version: 66.04
glider: 116
mission: 22
dive: 101
start: 8 7 109 3 0 19
data:
$ID,116
$MISSION,22
$DIVE,101
$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,-59641.203
$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,43
$R_STBD_OVSHOOT,23
$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
$GPS1,025125,2155.699,-15946.326,8,1.3,14,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-66.6
$GPS2,025926,2155.809,-15946.565,15,1.1,15,9.8
$SPEED_LIMITS,0.150,0.374
$TGT_NAME,BobNE
$TGT_LATLONG,2154.185,-15941.805
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.340,-0.155
$KALMAN_X,-166090.4,-1889.8,-340.3,160440.4,-798.2
$KALMAN_Y,50387.7,806.7,212.5,-51876.2,400.7
$MHEAD_RNG_PITCHd_Wd,104.7,8716,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.89,-243.3,0.0,0.0,0,114,0.00,0.00,-93.75,0.000,2,0.000,0.000,123,2637,3316
$GC,117,-1.89,-243.3,3.2,-7.4,14,146,15.43,0.00,-9.45,0.000,6,0.184,0.000,2675,2637,3929
$GC,216,-1.89,-243.3,35.3,-27.3,26,218,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2637,3930
$GC,282,-1.89,-243.3,50.5,-22.8,32,286,0.00,2.40,0.00,0.000,4,0.000,0.031,2675,1225,3930
$GC,302,-1.89,-243.3,55.7,-21.8,33,310,0.00,2.45,0.00,0.000,6,0.000,0.035,2675,2626,3930
$GC,374,-1.89,-243.3,70.3,-21.0,40,375,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2626,3930
$GC,437,-1.89,-243.3,83.1,-19.1,46,441,0.00,2.30,0.00,0.000,4,0.000,0.062,2675,3890,3931
$GC,470,-1.89,-243.3,90.2,-20.7,48,477,0.00,2.15,0.00,0.000,6,0.000,0.028,2675,2617,3931
$GC,540,-1.89,-243.3,102.9,-17.8,55,544,0.00,2.33,0.00,0.000,4,0.000,0.062,2675,3887,3931
$GC,572,-1.89,-243.3,108.9,-19.0,57,580,0.00,2.12,0.00,0.000,6,0.000,0.028,2675,2627,3931
$GC,642,-1.89,-243.3,121.4,-17.5,64,644,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2627,3931
$GC,707,-1.89,-243.3,133.6,-19.7,70,708,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2628,3931
$GC,771,-1.89,-243.3,145.0,-17.9,76,775,0.00,2.30,0.00,0.000,4,0.000,0.065,2675,3886,3931
$GC,791,-1.89,-243.3,149.4,-19.2,77,799,0.00,2.12,0.00,0.000,6,0.000,0.028,2675,2630,3931
$GC,862,-1.89,-243.3,161.4,-17.2,84,863,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2630,3931
$GC,926,-1.89,-243.3,171.5,-15.4,90,928,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2630,3931
$GC,992,-1.89,-243.3,181.6,-15.8,96,993,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2630,3931
$GC,1055,-1.89,-243.3,191.4,-15.6,102,1059,0.00,2.38,0.00,0.000,4,0.000,0.037,2675,1240,3931
$GC,1076,-1.89,-243.3,195.0,-14.5,103,1084,0.00,2.42,0.00,0.000,6,0.000,0.038,2675,2635,3931
$GC,1146,-1.89,-243.3,204.7,-14.1,110,1148,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2635,3931
$GC,1211,-1.89,-243.3,213.8,-14.1,116,1213,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2635,3931
$GC,1275,-1.89,-243.3,221.9,-12.6,122,1276,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2635,3931
$GC,1339,-1.89,-243.3,230.4,-13.1,128,1340,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2635,3931
$GC,1403,-1.89,-243.3,239.2,-14.3,134,1404,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2635,3931
$GC,1466,-1.89,-243.3,248.3,-14.6,140,1467,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2635,3931
$GC,1531,-1.89,-243.3,257.4,-13.9,146,1533,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2635,3931
$GC,1595,-1.89,-243.3,266.1,-13.6,152,1601,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2635,3931
