version: 66.04
glider: 116
mission: 22
dive: 62
start: 8 3 109 9 31 8
data:
$ID,116
$MISSION,22
$DIVE,62
$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,-58732.387
$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,48
$R_STBD_OVSHOOT,27
$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
$GPS1,091454,2154.178,-15941.271,26,1.4,43,9.8
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-67.3
$GPS2,093014,2154.215,-15941.441,13,1.8,13,9.8
$SPEED_LIMITS,0.100,0.278
$TGT_NAME,BobNE
$TGT_LATLONG,2154.185,-15941.805
$TGT_RADIUS,400.000
$KALMAN_CONTROL,-0.118,0.013
$KALMAN_X,-85700.7,-543.4,-353.0,87495.7,941.9
$KALMAN_Y,18002.2,318.4,97.8,-21832.3,-224.6
$MHEAD_RNG_PITCHd_Wd,266.4,627,-37.9,-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,-3.20,-33.4,0.0,0.0,0,86,0.00,0.00,-64.80,0.000,6,0.000,0.000,123,2641,3073
$GC,88,-3.23,-59.9,2.4,-4.7,10,112,13.68,2.42,-2.08,0.000,4,0.181,0.044,2388,1233,3182
$GC,364,-3.23,-59.9,79.8,-22.3,39,369,0.00,2.40,0.00,0.000,6,0.000,0.033,2388,2629,3184
$GC,690,-3.23,-59.9,152.8,-20.9,69,694,0.00,2.38,0.00,0.000,4,0.000,0.033,2388,1235,3185
$GC,946,-3.23,-59.9,198.2,-14.2,91,954,0.00,2.42,0.00,0.000,6,0.000,0.035,2388,2626,3186
$GC,1271,-3.23,-59.9,251.4,-17.7,122,1276,0.00,2.40,0.00,0.000,4,0.000,0.035,2388,1230,3186
$GC,1529,-3.23,-59.9,296.9,-16.8,144,1537,0.00,2.45,0.00,0.000,6,0.000,0.039,2388,2634,3186
$GC,1854,-3.23,-59.9,347.6,-13.6,175,1858,0.00,2.42,0.00,0.000,4,0.000,0.038,2388,1235,3185
$GC,2111,-3.23,-59.9,385.5,-15.4,197,2118,0.00,2.45,0.00,0.000,6,0.000,0.042,2388,2629,3185
$GC,2436,-3.23,-59.9,433.3,-15.7,228,2440,0.00,2.45,0.00,0.000,4,0.000,0.044,2388,1233,3183
$GC,2693,-3.23,-59.9,470.3,-13.5,250,2701,0.00,2.47,0.00,0.000,6,0.000,0.047,2388,2627,3180
$GC,3018,-3.23,-59.9,514.9,-14.5,281,3022,0.00,2.45,0.00,0.000,4,0.000,0.048,2388,1243,3178
$GC,3279,-3.23,-59.9,553.3,-12.9,304,3283,0.00,2.47,0.00,0.000,6,0.000,0.051,2388,2626,3175
$GC,3603,-3.23,-59.9,594.3,-12.7,334,3604,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2626,3172
$GC,3922,-3.23,-59.9,633.5,-11.9,364,3926,0.00,2.45,0.00,0.000,4,0.000,0.092,2388,3888,3170
$GC,4084,-3.23,-59.9,654.0,-12.9,378,4088,0.00,2.17,0.00,0.000,6,0.000,0.041,2388,2650,3169
$STATE,4142,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4142,begin apogee
$GC,4147,-0.42,0.0,660.9,12.0,383,4234,3.15,0.00,76.18,0.914,6,0.122,0.000,3000,2520,2936
$STATE,4235,end apogee,CONTROL_FINISHED_OK
$STATE,4236,begin climb
$GC,4238,3.23,59.9,663.5,0.0,392,4326,2.03,0.00,81.55,0.887,6,0.050,0.000,3456,2520,2691
$GC,4643,3.25,75.7,639.9,6.8,431,4671,0.00,2.65,21.27,0.860,4,0.000,0.062,3456,1125,2627
$GC,4783,3.26,86.0,629.3,7.9,443,4804,0.00,2.58,14.93,0.836,6,0.000,0.054,3456,2529,2585
$GC,5121,3.27,96.2,602.1,8.0,475,5145,0.00,2.72,14.20,0.840,4,0.000,0.091,3456,3888,2543
$GC,5241,3.28,100.3,591.2,9.2,485,5253,0.00,2.42,6.97,0.737,6,0.000,0.041,3456,2518,2526
$GC,5573,3.29,109.3,564.2,8.2,516,5596,0.00,2.70,12.90,0.833,4,0.000,0.085,3456,3890,2490
$GC,5621,3.29,111.3,559.9,9.6,520,5625,0.00,2.42,0.00,0.000,6,0.000,0.041,3456,2519,2489
$GC,5945,3.29,112.8,530.3,9.7,550,5958,0.00,2.53,5.93,0.710,4,0.000,0.055,3456,1124,2476
$GC,6019,3.30,113.8,523.3,9.8,556,6027,0.00,2.55,0.00,0.000,6,0.000,0.049,3456,2534,2475
$GC,6344,3.30,119.5,493.6,8.9,587,6356,0.00,0.00,9.85,0.801,6,0.000,0.000,3456,2534,2448
