version: 66.04
glider: 116
mission: 22
dive: 95
start: 8 6 109 18 43 12
data:
$ID,116
$MISSION,22
$DIVE,95
$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,60
$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,-59457.02
$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,45
$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
$GPS1,183032,2154.150,-15942.727,9,1.8,10,9.8
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-68.1
$GPS2,184219,2154.271,-15943.115,16,1.7,33,9.8
$SPEED_LIMITS,0.150,0.374
$TGT_NAME,BobNE
$TGT_LATLONG,2154.185,-15941.805
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.357,-0.110
$KALMAN_X,-156572.6,1160.3,-271.9,153733.1,-1013.9
$KALMAN_Y,46158.3,-539.1,68.7,-49008.4,376.5
$MHEAD_RNG_PITCHd_Wd,97.3,2257,-19.1,-15.000
$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,13,begin dive
$GC,16,-1.89,-243.3,0.0,0.0,0,92,0.00,0.00,-73.70,0.000,2,0.000,0.000,122,2640,3339
$GC,95,-1.89,-243.3,3.3,-6.6,11,124,15.55,0.00,-9.00,0.000,6,0.184,0.000,2675,2640,3929
$GC,195,-1.89,-243.3,34.7,-25.2,23,196,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2640,3930
$GC,260,-1.89,-243.3,50.5,-24.7,29,261,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2640,3931
$GC,323,-1.89,-243.3,65.4,-23.3,35,325,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2640,3931
$GC,387,-1.89,-243.3,79.3,-21.8,41,388,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2640,3932
$GC,449,-1.89,-243.3,92.8,-21.8,47,451,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2640,3932
$GC,513,-1.89,-243.3,106.2,-20.9,53,514,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2640,3932
$GC,576,-1.89,-243.3,119.4,-20.5,59,577,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2640,3932
$GC,640,-1.89,-243.3,131.5,-19.3,65,641,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2640,3932
$GC,703,-1.89,-243.3,143.0,-18.4,71,707,0.00,2.40,0.00,0.000,4,0.000,0.032,2676,1235,3933
$GC,780,-1.89,-243.3,157.3,-17.0,77,788,0.00,2.42,0.00,0.000,6,0.000,0.037,2676,2613,3933
$GC,850,-1.89,-243.3,169.2,-17.2,84,854,0.00,2.35,0.00,0.000,4,0.000,0.068,2676,3890,3933
$GC,902,-1.89,-243.3,178.1,-17.4,88,906,0.00,2.12,0.00,0.000,6,0.000,0.029,2676,2617,3932
$GC,977,-1.89,-243.3,191.9,-17.5,95,978,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2616,3932
$GC,1042,-1.89,-243.3,201.7,-15.5,101,1043,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2616,3932
$GC,1105,-1.89,-243.3,212.5,-17.3,107,1110,0.00,2.35,0.00,0.000,4,0.000,0.035,2676,1239,3932
$GC,1126,-1.89,-243.3,216.4,-16.5,108,1134,0.00,2.45,0.00,0.000,6,0.000,0.038,2676,2629,3932
$GC,1199,-1.89,-243.3,226.8,-14.6,115,1203,0.00,2.33,0.00,0.000,4,0.000,0.070,2676,3889,3932
$GC,1238,-1.89,-243.3,233.5,-16.6,118,1242,0.00,2.12,0.00,0.000,6,0.000,0.031,2676,2624,3932
$GC,1313,-1.89,-243.3,245.5,-16.0,125,1318,0.00,2.38,0.00,0.000,4,0.000,0.037,2675,1238,3932
$GC,1377,-1.89,-243.3,255.2,-15.2,130,1381,0.00,2.42,0.00,0.000,6,0.000,0.039,2676,2629,3932
$GC,1447,-1.89,-243.3,265.7,-15.2,136,1451,0.00,2.35,0.00,0.000,4,0.000,0.071,2676,3894,3932
$STATE,1474,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1474,begin apogee
$GC,1481,-0.42,0.0,270.5,17.2,138,1799,1.55,0.00,305.75,0.617,6,0.085,0.000,3000,2518,2936
$STATE,1800,end apogee,CONTROL_FINISHED_OK
$STATE,1802,begin climb
