0.00,2.55,75.12,0.510,4,0.000,0.060,3436,3888,1104
$STATE,5197,end climb,SURFACE_DEPTH_REACHED
$STATE,5197,begin surface coast
$FINISH,1.3,1.022802
$STATE,5219,end surface coast,CONTROL_FINISHED_OK
$STATE,5219,begin surface
$SM_CCo,5306,0.00,0.000,0,0,1099,450.62
$SM_GC,1.09,14.60,0.00,0.00,0.038,0.000,0.000,122,2631,1099,-13.60,0.08,450.62
$IRIDIUM_FIX,2148.09,-15942.95,301098,232339
$TT8_MAMPS,0.059059
$HUMID,1849
$INTERNAL_PRESSURE,11.4262
$TCM_TEMP,23.70
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.5,24.887
$10V_AH,9.9,8.961
$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,33.525,113.275,864.025,0.000,0.000,83.714,82.655,897.344,0.000,0.000,69.336,14.120,976.710,2291.253,862.312,1002.847,1505.558,33.347,1592.461,0.000,938.119,0.000,0.000,0.000
$DEVICE_MAMPS,180.245,72.098,627.406,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,312.851,0.000,0.000,0.000,0.000,0.000,194.571,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,15889,484
$CAP_FILE_SIZE,232941,0
$CFSIZE,260034560,246571008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060809,011652,2154.752,-15943.410,11,2.1,31,9.8