$STATE,1620,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1620,begin apogee
$GC,1625,-0.42,0.0,270.4,13.8,155,1935,1.55,0.00,301.42,0.627,6,0.083,0.000,3002,2537,2936
$STATE,1936,end apogee,CONTROL_FINISHED_OK
$STATE,1937,begin climb
$GC,1939,1.89,243.3,281.9,0.0,186,2251,1.98,2.53,300.98,0.614,4,0.048,0.042,3455,1129,1943
$GC,2398,1.98,318.2,245.2,11.9,225,2494,0.00,2.50,88.65,0.600,6,0.000,0.039,3456,2540,1637
$GC,2556,2.02,350.6,225.2,13.7,239,2588,0.00,0.00,29.98,0.580,6,0.000,0.000,3456,2540,1507
$GC,2649,2.02,350.6,211.0,15.3,248,2672,0.00,2.62,13.40,0.546,4,0.000,0.072,3455,3892,1506
$GC,2688,2.02,350.6,204.8,15.9,251,2696,0.00,2.38,0.00,0.000,6,0.000,0.034,3456,2521,1503
$GC,2759,2.03,356.2,194.7,14.8,258,2771,0.00,0.00,10.15,0.528,6,0.000,0.000,3456,2519,1484
$GC,2833,2.04,369.5,183.8,14.4,265,2854,0.00,0.00,19.38,0.565,6,0.000,0.000,3456,2519,1429
$GC,2916,2.05,373.1,171.5,14.9,273,2929,0.00,0.00,9.15,0.515,6,0.000,0.000,3455,2519,1414
$GC,2990,2.05,373.1,160.5,15.3,280,2991,0.00,0.00,0.00,0.000,6,0.000,0.000,3455,2519,1413
$GC,3055,2.10,413.6,151.8,13.3,286,3116,0.00,0.00,53.55,0.581,6,0.000,0.000,3455,2519,1248
$GC,3179,2.15,457.9,135.4,13.2,298,3241,0.00,0.00,57.40,0.568,6,0.000,0.000,3455,2519,1069
$GC,3302,2.15,457.9,117.9,15.5,310,3303,0.00,0.00,0.00,0.000,6,0.000,0.000,3455,2519,1066
$GC,3366,2.15,457.9,108.1,15.7,316,3370,0.00,2.55,0.00,0.000,4,0.000,0.065,3455,3888,1065
$GC,3409,2.15,457.9,101.3,15.1,319,3417,0.00,2.38,0.00,0.000,6,0.000,0.032,3455,2518,1065
$GC,3480,2.23,522.2,92.1,12.3,326,3564,0.00,0.00,81.05,0.552,6,0.000,0.000,3455,2518,807
$GC,3624,2.23,523.0,71.3,15.0,339,3625,0.00,0.00,0.00,0.000,6,0.000,0.000,3455,2518,805
$GC,3688,2.24,529.5,61.9,14.7,345,3700,0.00,0.00,10.18,0.484,6,0.000,0.000,3455,2518,777
$GC,3760,2.28,563.8,51.9,13.6,352,3771,0.00,0.00,3.75,0.342,6,0.000,0.000,3455,2518,770
$GC,3835,2.36,624.5,42.5,12.5,359,3836,0.00,0.00,0.00,0.000,6,0.000,0.000,3456,2518,769
$GC,3899,2.43,688.4,34.6,12.4,365,3900,0.00,0.00,0.00,0.000,6,0.000,0.000,3456,2518,769
$GC,3962,2.51,746.3,26.9,12.6,371,3967,0.00,2.40,0.00,0.000,4,0.000,0.038,3456,1137,769
$GC,3995,2.57,797.3,22.5,12.9,373,4003,0.00,2.45,0.00,0.000,6,0.000,0.035,3456,2540,769
$GC,4068,2.61,831.7,12.7,13.6,384,4074,0.00,0.00,0.00,0.000,6,0.000,0.000,3455,2540,769
$STATE,4143,end climb,SURFACE_DEPTH_REACHED
$STATE,4143,begin surface coast
$FINISH,0.1,1.023004
$STATE,4178,end surface coast,CONTROL_FINISHED_OK
$STATE,4178,begin surface
$SM_CCo,4262,0.00,0.000,0,0,767,532.06
$SM_GC,1.04,14.57,0.00,0.00,0.038,0.000,0.000,125,2635,767,-13.58,0.20,532.06
$IRIDIUM_FIX,2148.09,-15947.31,011198,010104
$TT8_MAMPS,0.072865
$HUMID,1945
$INTERNAL_PRESSURE,11.4067
$TCM_TEMP,23.50
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.8,27.727
$10V_AH,10.0,10.224
$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,33.525,43.075,979.025,0.000,0.000,22.684,34.496,287.583,0.000,0.000,31.111,15.546,743.117,1641.344,931.243,758.207,675.142,33.342,1538.852,0.000,721.542,0.000,0.000,0.000
$DEVICE_MAMPS,184.080,72.098,626.639,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,257.788,0.000,0.000,0.000,0.000,0.000,101.077,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,12727,403
$CAP_FILE_SIZE,174069,0
$CFSIZE,260034560,244797440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070809,041231,2155.808,-15946.812,37,1.9,38,9.8