version: 66.04
glider: 116
mission: 22
dive: 61
start: 8 3 109 5 53 14
data:
$ID,116
$MISSION,22
$DIVE,61
$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,175
$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,400
$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,-58718.641
$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,53
$R_STBD_OVSHOOT,26
$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
$GPS1,054555,2154.269,-15942.198,41,1.3,42,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-63.3
$GPS2,055220,2154.320,-15942.336,12,1.3,12,9.8
$SPEED_LIMITS,0.100,0.278
$TGT_NAME,BobNE
$TGT_LATLONG,2154.185,-15941.805
$TGT_RADIUS,400.000
$KALMAN_CONTROL,0.137,-0.037
$KALMAN_X,-84708.3,-1362.5,-256.1,85696.0,-902.7
$KALMAN_Y,17415.7,601.9,110.6,-21345.8,234.2
$MHEAD_RNG_PITCHd_Wd,95.2,946,-32.7,-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,16,-2.78,-44.1,0.0,0.0,0,86,0.00,0.00,-66.38,0.000,6,0.000,0.000,124,2644,3116
$GC,89,-2.82,-73.2,2.7,-5.6,10,112,14.02,2.42,-2.20,0.000,4,0.178,0.045,2478,1238,3238
$GC,177,-2.82,-73.2,30.3,-27.4,22,185,0.00,2.42,0.00,0.000,6,0.000,0.033,2478,2625,3239
$GC,375,-2.82,-73.2,80.6,-21.7,41,376,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2625,3239
$GC,695,-2.82,-73.2,141.6,-18.2,71,699,0.00,2.35,0.00,0.000,4,0.000,0.031,2478,1240,3241
$GC,817,-2.82,-73.2,162.3,-15.7,81,825,0.00,2.40,0.00,0.000,6,0.000,0.034,2478,2635,3242
$GC,1142,-2.82,-73.2,214.7,-15.1,112,1143,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2636,3244
$GC,1460,-2.82,-73.2,261.3,-14.4,142,1462,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2636,3243
$GC,1779,-2.82,-73.2,303.8,-13.7,172,1783,0.00,2.42,0.00,0.000,4,0.000,0.038,2478,1233,3243
$GC,1856,-2.82,-73.2,314.8,-14.4,178,1864,0.00,2.47,0.00,0.000,6,0.000,0.041,2478,2628,3243
$GC,2182,-2.82,-73.2,358.2,-13.1,209,2183,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2628,3241
$GC,2500,-2.82,-73.2,398.3,-12.1,239,2501,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2629,3239
$GC,2819,-2.82,-73.2,440.1,-13.5,269,2823,0.00,2.45,0.00,0.000,4,0.000,0.047,2478,1241,3237
$GC,2893,-2.82,-73.2,449.3,-12.8,275,2897,0.00,2.47,0.00,0.000,6,0.000,0.047,2478,2635,3236
$GC,3217,-2.82,-73.2,495.4,-14.2,305,3218,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2636,3233
$GC,3536,-2.82,-73.2,542.9,-15.2,335,3537,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2636,3230
$GC,3854,-2.82,-73.2,587.9,-12.7,365,3858,0.00,2.40,0.00,0.000,4,0.000,0.089,2478,3888,3227
$GC,3984,-2.82,-73.2,606.0,-14.4,376,3989,0.00,2.17,0.00,0.000,6,0.000,0.041,2478,2644,3226
$GC,4309,-2.82,-73.2,650.4,-13.6,406,4313,0.00,2.60,0.00,0.000,4,0.000,0.066,2478,1221,3224
$STATE,4380,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4380,begin apogee
$GC,4387,-0.42,0.0,660.6,14.2,412,4486,2.62,0.00,93.20,0.929,6,0.113,0.000,3000,2529,2936
$STATE,4487,end apogee,CONTROL_FINISHED_OK
$STATE,4487,begin climb
$GC,4489,2.82,73.2,666.1,0.0,422,4598,2.05,0.00,99.50,0.894,6,0.051,0.000,3454,2529,2637
$GC,4917,2.83,78.7,639.4,9.2,463,4930,0.00,2.60,7.55,0.752,4,0.000,0.060,3454,1130,2615
$GC,5010,2.83,83.5,630.1,9.3,471,5023,0.00,2.58,7.97,0.762,6,0.000,0.054,3454,2540,2595
$GC,5339,2.85,100.7,602.1,7.4,502,5370,0.00,0.00,23.33,0.875,6,0.000,0.000,3454,2540,2525
$GC,5689,2.86,108.0,573.3,8.9,535,5701,0.00,0.00,10.52,0.812,6,0.000,0.000,3454,2540,2496
$GC,6016,2.87,118.4,545.1,8.4,566,6040,0.00,2.67,14.73,0.844,4,0.000,0.087,3454,3887,2453
