version: 66.04
glider: 116
mission: 22
dive: 110
start: 8 8 109 0 16 55
data:
$ID,116
$MISSION,22
$DIVE,110
$D_SURF,4
$D_FLARE,3
$D_TGT,90
$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,25
$T_MISSION,35
$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,-59800.828
$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,56
$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
$GPS1,000925,2156.169,-15947.423,9,2.0,14,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-69.0
$GPS2,001601,2156.262,-15947.635,18,1.9,35,9.8
$SPEED_LIMITS,0.120,0.347
$TGT_NAME,BobNE
$TGT_LATLONG,2154.185,-15941.805
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.328,-0.112
$KALMAN_X,-189883.7,-259.0,-475.1,180906.8,-508.8
$KALMAN_Y,61226.2,-20.9,202.4,-61043.0,174.7
$MHEAD_RNG_PITCHd_Wd,99.1,10731,-15.6,-12.000
$D_GRID,90
$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,-1.60,-243.3,0.0,0.0,0,100,0.00,0.00,-80.85,0.000,2,0.000,0.000,123,2640,3294
$GC,103,-1.60,-243.3,3.0,-4.9,12,140,15.43,2.30,-10.43,0.000,4,0.173,0.071,2739,3880,3929
$GC,249,-1.60,-243.3,39.1,-20.1,28,252,0.00,2.10,0.00,0.000,6,0.000,0.028,2739,2616,3928
$GC,325,-1.60,-243.3,51.2,-15.9,35,329,0.00,2.33,0.00,0.000,4,0.000,0.031,2739,1244,3932
$GC,388,-1.60,-243.3,61.7,-16.8,40,393,0.00,2.40,0.00,0.000,6,0.000,0.035,2739,2633,3933
$GC,459,-1.60,-243.3,74.2,-18.5,46,460,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2633,3933
$GC,523,-1.60,-243.3,84.7,-16.6,52,524,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2633,3933
$STATE,562,end dive,TARGET_DEPTH_EXCEEDED
$STATE,562,begin apogee
$GC,567,-0.42,0.0,91.3,15.2,56,868,1.23,0.00,290.77,0.497,6,0.079,0.000,2999,2527,2936
$STATE,869,end apogee,CONTROL_FINISHED_OK
$STATE,869,begin climb
$GC,871,1.60,243.3,102.9,0.0,86,1173,1.95,2.55,289.48,0.486,4,0.047,0.063,3449,3892,1943
$GC,1425,1.68,304.5,64.5,10.0,133,1504,0.00,2.30,73.75,0.471,6,0.000,0.028,3449,2516,1694
$GC,1566,1.78,384.2,51.9,9.3,146,1672,0.00,0.00,98.05,0.465,6,0.000,0.000,3449,2515,1369
$GC,1735,1.84,438.6,34.8,10.2,162,1811,0.00,2.53,67.32,0.455,4,0.000,0.059,3449,3884,1146
$GC,1838,1.85,446.0,22.8,11.8,171,1858,0.00,2.33,10.30,0.403,6,0.000,0.028,3449,2523,1117
$GC,1925,1.91,494.8,13.7,10.4,184,1980,0.00,0.00,52.97,0.444,6,0.000,0.000,3449,2523,919
$STATE,2009,end climb,SURFACE_DEPTH_REACHED
$STATE,2009,begin surface coast
$FINISH,0.4,1.009783
$STATE,2043,end surface coast,CONTROL_FINISHED_OK
$STATE,2043,begin surface
$SM_CCo,2128,0.00,0.000,0,0,915,495.75
$SM_GC,1.15,14.40,0.00,0.00,0.032,0.000,0.000,124,2632,915,-13.58,0.11,495.75
$IRIDIUM_FIX,2148.09,-15945.13,011198,232329
$TT8_MAMPS,0.078234
$HUMID,1753
$INTERNAL_PRESSURE,11.5239
$TCM_TEMP,24.60
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,24.0,29.675
$10V_AH,10.0,11.091
$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,33.000,19.175,882.650,0.000,0.000,24.226,24.980,211.236,0.000,0.000,54.387,35.243,309.247,528.603,784.712,477.865,438.513,33.329,1193.677,0.000,428.124,0.000,0.000,0.000
$DEVICE_MAMPS,173.342,70.564,497.016,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,123.643,0.000,0.000,0.000,0.000,0.000,65.117,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,6475,203
$CAP_FILE_SIZE,86717,0
$CFSIZE,260034560,243744768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080809,005326,2156.672,-15948.285,31,1.8,31,9.8