version: 66.04
glider: 116
mission: 22
dive: 94
start: 8 6 109 17 1 4
data:
$ID,116
$MISSION,22
$DIVE,94
$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,-59423.152
$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,40
$R_STBD_OVSHOOT,25
$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
$GPS1,164736,2153.622,-15942.004,34,1.1,34,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-67.2
$GPS2,170008,2153.784,-15942.437,15,1.1,15,9.8
$SPEED_LIMITS,0.100,0.324
$TGT_NAME,BobNE
$TGT_LATLONG,2154.185,-15941.805
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.321,-0.048
$KALMAN_X,-154375.3,1522.2,-79.4,152126.4,-1383.8
$KALMAN_Y,45232.9,-693.9,53.3,-48804.0,498.3
$MHEAD_RNG_PITCHd_Wd,88.7,1315,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.39,-243.3,0.0,0.0,0,99,0.00,0.00,-80.03,0.000,2,0.000,0.000,124,2640,3564
$GC,101,-1.39,-243.3,4.3,-10.6,12,130,16.12,0.00,-5.07,0.000,6,0.182,0.000,2786,2641,3932
$GC,192,-1.39,-243.3,34.8,-20.6,22,193,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2641,3933
$GC,257,-1.39,-243.3,45.9,-17.5,28,258,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2641,3931
$GC,321,-1.39,-243.3,55.6,-15.2,34,322,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2641,3931
$GC,384,-1.39,-243.3,65.1,-14.1,40,385,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2641,3928
$GC,448,-1.39,-243.3,74.8,-15.5,46,452,0.00,2.28,0.00,0.000,4,0.000,0.063,2786,3884,3927
$GC,480,-1.39,-243.3,80.5,-16.4,48,488,0.00,2.15,0.00,0.000,6,0.000,0.030,2786,2626,3924
$GC,551,-1.39,-243.3,91.7,-16.3,55,552,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2625,3929
$GC,615,-1.39,-243.3,101.8,-15.8,61,619,0.00,2.33,0.00,0.000,4,0.000,0.064,2785,3888,3929
$GC,636,-1.39,-243.3,105.2,-14.8,62,644,0.00,2.15,0.00,0.000,6,0.000,0.029,2786,2617,3929
$GC,706,-1.39,-243.3,113.8,-12.2,69,707,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2617,3929
$GC,771,-1.39,-243.3,121.1,-11.7,75,775,0.00,2.35,0.00,0.000,4,0.000,0.033,2786,1239,3930
$GC,803,-1.39,-243.3,125.2,-12.1,77,811,0.00,2.42,0.00,0.000,6,0.000,0.036,2786,2620,3930
$GC,873,-1.39,-243.3,133.0,-11.3,84,877,0.00,2.35,0.00,0.000,4,0.000,0.067,2786,3894,3931
$GC,962,-1.39,-243.3,142.9,-11.5,91,969,0.00,2.15,0.00,0.000,6,0.000,0.029,2786,2622,3931
$GC,1033,-1.39,-243.3,150.6,-10.9,98,1034,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2622,3931
$GC,1097,-1.39,-243.3,157.6,-10.8,104,1098,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2622,3930
$GC,1160,-1.39,-243.3,164.7,-11.4,110,1162,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2622,3930
$GC,1224,-1.39,-243.3,171.5,-10.6,116,1226,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2622,3930
$GC,1288,-1.39,-243.3,178.4,-10.9,122,1289,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2622,3930
$GC,1353,-1.39,-243.3,184.8,-9.9,128,1355,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2622,3930
$GC,1417,-1.39,-243.3,190.7,-9.4,134,1421,0.00,2.38,0.00,0.000,4,0.000,0.037,2785,1240,3930
$GC,1449,-1.39,-243.3,194.2,-9.6,136,1457,0.00,2.45,0.00,0.000,6,0.000,0.038,2786,2629,3930
$GC,1520,-1.39,-243.3,201.3,-10.4,143,1524,0.00,2.33,0.00,0.000,4,0.000,0.070,2786,3887,3930
$GC,1594,-1.39,-243.3,209.9,-12.2,149,1598,0.00,2.12,0.00,0.000,6,0.000,0.031,2786,2624,3930
$GC,1669,-1.39,-243.3,218.5,-11.9,156,1670,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2623,3930
$GC,1734,-1.39,-243.3,225.9,-11.4,162,1735,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2623,3930
$GC,1797,-1.39,-243.3,233.1,-11.0,168,1798,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2623,3930
$GC,1861,-1.39,-243.3,240.4,-11.6,174,1865,0.00,2.40,0.00,0.000,4,0.000,0.039,2786,1235,3930
$GC,1939,-1.39,-243.3,249.3,-10.8,180,1946,0.00,2.45,0.00,0.000,6,0.000,0.039,2786,2634,3930
$GC,2009,-1.39,-243.3,256.2,-10.1,187,2010,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2634,3930
$GC,2074,-1.39,-243.3,262.8,-10.1,193,2078,0.00,2.35,0.00,0.000,4,0.000,0.073,2786,3894,3930
$GC,2126,-1.39,-243.3,268.0,-9.8,197,2130,0.00,2.15,0.00,0.000,6,0.000,0.033,2786,2625,3930
$STATE,2151,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2151,begin apogee
