version: 66.04
glider: 116
mission: 22
dive: 104
start: 8 7 109 10 36 34
data:
$ID,116
$MISSION,22
$DIVE,104
$D_SURF,4
$D_FLARE,3
$D_TGT,660
$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,220
$T_MISSION,275
$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,-59688.371
$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,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
$GPS1,102300,2156.007,-15946.458,42,1.3,42,9.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-67.0
$GPS2,103538,2156.157,-15946.736,17,1.7,17,9.8
$SPEED_LIMITS,0.100,0.324
$TGT_NAME,BobNE
$TGT_LATLONG,2154.185,-15941.805
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.293,-0.140
$KALMAN_X,-175660.7,-511.8,-139.3,168120.1,-2315.7
$KALMAN_Y,54998.7,285.2,115.0,-55218.2,1174.4
$MHEAD_RNG_PITCHd_Wd,105.7,9228,-13.1,-10.000
$D_GRID,660
$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,17,-1.39,-243.3,0.0,0.0,0,107,0.00,0.00,-86.90,0.000,2,0.000,0.000,122,2632,3449
$GC,110,-1.39,-243.3,3.8,-9.0,13,139,16.00,0.00,-6.93,0.000,6,0.179,0.000,2786,2633,3930
$GC,209,-1.39,-243.3,33.0,-18.0,24,210,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2632,3926
$GC,273,-1.39,-243.3,43.1,-15.2,30,275,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2632,3924
$GC,337,-1.39,-243.3,51.9,-13.8,36,339,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2632,3922
$GC,401,-1.39,-243.3,61.5,-13.7,42,402,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2632,3927
$GC,465,-1.39,-243.3,70.4,-13.7,48,469,0.00,2.30,0.00,0.000,4,0.000,0.062,2787,3891,3928
$GC,528,-1.39,-243.3,78.6,-13.5,53,531,0.00,2.12,0.00,0.000,6,0.000,0.030,2787,2626,3924
$GC,604,-1.39,-243.3,88.3,-12.7,60,605,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2624,3923
$GC,667,-1.39,-243.3,97.0,-13.6,66,671,0.00,2.38,0.00,0.000,4,0.000,0.032,2787,1227,3921
$GC,744,-1.39,-243.3,107.4,-12.8,72,752,0.00,2.45,0.00,0.000,6,0.000,0.035,2787,2625,3918
$GC,814,-1.39,-243.3,115.0,-10.8,79,818,0.00,2.33,0.00,0.000,4,0.000,0.065,2787,3896,3919
$GC,846,-1.39,-243.3,119.0,-11.3,81,854,0.00,2.15,0.00,0.000,6,0.000,0.029,2787,2630,3918
$GC,917,-1.39,-243.3,126.0,-10.3,88,918,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2630,3920
$GC,982,-1.39,-243.3,133.1,-11.2,94,983,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2630,3919
$GC,1046,-1.39,-243.3,139.9,-10.5,100,1047,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2630,3919
$GC,1110,-1.39,-243.3,146.0,-9.3,106,1111,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2630,3919
$GC,1173,-1.39,-243.3,152.0,-9.8,112,1177,0.00,2.33,0.00,0.000,4,0.000,0.065,2787,3891,3917
$GC,1229,-1.39,-243.3,158.0,-10.6,116,1236,0.00,2.12,0.00,0.000,6,0.000,0.028,2787,2615,3915
$GC,1299,-1.39,-243.3,164.2,-8.5,123,1301,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2615,3924
$GC,1364,-1.39,-243.3,169.5,-8.0,129,1365,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2615,3924
$GC,1428,-1.39,-243.3,174.9,-8.5,135,1429,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2615,3924
$GC,1491,-1.39,-243.3,181.3,-10.4,141,1492,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2615,3925
$GC,1555,-1.39,-243.3,187.6,-10.0,147,1559,0.00,2.35,0.00,0.000,4,0.000,0.035,2787,1242,3925
$GC,1607,-1.39,-243.3,192.8,-9.6,151,1612,0.00,2.42,0.00,0.000,6,0.000,0.037,2787,2637,3925
$GC,1678,-1.39,-243.3,199.8,-10.5,157,1682,0.00,2.33,0.00,0.000,4,0.000,0.069,2787,3893,3924
$GC,1710,-1.39,-243.3,203.7,-10.8,159,1718,0.00,2.15,0.00,0.000,6,0.000,0.028,2787,2626,3925
$GC,1781,-1.39,-243.3,210.5,-9.7,166,1782,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2626,3925
$GC,1846,-1.39,-243.3,216.0,-8.6,172,1847,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2626,3925