$GC,6085,2.87,118.4,538.5,10.8,572,6090,0.00,2.40,0.00,0.000,6,0.000,0.041,3454,2525,2452
$GC,6410,2.90,138.6,512.8,6.9,602,6446,0.00,2.60,26.45,0.868,4,0.000,0.054,3454,1132,2371
$GC,6507,2.92,155.2,505.4,7.5,610,6539,0.00,2.55,23.23,0.847,6,0.000,0.048,3454,2541,2303
$GC,6857,2.93,166.5,476.1,8.3,643,6877,0.00,0.00,15.43,0.820,6,0.000,0.000,3454,2540,2257
$GC,7194,2.93,166.5,443.3,10.4,675,7198,0.00,2.58,0.00,0.000,4,0.000,0.082,3454,3888,2254
$GC,7245,2.93,166.5,437.9,11.2,679,7250,0.00,2.40,0.00,0.000,6,0.000,0.041,3454,2519,2254
$GC,7570,2.93,166.5,404.6,10.3,709,7571,0.00,0.00,0.00,0.000,6,0.000,0.000,3454,2517,2253
$GC,7888,2.93,166.5,371.1,10.4,739,7893,0.00,2.60,0.00,0.000,4,0.000,0.076,3454,3888,2252
$GC,7917,2.93,166.5,368.0,11.5,741,7921,0.00,2.38,0.00,0.000,6,0.000,0.041,3454,2529,2251
$GC,8241,2.95,180.0,337.9,7.9,771,8263,0.00,0.00,17.33,0.786,6,0.000,0.000,3454,2528,2202
$GC,8581,2.96,187.5,310.5,8.9,803,8597,0.00,2.62,10.68,0.739,4,0.000,0.074,3454,3895,2171
$GC,8738,2.96,187.5,294.0,10.9,817,8742,0.00,2.40,0.00,0.000,6,0.000,0.039,3454,2519,2170
$GC,9063,2.96,187.5,260.7,11.1,847,9066,0.00,2.58,0.00,0.000,4,0.000,0.072,3454,3892,2170
$GC,9156,2.96,187.5,250.2,10.5,855,9164,0.00,2.40,0.00,0.000,6,0.000,0.038,3454,2527,2169
$GC,9482,2.96,189.1,218.9,9.8,886,9487,0.00,2.47,0.00,0.000,4,0.000,0.046,3454,1127,2169
$GC,9538,2.97,196.0,213.4,9.0,890,9558,0.00,2.50,11.98,0.693,6,0.000,0.041,3454,2545,2137
$GC,9875,2.98,205.8,184.1,8.5,922,9899,0.00,2.60,13.55,0.675,4,0.000,0.042,3454,1124,2097
$GC,9982,2.99,208.7,174.4,9.6,931,9994,0.00,2.50,5.43,0.551,6,0.000,0.039,3454,2538,2085
$GC,10320,3.00,220.0,143.5,8.3,963,10345,0.00,2.55,15.82,0.647,4,0.000,0.067,3454,3890,2039
$GC,10417,3.02,234.7,135.5,7.8,971,10441,0.00,2.38,19.73,0.639,6,0.000,0.034,3454,2525,1979
$GC,10761,3.02,234.7,107.1,11.4,1003,10763,0.00,0.00,0.00,0.000,6,0.000,0.000,3454,2525,1977
$GC,11079,3.02,238.8,72.5,9.4,1033,11090,0.00,0.00,6.68,0.512,6,0.000,0.000,3454,2525,1962
$GC,11409,3.04,253.0,43.5,7.8,1064,11434,0.00,2.45,18.85,0.561,4,0.000,0.038,3454,1126,1904
$GC,11562,3.06,266.4,31.4,8.0,1077,11586,0.00,2.45,18.00,0.538,6,0.000,0.033,3454,2540,1849
$GC,11781,3.08,283.0,16.4,7.5,1101,11808,0.00,0.00,20.25,0.521,6,0.000,0.000,3454,2540,1782
$GC,11876,3.09,291.0,7.8,8.8,1117,11892,0.00,2.47,9.90,0.478,4,0.000,0.061,3454,3890,1749
$GC,11920,3.10,303.9,4.3,8.0,1124,11929,0.00,2.33,4.25,0.367,2,0.000,0.030,3454,2515,1738
$STATE,11930,end climb,SURFACE_DEPTH_REACHED
$STATE,11930,begin surface coast
$FINISH,3.2,1.022887
$STATE,11935,end surface coast,CONTROL_FINISHED_OK
$STATE,11935,begin surface
$SM_CCo,11961,61.00,0.514,0,0,1304,400.08
$SM_GC,0.81,0.00,0.00,61.00,0.000,0.000,0.514,123,2641,1304,-13.67,0.37,400.08
$IRIDIUM_FIX,2145.77,-15943.76,281098,040415
$TT8_MAMPS,0.059059
$HUMID,1854
$INTERNAL_PRESSURE,11.4067
$TCM_TEMP,24.00
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.6,19.165
$10V_AH,9.7,6.305
$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,33.825,89.325,494.325,61.000,0.000,23.039,24.244,218.558,0.000,0.000,296.776,12.121,2201.473,6738.331,634.370,1905.738,934.523,33.352,1646.852,0.000,1866.826,0.000,0.000,0.000
$DEVICE_MAMPS,177.944,88.972,928.837,513.890,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,757.729,0.000,0.000,0.000,0.000,0.000,197.680,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,34673,1126
$CAP_FILE_SIZE,396758,0
$CFSIZE,260034560,250290176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030809,091454,2154.178,-15941.271,26,1.4,43,9.8