$GC,2156,-0.42,0.0,270.7,9.5,199,2466,1.02,0.00,300.15,0.632,6,0.071,0.000,3005,2533,2936
$STATE,2467,end apogee,CONTROL_FINISHED_OK
$STATE,2467,begin climb
$GC,2469,1.39,243.3,283.6,0.0,230,2783,1.75,2.53,303.12,0.617,4,0.048,0.044,3398,1133,1944
$GC,2934,1.39,243.3,248.3,11.1,269,2942,0.00,2.50,0.00,0.000,6,0.000,0.038,3397,2529,1940
$GC,3005,1.39,243.3,241.3,10.3,276,3006,0.00,0.00,0.00,0.000,6,0.000,0.000,3398,2529,1940
$GC,3070,1.40,255.9,235.0,9.6,282,3094,0.00,2.53,16.12,0.571,4,0.000,0.043,3398,1129,1892
$GC,3189,1.40,255.9,223.4,10.2,292,3196,0.00,2.50,0.00,0.000,6,0.000,0.039,3397,2537,1890
$GC,3260,1.44,282.6,216.9,9.3,299,3300,0.00,2.58,34.62,0.598,4,0.000,0.072,3397,3892,1783
$GC,3368,1.44,282.6,205.6,10.9,308,3373,0.00,2.35,0.00,0.000,6,0.000,0.035,3397,2529,1781
$GC,3440,1.48,316.2,199.0,9.1,314,3489,0.00,0.00,44.30,0.596,6,0.000,0.000,3397,2528,1646
$GC,3553,1.51,341.6,189.0,9.3,325,3593,0.12,2.53,33.72,0.586,4,0.052,0.043,3434,1140,1543
$GC,3644,1.51,341.6,178.3,12.4,333,3648,0.00,2.47,0.00,0.000,6,0.000,0.038,3434,2538,1541
$GC,3720,1.51,341.6,168.5,13.0,340,3721,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,2538,1540
$GC,3786,1.51,341.6,161.2,11.1,346,3787,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,2538,1539
$GC,3849,1.51,341.6,154.0,11.4,352,3853,0.00,2.50,0.00,0.000,4,0.000,0.067,3434,3886,1539
$GC,3955,1.51,341.6,140.4,13.3,361,3959,0.00,2.33,0.00,0.000,6,0.000,0.033,3434,2526,1538
$GC,4025,1.51,341.6,131.8,12.2,367,4027,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,2525,1538
$GC,4089,1.51,341.6,123.8,12.4,373,4094,0.00,2.42,0.00,0.000,4,0.000,0.040,3434,1137,1538
$GC,4145,1.51,341.6,116.5,13.1,377,4152,0.00,2.45,0.00,0.000,6,0.000,0.037,3434,2534,1537
$GC,4216,1.51,341.6,108.0,12.7,384,4220,0.00,2.50,0.00,0.000,4,0.000,0.065,3434,3889,1537
$GC,4300,1.51,341.6,97.5,12.1,391,4304,0.00,2.33,0.00,0.000,6,0.000,0.032,3434,2526,1536
$GC,4370,1.51,341.6,90.1,10.5,397,4371,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2525,1536
$GC,4434,1.51,341.6,82.9,11.1,403,4435,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,2525,1536
$GC,4498,1.51,341.6,76.0,10.7,409,4499,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,2525,1536
$GC,4562,1.51,341.6,69.1,10.6,415,4563,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,2525,1535
$GC,4627,1.55,379.2,63.3,9.0,421,4676,0.00,0.00,46.47,0.549,6,0.000,0.000,3434,2525,1391
$GC,4739,1.58,399.7,52.3,9.4,432,4773,0.00,2.53,27.50,0.528,4,0.000,0.061,3434,3887,1305
$GC,4800,1.58,399.7,45.3,11.8,437,4808,0.00,2.35,0.00,0.000,6,0.000,0.031,3434,2524,1304
$GC,4871,1.58,399.7,37.7,10.9,444,4872,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,2522,1304
$GC,4936,1.58,399.7,30.9,10.8,450,4937,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2522,1303
$GC,5000,1.58,399.7,24.2,10.7,456,5001,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,2522,1303
$GC,5063,1.58,399.7,16.9,10.6,464,5069,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,2522,1303
$GC,5138,1.59,404.5,9.2,9.9,477,5146,0.00,0.00,6.10,0.417,6,0.000,0.000,3434,2522,1287
$STATE,5195,end climb,SURFACE_DEPTH_REACHED
$STATE,5195,begin surface coast
$FINISH,-0.1,1.013066
$STATE,5240,end surface coast,CONTROL_FINISHED_OK
$STATE,5240,begin surface
$SM_CCo,5326,0.00,0.000,0,0,1283,405.48
$SM_GC,1.12,14.62,0.00,0.00,0.042,0.000,0.000,123,2638,1283,-13.59,0.28,405.48
$IRIDIUM_FIX,2145.77,-15940.77,311098,131340
$TT8_MAMPS,0.079001
$HUMID,1831
$INTERNAL_PRESSURE,11.4262
$TCM_TEMP,24.00
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.7,26.291
$10V_AH,10.0,9.720
$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,33.650,76.500,812.125,0.000,0.000,25.683,40.994,477.169,0.000,0.000,39.804,15.353,995.693,2282.204,808.856,996.197,962.102,33.350,1509.230,0.000,946.226,0.000,0.000,0.000
$DEVICE_MAMPS,181.779,72.865,632.008,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,321.186,0.000,0.000,0.000,0.000,0.000,160.996,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,15835,495
$CAP_FILE_SIZE,218119,0
$CFSIZE,260034560,245510144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060809,183032,2154.150,-15942.727,9,1.8,10,9.8