version: 66.04
glider: 116
mission: 22
dive: 68
start: 8 3 109 21 28 57
data:
$ID,116
$MISSION,22
$DIVE,68
$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,90
$T_MISSION,120
$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,225
$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,-58894.121
$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,52
$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
$GPS1,211907,2154.584,-15943.179,13,2.0,31,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-67.0
$GPS2,212806,2154.623,-15943.309,39,1.0,44,9.8
$SPEED_LIMITS,0.100,0.310
$TGT_NAME,BobNE
$TGT_LATLONG,2154.185,-15941.805
$TGT_RADIUS,400.000
$KALMAN_CONTROL,0.295,-0.096
$KALMAN_X,-95346.3,-118.8,-123.2,93288.6,-1203.0
$KALMAN_Y,20878.9,-173.8,158.6,-23527.0,393.9
$MHEAD_RNG_PITCHd_Wd,98.1,2709,-13.9,-10.000
$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,-1.43,-219.0,0.0,0.0,0,94,0.00,0.00,-74.60,0.000,2,0.000,0.000,123,2634,3355
$GC,97,-1.43,-219.0,3.4,-7.3,11,126,15.82,2.28,-7.32,0.000,4,0.178,0.071,2780,3884,3833
$GC,196,-1.43,-219.0,30.8,-18.6,22,200,0.00,2.10,0.00,0.000,6,0.000,0.028,2780,2618,3834
$GC,271,-1.43,-219.0,42.9,-15.8,29,272,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2618,3835
$GC,336,-1.43,-219.0,53.9,-17.1,35,337,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2617,3835
$GC,400,-1.43,-219.0,64.4,-16.3,41,401,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2617,3835
$GC,464,-1.43,-219.0,73.8,-14.8,47,468,0.00,2.33,0.00,0.000,4,0.000,0.061,2780,3893,3835
$GC,503,-1.43,-219.0,80.5,-16.9,50,507,0.00,2.10,0.00,0.000,6,0.000,0.028,2781,2619,3836
$GC,579,-1.43,-219.0,91.8,-14.2,57,580,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2616,3836
$GC,643,-1.43,-219.0,100.6,-13.2,63,644,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2616,3837
$GC,708,-1.43,-219.0,108.0,-11.6,69,712,0.00,2.33,0.00,0.000,4,0.000,0.064,2781,3887,3837
$GC,739,-1.43,-219.0,112.9,-13.8,71,748,0.00,2.10,0.00,0.000,6,0.000,0.027,2781,2629,3838
$GC,810,-1.43,-219.0,121.3,-11.8,78,811,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2628,3837
$GC,876,-1.43,-219.0,128.3,-11.0,84,880,0.00,2.35,0.00,0.000,4,0.000,0.033,2780,1241,3838
$GC,941,-1.43,-219.0,135.8,-11.3,89,949,0.00,2.42,0.00,0.000,6,0.000,0.035,2780,2628,3838
$GC,1011,-1.43,-219.0,143.7,-11.6,96,1012,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2627,3838
$GC,1076,-1.43,-219.0,151.6,-12.8,102,1077,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2627,3838
$GC,1140,-1.43,-219.0,159.9,-13.0,108,1141,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2627,3838
$GC,1204,-1.43,-219.0,168.2,-13.3,114,1205,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2627,3838
$GC,1267,-1.43,-219.0,176.8,-13.5,120,1268,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2627,3838
$GC,1331,-1.43,-219.0,185.4,-13.5,126,1332,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2627,3837
$GC,1396,-1.43,-219.0,193.2,-11.8,132,1397,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2627,3837
$GC,1460,-1.43,-219.0,199.6,-10.0,138,1461,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2627,3838
$GC,1523,-1.43,-219.0,205.2,-8.7,144,1524,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2627,3837
$GC,1587,-1.43,-219.0,210.7,-8.7,150,1588,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2627,3837
$GC,1650,-1.43,-219.0,216.2,-8.6,156,1651,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2627,3837
$GC,1713,-1.43,-219.0,221.7,-8.7,162,1717,0.00,2.33,0.00,0.000,4,0.000,0.071,2780,3888,3837
$GC,1769,-1.43,-219.0,227.2,-9.5,166,1776,0.00,2.10,0.00,0.000,6,0.000,0.030,2780,2627,3838
