version: 66.04
glider: 116
mission: 22
dive: 100
start: 8 7 109 1 40 28
data:
$ID,116
$MISSION,22
$DIVE,100
$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,-59625.027
$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,51
$R_STBD_OVSHOOT,24
$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
$GPS1,012743,2155.478,-15945.739,11,1.5,29,9.8
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-64.1
$GPS2,013937,2155.664,-15946.091,36,0.9,36,9.8
$SPEED_LIMITS,0.150,0.374
$TGT_NAME,BobNE
$TGT_LATLONG,2154.185,-15941.805
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.342,-0.152
$KALMAN_X,-164420.8,-1507.4,-472.6,159336.1,-791.9
$KALMAN_Y,49695.5,657.3,276.6,-51374.5,383.2
$MHEAD_RNG_PITCHd_Wd,104.1,7857,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.89,-243.3,0.0,0.0,0,116,0.00,0.00,-94.05,0.000,2,0.000,0.000,123,2634,3383
$GC,118,-1.89,-243.3,3.7,-9.4,14,148,15.40,2.40,-8.18,0.000,4,0.183,0.043,2674,1228,3929
$GC,172,-1.89,-243.3,24.5,-27.0,21,176,0.00,2.42,0.00,0.000,6,0.000,0.035,2674,2629,3929
$GC,243,-1.89,-243.3,42.0,-25.0,27,244,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2629,3928
$GC,306,-1.89,-243.3,56.4,-21.4,33,307,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2629,3927
$GC,370,-1.89,-243.3,69.1,-20.0,39,371,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2629,3926
$GC,434,-1.89,-243.3,82.6,-21.8,45,435,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2629,3926
$GC,499,-1.89,-243.3,95.1,-19.2,51,503,0.00,2.30,0.00,0.000,4,0.000,0.064,2674,3890,3926
$GC,575,-1.89,-243.3,110.4,-19.8,57,583,0.00,2.12,0.00,0.000,6,0.000,0.028,2674,2625,3926
$GC,645,-1.89,-243.3,123.0,-18.0,64,649,0.00,2.35,0.00,0.000,4,0.000,0.032,2674,1241,3926
$GC,685,-1.89,-243.3,129.4,-15.8,67,689,0.00,2.40,0.00,0.000,6,0.000,0.036,2674,2630,3926
$GC,756,-1.89,-243.3,140.9,-17.0,73,757,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2630,3926
$GC,819,-1.89,-243.3,151.9,-16.9,79,823,0.00,2.30,0.00,0.000,4,0.000,0.067,2674,3887,3926
$GC,859,-1.89,-243.3,159.5,-18.8,82,863,0.00,2.10,0.00,0.000,6,0.000,0.028,2674,2622,3926
$GC,934,-1.89,-243.3,172.3,-15.8,89,935,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2620,3926
$GC,999,-1.89,-243.3,182.8,-16.2,95,1000,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2620,3926
$GC,1063,-1.89,-243.3,194.0,-18.3,101,1067,0.00,2.35,0.00,0.000,4,0.000,0.035,2674,1242,3926
$GC,1095,-1.89,-243.3,200.6,-18.1,103,1103,0.00,2.40,0.00,0.000,6,0.000,0.036,2674,2627,3926
$GC,1165,-1.89,-243.3,213.0,-17.8,110,1169,0.00,2.33,0.00,0.000,4,0.000,0.069,2674,3889,3926
$GC,1204,-1.89,-243.3,220.5,-19.4,113,1208,0.00,2.10,0.00,0.000,6,0.000,0.030,2674,2629,3926
$GC,1280,-1.89,-243.3,233.4,-16.7,120,1281,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2627,3926
$GC,1344,-1.89,-243.3,243.6,-15.7,126,1345,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2627,3926
$GC,1408,-1.89,-243.3,253.3,-15.8,132,1410,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2627,3926
$GC,1472,-1.89,-243.3,263.1,-15.4,138,1473,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2627,3926
$STATE,1522,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1522,begin apogee
$GC,1528,-0.42,0.0,271.4,15.4,143,1846,1.55,0.00,304.80,0.620,6,0.086,0.000,3001,2539,2936