$GC,1910,-1.39,-243.3,221.2,-8.3,178,1911,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2626,3925
$GC,1974,-1.39,-243.3,226.9,-9.2,184,1975,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2626,3925
$GC,2037,-1.39,-243.3,234.2,-11.5,190,2038,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2626,3925
$GC,2100,-1.39,-243.3,241.6,-11.6,196,2102,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2626,3925
$GC,2166,-1.39,-243.3,250.0,-13.2,202,2170,0.00,2.40,0.00,0.000,4,0.000,0.038,2787,1232,3926
$GC,2217,-1.39,-243.3,257.2,-13.0,206,2221,0.00,2.45,0.00,0.000,6,0.000,0.038,2787,2634,3925
$GC,2288,-1.39,-243.3,265.8,-12.1,212,2292,0.00,2.33,0.00,0.000,4,0.000,0.071,2787,3890,3925
$GC,2339,-1.39,-243.3,272.2,-12.2,216,2343,0.00,2.12,0.00,0.000,6,0.000,0.031,2787,2628,3925
$GC,2414,-1.39,-243.3,281.1,-11.4,223,2415,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2627,3925
$GC,2479,-1.39,-243.3,288.1,-10.8,229,2480,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2627,3925
$GC,2543,-1.39,-243.3,294.6,-10.3,235,2544,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2627,3926
$GC,2607,-1.39,-243.3,300.9,-9.9,241,2608,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2627,3925
$GC,2797,-1.39,-243.3,319.2,-9.9,259,2798,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2627,3926
$GC,2988,-1.39,-243.3,336.5,-8.3,277,2993,0.00,2.38,0.00,0.000,4,0.000,0.074,2787,3891,3928
$GC,3066,-1.39,-243.3,343.2,-8.0,283,3074,0.00,2.15,0.00,0.000,6,0.000,0.034,2787,2631,3930
$GC,3265,-1.39,-243.3,359.9,-9.4,302,3266,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2632,3929
$GC,3455,-1.39,-243.3,376.9,-8.7,320,3460,0.00,2.38,0.00,0.000,4,0.000,0.077,2787,3886,3930
$GC,3488,-1.39,-243.3,380.0,-9.2,322,3496,0.00,2.17,0.00,0.000,6,0.000,0.035,2787,2637,3930
$GC,3687,-1.39,-243.3,397.4,-8.8,341,3688,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2637,3930
$GC,3877,-1.39,-243.3,415.1,-9.6,359,3881,0.00,2.47,0.00,0.000,4,0.000,0.045,2787,1223,3929
$GC,3911,-1.39,-243.3,418.4,-9.3,362,3916,0.00,2.50,0.00,0.000,6,0.000,0.046,2787,2629,3930
$GC,4108,-1.39,-243.3,437.7,-9.7,380,4113,0.00,2.40,0.00,0.000,4,0.000,0.081,2787,3895,3928
$GC,4171,-1.39,-243.3,443.9,-10.6,385,4175,0.00,2.20,0.00,0.000,6,0.000,0.038,2787,2623,3927
$GC,4368,-1.39,-243.3,464.2,-10.6,403,4370,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2623,3925
$GC,4560,-1.39,-243.3,485.3,-10.9,421,4561,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2623,3923
$GC,4751,-1.39,-243.3,506.0,-10.8,439,4755,0.00,2.42,0.00,0.000,4,0.000,0.083,2787,3891,3922
$GC,4833,-1.39,-243.3,515.4,-10.6,446,4841,0.00,2.22,0.00,0.000,6,0.000,0.038,2787,2632,3922
$GC,5033,-1.39,-243.3,535.5,-10.3,465,5034,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2632,3921
$GC,5222,-1.39,-243.3,554.9,-10.0,483,5224,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2632,3919
$GC,5414,-1.39,-243.3,573.1,-9.5,501,5418,0.00,2.45,0.00,0.000,4,0.000,0.089,2787,3889,3918
$GC,5453,-1.39,-243.3,576.8,-10.1,504,5457,0.00,2.20,0.00,0.000,6,0.000,0.040,2787,2633,3917
$GC,5650,-1.39,-243.3,596.5,-10.0,522,5651,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2633,3916
$GC,5842,-1.39,-243.3,612.6,-8.7,540,5843,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2633,3914
$GC,6033,-1.39,-243.3,629.4,-8.0,558,6034,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2633,3913
$GC,6224,-1.39,-243.3,646.6,-8.8,576,6229,0.00,2.50,0.00,0.000,4,0.000,0.098,2787,3894,3912
$GC,6277,-1.39,-243.3,651.0,-8.0,580,6281,0.00,2.22,0.00,0.000,6,0.000,0.040,2787,2629,3912
$STATE,6440,end dive,NO_VERTICAL_VELOCITY
$STATE,6440,begin apogee