$GC,6673,3.32,130.5,466.0,7.8,618,6698,0.00,2.67,15.23,0.837,4,0.000,0.082,3456,3890,2402
$GC,6778,3.32,136.6,457.2,8.8,627,6793,0.00,2.40,9.18,0.772,6,0.000,0.041,3456,2525,2379
$GC,7121,3.34,148.0,431.3,7.7,659,7145,0.00,2.67,16.30,0.819,4,0.000,0.079,3456,3897,2332
$GC,7213,3.34,149.6,422.6,9.7,667,7218,0.00,2.42,0.00,0.000,6,0.000,0.041,3456,2520,2331
$GC,7538,3.36,166.3,395.9,6.7,697,7568,0.00,2.55,24.40,0.817,4,0.000,0.053,3456,1128,2258
$GC,7636,3.37,172.4,388.2,8.8,705,7652,0.00,2.53,9.65,0.740,6,0.000,0.045,3456,2534,2233
$GC,7979,3.38,179.8,359.0,8.5,737,7992,0.00,0.00,10.60,0.749,6,0.000,0.000,3456,2534,2202
$GC,8309,3.39,190.1,333.0,8.0,768,8333,0.00,2.60,14.05,0.759,4,0.000,0.048,3456,1128,2161
$GC,8406,3.39,192.8,323.8,9.4,776,8417,0.00,2.53,5.80,0.631,6,0.000,0.044,3456,2536,2149
$GC,8743,3.39,192.8,286.3,11.7,808,8744,0.00,0.00,0.00,0.000,6,0.000,0.000,3456,2535,2148
$GC,9061,3.40,199.7,253.1,8.6,838,9073,0.00,0.00,9.93,0.690,6,0.000,0.000,3457,2536,2121
$GC,9390,3.41,204.2,223.9,9.1,869,9403,0.00,2.55,7.05,0.630,4,0.000,0.072,3456,3889,2103
$GC,9462,3.41,204.2,216.6,10.8,875,9466,0.00,2.38,0.00,0.000,6,0.000,0.037,3456,2517,2102
$GC,9786,3.41,209.6,187.2,8.9,905,9800,0.00,2.65,8.43,0.630,4,0.000,0.068,3456,3891,2081
$GC,9815,3.41,209.6,183.8,11.1,907,9823,0.00,2.40,0.00,0.000,6,0.000,0.036,3456,2528,2081
$GC,10141,3.42,213.2,156.5,9.3,938,10152,0.00,0.00,6.50,0.571,6,0.000,0.000,3456,2528,2066
$GC,10470,3.42,213.2,123.6,12.0,969,10474,0.00,2.45,0.00,0.000,4,0.000,0.041,3456,1123,2066
$GC,10535,3.42,213.2,115.8,11.3,974,10543,0.00,2.50,0.00,0.000,6,0.000,0.038,3456,2533,2066
$GC,10861,3.42,214.5,84.8,9.7,1005,10865,0.00,2.50,0.00,0.000,4,0.000,0.065,3456,3895,2066
$GC,11027,3.42,214.5,67.2,10.3,1019,11036,0.00,2.35,0.00,0.000,6,0.000,0.031,3456,2526,2066
$GC,11353,3.45,238.7,40.5,5.2,1050,11393,0.00,0.00,32.90,0.571,6,0.000,0.000,3456,2526,1963
$GC,11584,3.47,259.3,29.9,5.9,1072,11620,0.00,2.47,26.25,0.546,4,0.000,0.037,3456,1138,1878
$GC,11737,3.49,274.1,20.4,7.0,1085,11764,0.00,2.42,18.67,0.525,6,0.000,0.034,3456,2534,1818
$GC,11832,3.50,276.9,12.0,9.4,1100,11840,0.00,0.00,4.30,0.377,6,0.000,0.000,3456,2533,1807
$GC,11909,3.52,299.4,6.5,5.5,1113,11945,0.00,2.55,24.27,0.513,4,0.000,0.061,3455,3888,1715
$STATE,11950,end climb,SURFACE_DEPTH_REACHED
$STATE,11950,begin surface coast
$FINISH,0.8,1.022877
$STATE,11968,end surface coast,CONTROL_FINISHED_OK
$STATE,11968,begin surface
$SM_CCo,11995,47.55,0.506,0,0,1304,400.08
$SM_GC,0.75,0.00,0.00,47.55,0.000,0.000,0.506,123,2609,1304,-13.67,-0.51,400.08
$IRIDIUM_FIX,2145.77,-15938.60,281098,090928
$TT8_MAMPS,0.057525
$HUMID,1849
$INTERNAL_PRESSURE,11.3872
$TCM_TEMP,23.90
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.6,19.393
$10V_AH,9.8,6.432
$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,33.725,104.425,487.275,47.550,0.000,50.168,55.868,597.012,0.000,0.000,266.387,13.115,2237.579,6557.862,634.101,2106.829,1413.411,33.380,1732.906,0.000,2041.955,0.000,0.000,0.000
$DEVICE_MAMPS,181.012,92.040,914.264,506.220,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,754.626,0.000,0.000,0.000,0.000,0.000,195.237,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,34621,1122
$CAP_FILE_SIZE,413985,0
$CFSIZE,260034560,250089472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030809,125307,2154.073,-15942.969,41,1.3,41,9.8