$GC,1803,1.89,243.3,287.5,0.0,170,2125,2.00,2.55,304.67,0.611,4,0.048,0.044,3449,1131,1944
$GC,2332,1.98,319.4,245.9,11.8,215,2438,0.00,2.47,97.53,0.597,6,0.000,0.038,3449,2533,1634
$GC,2509,2.05,371.9,225.4,12.8,231,2585,0.00,2.53,69.05,0.588,4,0.000,0.041,3449,1131,1419
$GC,2659,2.12,430.1,207.3,12.6,244,2742,0.00,2.47,76.25,0.584,6,0.000,0.038,3449,2532,1182
$GC,2804,2.12,432.9,187.3,14.9,257,2808,0.00,2.53,0.00,0.000,4,0.000,0.068,3448,3887,1179
$GC,2843,2.12,432.9,181.1,16.6,260,2847,0.00,2.35,0.00,0.000,6,0.000,0.034,3449,2524,1179
$GC,2914,2.12,432.9,170.0,15.6,266,2915,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2521,1178
$GC,2978,2.14,444.6,160.5,14.5,272,2999,0.00,0.00,18.85,0.551,6,0.000,0.000,3449,2521,1123
$GC,3060,2.17,469.6,148.8,14.0,280,3099,0.00,2.47,33.75,0.561,4,0.000,0.040,3449,1125,1020
$GC,3153,2.20,494.6,135.9,14.0,288,3192,0.00,2.47,33.05,0.551,6,0.000,0.037,3449,2533,919
$GC,3263,2.25,539.8,120.9,13.1,298,3316,0.00,2.55,47.53,0.549,4,0.000,0.065,3448,3894,770
$GC,3363,2.30,576.8,106.6,13.5,306,3368,0.00,2.35,0.00,0.000,6,0.000,0.031,3449,2519,769
$GC,3434,2.35,617.3,97.3,13.3,312,3439,0.00,2.42,0.00,0.000,4,0.000,0.040,3448,1132,768
$GC,3474,2.39,651.1,92.0,13.6,315,3479,0.00,2.45,0.00,0.000,6,0.000,0.035,3449,2537,767
$GC,3545,2.39,651.1,81.8,15.0,321,3546,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2538,767
$GC,3608,2.39,651.1,71.6,15.4,327,3610,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2538,767
$GC,3673,2.44,692.6,62.8,13.3,333,3674,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2538,767
$GC,3736,2.53,766.7,55.0,11.9,339,3740,0.00,2.47,0.00,0.000,4,0.000,0.061,3448,3888,766
$GC,3792,2.58,802.7,47.6,13.5,343,3800,0.00,2.33,0.00,0.000,6,0.000,0.031,3449,2518,766
$GC,3864,2.64,851.7,38.6,13.0,350,3868,0.00,2.40,0.00,0.000,4,0.000,0.038,3449,1133,766
$GC,3896,2.71,908.2,34.2,12.7,352,3904,0.00,2.42,0.00,0.000,6,0.000,0.033,3449,2530,766
$GC,3968,2.83,1008.4,26.5,10.9,359,3969,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2530,766
$GC,4032,2.88,1053.6,17.8,13.1,366,4038,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2530,766
$GC,4107,2.93,1091.3,8.0,13.4,379,4113,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2531,766
$STATE,4135,end climb,SURFACE_DEPTH_REACHED
$STATE,4135,begin surface coast
$FINISH,0.3,1.023131
$STATE,4169,end surface coast,CONTROL_FINISHED_OK
$STATE,4169,begin surface
$SM_CCo,4254,0.00,0.000,0,0,764,532.79
$SM_GC,1.03,14.40,0.00,0.00,0.033,0.000,0.000,123,2640,764,-13.58,0.34,532.79
$IRIDIUM_FIX,2148.09,-16057.18,311098,171744
$TT8_MAMPS,0.054457
$HUMID,1829
$INTERNAL_PRESSURE,11.4165
$TCM_TEMP,23.90
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.7,26.495
$10V_AH,9.7,9.795
$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,33.500,67.500,986.425,0.000,0.000,59.184,62.763,382.242,0.000,0.000,32.486,33.237,745.427,1624.242,892.283,860.896,838.733,33.363,1545.345,0.000,795.012,0.000,0.000,0.000
$DEVICE_MAMPS,184.080,71.331,617.435,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,249.522,0.000,0.000,0.000,0.000,0.000,130.697,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,12731,390
$CAP_FILE_SIZE,173922,0
$CFSIZE,260034560,245436416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060809,195450,2154.478,-15943.413,11,1.8,12,9.8