$STATE,1847,end apogee,CONTROL_FINISHED_OK
$STATE,1848,begin climb
$GC,1850,1.89,243.3,285.7,0.0,175,2169,1.98,2.55,304.02,0.609,4,0.048,0.044,3454,1139,1944
$GC,2421,1.97,312.9,235.8,12.1,224,2515,0.00,2.47,88.00,0.597,6,0.000,0.038,3453,2541,1660
$GC,2586,2.04,365.7,215.6,12.8,239,2662,0.00,2.60,67.90,0.587,4,0.000,0.071,3453,3888,1445
$GC,2684,2.05,371.8,202.1,14.7,247,2698,0.00,2.38,8.88,0.503,6,0.000,0.034,3453,2514,1420
$GC,2761,2.06,381.1,191.3,14.6,254,2785,0.00,2.53,13.48,0.542,4,0.000,0.043,3453,1130,1382
$GC,2813,2.06,384.6,183.5,14.9,258,2824,0.00,2.47,5.95,0.456,6,0.000,0.038,3453,2532,1367
$GC,2895,2.06,384.6,170.9,15.6,266,2897,0.00,0.00,0.00,0.000,6,0.000,0.000,3453,2531,1365
$GC,2960,2.06,384.6,160.7,15.8,272,2962,0.00,0.00,0.00,0.000,6,0.000,0.000,3453,2532,1365
$GC,3024,2.06,384.6,150.7,15.7,278,3025,0.00,0.00,0.00,0.000,6,0.000,0.000,3453,2532,1364
$GC,3088,2.06,384.6,140.7,15.9,284,3089,0.00,0.00,0.00,0.000,6,0.000,0.000,3453,2532,1363
$GC,3152,2.08,399.7,131.3,14.4,290,3173,0.00,0.00,19.67,0.560,6,0.000,0.000,3453,2532,1306
$GC,3234,2.08,401.1,118.9,14.9,298,3235,0.00,0.00,0.00,0.000,6,0.000,0.000,3454,2531,1304
$GC,3299,2.08,401.1,108.8,16.5,304,3300,0.00,0.00,0.00,0.000,6,0.000,0.000,3453,2532,1304
$GC,3363,2.08,401.1,98.6,15.5,310,3364,0.00,0.00,0.00,0.000,6,0.000,0.000,3453,2532,1304
$GC,3426,2.08,401.1,88.8,15.5,316,3427,0.00,0.00,0.00,0.000,6,0.000,0.000,3454,2532,1303
$GC,3490,2.10,419.5,79.5,14.2,322,3526,0.00,2.60,25.65,0.551,4,0.000,0.064,3453,3894,1225
$GC,3543,2.13,442.4,71.9,14.0,326,3578,0.00,2.35,29.88,0.541,6,0.000,0.031,3453,2518,1132
$GC,3643,2.19,489.4,58.5,13.1,335,3708,0.00,0.00,59.65,0.537,6,0.000,0.000,3453,2518,940
$GC,3769,2.26,546.2,42.7,12.6,347,3831,0.00,2.50,52.62,0.521,4,0.000,0.061,3453,3888,769
$GC,3869,2.35,618.6,30.3,12.0,355,3877,0.00,2.35,0.00,0.000,6,0.000,0.031,3453,2530,769
$GC,3940,2.44,688.6,21.8,12.1,362,3941,0.00,0.00,0.00,0.000,6,0.000,0.000,3453,2528,768
$GC,4006,2.51,750.1,14.4,12.4,372,4012,0.00,0.00,0.00,0.000,6,0.000,0.000,3453,2528,767
$GC,4081,2.57,798.8,5.2,13.0,385,4088,0.00,0.00,0.00,0.000,6,0.000,0.000,3453,2528,767
$STATE,4092,end climb,SURFACE_DEPTH_REACHED
$STATE,4092,begin surface coast
$FINISH,0.2,1.023243
$STATE,4127,end surface coast,CONTROL_FINISHED_OK
$STATE,4127,begin surface
$SM_CCo,4211,0.00,0.000,0,0,765,532.55
$SM_GC,0.92,14.55,0.00,0.00,0.037,0.000,0.000,123,2635,765,-13.59,0.20,532.55
$IRIDIUM_FIX,2148.09,-15945.13,011198,010136
$TT8_MAMPS,0.056758
$HUMID,1936
$INTERNAL_PRESSURE,11.3969
$TCM_TEMP,23.30
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.8,27.534
$10V_AH,9.9,10.161
$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,33.475,52.700,980.500,0.000,0.000,60.872,54.170,403.221,0.000,0.000,32.360,36.798,723.799,1625.686,907.094,823.569,848.425,33.337,1538.834,0.000,759.975,0.000,0.000,0.000
$DEVICE_MAMPS,182.546,70.564,619.736,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,251.399,0.000,0.000,0.000,0.000,0.000,107.780,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,12750,393
$CAP_FILE_SIZE,174640,0
$CFSIZE,260034560,244887552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070809,025125,2155.699,-15946.326,8,1.3,14,9.8