$GC,6445,-0.42,0.0,651.5,0.0,595,6774,0.98,0.00,317.05,0.904,6,0.067,0.000,3001,2522,2936
$STATE,6776,end apogee,CONTROL_FINISHED_OK
$STATE,6776,begin climb
$GC,6779,1.39,243.3,651.2,0.0,628,7118,1.80,2.70,326.42,0.863,4,0.057,0.090,3400,3891,1943
$GC,7202,1.39,243.3,624.7,11.2,666,7210,0.00,2.45,0.00,0.000,6,0.000,0.041,3400,2543,1940
$GC,7402,1.42,267.4,605.6,9.3,685,7441,0.00,0.00,32.40,0.836,6,0.000,0.000,3401,2543,1845
$GC,7632,1.42,267.4,583.1,11.0,707,7633,0.00,0.00,0.00,0.000,6,0.000,0.000,3401,2543,1842
$GC,7823,1.42,267.4,561.1,11.4,725,7827,0.00,2.62,0.00,0.000,4,0.000,0.087,3400,3888,1841
$GC,7855,1.42,267.4,557.1,12.1,727,7863,0.00,2.42,0.00,0.000,6,0.000,0.041,3400,2522,1841
$GC,8055,1.42,267.4,535.4,10.9,746,8060,0.00,2.65,0.00,0.000,4,0.000,0.084,3400,3888,1840
$GC,8095,1.42,267.4,530.4,12.1,749,8099,0.00,2.40,0.00,0.000,6,0.000,0.041,3400,2529,1840
$GC,8292,1.42,267.4,506.8,13.1,767,8296,0.00,2.55,0.00,0.000,4,0.000,0.055,3400,1118,1839
$GC,8323,1.42,267.4,502.2,13.8,769,8331,0.00,2.58,0.00,0.000,6,0.000,0.048,3400,2523,1839
$GC,8521,1.42,267.4,477.8,11.4,788,8526,0.00,2.62,0.00,0.000,4,0.000,0.083,3400,3892,1838
$GC,8561,1.42,267.4,472.6,13.6,791,8565,0.00,2.40,0.00,0.000,6,0.000,0.041,3400,2525,1838
$GC,8758,1.42,267.4,447.5,12.2,809,8759,0.00,0.00,0.00,0.000,6,0.000,0.000,3400,2525,1837
$GC,8949,1.42,267.4,426.6,10.2,827,8950,0.00,0.00,0.00,0.000,6,0.000,0.000,3400,2525,1837
$GC,9140,1.43,277.8,408.7,9.7,845,9155,0.00,0.00,12.55,0.788,6,0.000,0.000,3400,2524,1803
$GC,9343,1.43,277.8,388.0,10.9,864,9344,0.00,0.00,0.00,0.000,6,0.000,0.000,3400,2524,1802
$GC,9533,1.44,286.3,368.2,9.8,882,9553,0.00,0.00,13.02,0.769,6,0.000,0.000,3400,2523,1768
$GC,9744,1.52,347.4,349.7,8.3,902,9839,0.12,2.72,82.72,0.790,4,0.058,0.074,3432,3894,1519
$GC,9885,1.52,347.4,332.0,15.4,914,9889,0.00,2.42,0.00,0.000,6,0.000,0.040,3433,2521,1517
$GC,10082,1.52,347.4,306.6,12.8,932,10086,0.00,2.50,0.00,0.000,4,0.000,0.049,3433,1126,1514
$GC,10114,1.52,347.4,302.6,11.8,934,10122,0.00,2.55,0.00,0.000,6,0.000,0.044,3433,2530,1513
$GC,10313,1.52,347.4,278.7,13.0,953,10314,0.00,0.00,0.00,0.000,6,0.000,0.000,3433,2530,1513
$GC,10376,1.52,347.4,270.6,12.7,959,10377,0.00,0.00,0.00,0.000,6,0.000,0.000,3433,2530,1512
$GC,10440,1.52,347.4,262.5,12.4,965,10441,0.00,0.00,0.00,0.000,6,0.000,0.000,3433,2530,1512
$GC,10504,1.52,347.4,254.6,12.2,971,10505,0.00,0.00,0.00,0.000,6,0.000,0.000,3433,2530,1512
$GC,10569,1.52,347.4,247.0,11.9,977,10570,0.00,0.00,0.00,0.000,6,0.000,0.000,3433,2530,1512
$GC,10632,1.52,347.4,238.9,13.0,983,10634,0.00,0.00,0.00,0.000,6,0.000,0.000,3433,2530,1512
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$STATE,12498,end climb,SURFACE_DEPTH_REACHED
$STATE,12499,begin surface coast
$FINISH,0.8,1.023020
$STATE,12522,end surface coast,CONTROL_FINISHED_OK
$STATE,12524,begin surface
$SM_CCo,12610,0.00,0.000,0,0,1083,454.79
$SM_GC,0.93,14.85,0.00,0.00,0.046,0.000,0.000,122,2639,1083,-13.60,0.34,454.79
$IRIDIUM_FIX,2148.09,-15947.31,011198,101024
$TT8_MAMPS,0.075933
$HUMID,1911
$INTERNAL_PRESSURE,11.3286
$TCM_TEMP,23.10
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.5,28.457
$10V_AH,9.9,10.555
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$DEVICE_SECS,33.750,139.325,913.350,0.000,0.000,54.093,64.061,437.501,0.000,0.000,86.509,17.090,2360.894,6620.738,973.775,2027.862,1368.987,33.359,2218.623,0.000,1970.383,0.000,0.000,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,782.121,0.000,0.000,0.000,0.000,0.000,162.199,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,37724,1169
$CAP_FILE_SIZE,462287,0
$CFSIZE,260034560,244117504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070809,140800,2155.330,-15945.320,37,1.4,43,9.8