$GC,1839,-1.43,-219.0,233.4,-9.2,173,1840,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2627,3837
$GC,1903,-1.43,-219.0,239.6,-9.7,179,1904,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2627,3837
$GC,1967,-1.43,-219.0,245.9,-9.9,185,1968,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2628,3837
$GC,2030,-1.43,-219.0,252.5,-10.3,191,2031,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2627,3838
$GC,2095,-1.43,-219.0,259.0,-10.2,197,2097,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2628,3837
$GC,2159,-1.43,-219.0,265.9,-11.2,203,2160,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2627,3837
$STATE,2197,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2197,begin apogee
$GC,2202,-0.42,0.0,270.7,11.3,207,2483,1.00,0.00,271.33,0.631,6,0.072,0.000,2999,2534,2936
$STATE,2484,end apogee,CONTROL_FINISHED_OK
$STATE,2484,begin climb
$GC,2486,1.43,219.0,286.3,0.0,235,2771,1.83,2.53,270.45,0.621,4,0.048,0.045,3409,1133,2043
$GC,2945,1.45,239.1,255.3,9.4,274,2977,0.00,2.47,25.85,0.593,6,0.000,0.039,3409,2533,1961
$GC,3039,1.45,239.1,245.8,10.7,283,3040,0.00,0.00,0.00,0.000,6,0.000,0.000,3409,2533,1960
$GC,3103,1.45,239.1,239.3,10.2,289,3104,0.00,0.00,0.00,0.000,6,0.000,0.000,3409,2533,1959
$GC,3167,1.45,239.1,232.7,10.3,295,3168,0.00,0.00,0.00,0.000,6,0.000,0.000,3409,2533,1958
$GC,3231,1.46,247.4,226.6,9.7,301,3244,0.00,0.00,10.95,0.558,6,0.000,0.000,3409,2533,1927
$GC,3303,1.46,247.8,219.3,10.0,308,3304,0.00,0.00,0.00,0.000,6,0.000,0.000,3409,2533,1926
$GC,3368,1.46,249.3,213.0,10.0,314,3372,0.00,2.53,0.00,0.000,4,0.000,0.070,3408,3888,1925
$GC,3441,1.46,249.6,205.5,10.0,320,3445,0.00,2.33,0.00,0.000,6,0.000,0.034,3409,2530,1924
$GC,3511,1.50,281.7,199.1,9.0,326,3561,0.00,0.00,43.62,0.613,6,0.000,0.000,3409,2529,1787
$GC,3624,1.50,281.7,187.9,10.3,337,3625,0.00,0.00,0.00,0.000,6,0.000,0.000,3409,2529,1784
$GC,3689,1.52,293.6,181.8,9.6,343,3709,0.00,0.00,16.08,0.581,6,0.000,0.000,3408,2529,1738
$GC,3772,1.53,304.5,173.5,9.7,351,3793,0.00,0.00,15.18,0.583,6,0.000,0.000,3409,2529,1694
$GC,3856,1.57,332.9,165.5,9.1,359,3900,0.12,2.58,37.20,0.597,4,0.052,0.065,3447,3890,1578
$GC,3936,1.57,332.9,155.8,13.4,366,3940,0.00,2.35,0.00,0.000,6,0.000,0.033,3448,2525,1577
$GC,4006,1.57,332.9,147.2,12.2,372,4010,0.00,2.45,0.00,0.000,4,0.000,0.041,3448,1125,1575
$GC,4049,1.57,332.9,141.5,13.2,375,4057,0.00,2.50,0.00,0.000,6,0.000,0.038,3447,2528,1575
$GC,4121,1.57,332.9,133.0,12.6,382,4122,0.00,0.00,0.00,0.000,6,0.000,0.000,3448,2528,1574
$GC,4184,1.57,332.9,124.6,13.0,388,4188,0.00,2.50,0.00,0.000,4,0.000,0.065,3448,3887,1574
$GC,4223,1.57,332.9,119.0,14.1,391,4228,0.00,2.33,0.00,0.000,6,0.000,0.032,3448,2520,1573
$GC,4294,1.57,332.9,109.0,14.5,397,4298,0.00,2.40,0.00,0.000,4,0.000,0.039,3448,1138,1573
$GC,4337,1.57,332.9,102.8,13.6,400,4345,0.00,2.45,0.00,0.000,6,0.000,0.036,3448,2526,1573
$GC,4409,1.57,332.9,93.6,13.3,407,4410,0.00,0.00,0.00,0.000,6,0.000,0.000,3448,2526,1572
$GC,4472,1.57,332.9,84.8,13.8,413,4473,0.00,0.00,0.00,0.000,6,0.000,0.000,3448,2526,1572
$GC,4536,1.57,332.9,76.6,13.0,419,4540,0.00,2.50,0.00,0.000,4,0.000,0.064,3448,3891,1572
$GC,4567,1.57,332.9,72.2,12.6,421,4575,0.00,2.35,0.00,0.000,6,0.000,0.031,3448,2521,1572
$GC,4638,1.60,362.3,65.6,9.1,428,4682,0.00,0.00,36.42,0.559,6,0.000,0.000,3447,2521,1457
$GC,4745,1.60,362.3,54.1,11.0,438,4746,0.00,0.00,0.00,0.000,6,0.000,0.000,3448,2521,1456
$GC,4809,1.60,362.3,47.5,10.5,444,4810,0.00,0.00,0.00,0.000,6,0.000,0.000,3448,2521,1455
$GC,4873,1.60,362.3,40.9,10.2,450,4875,0.00,0.00,0.00,0.000,6,0.000,0.000,3448,2521,1455
$GC,4937,1.60,362.3,33.8,11.3,456,4938,0.00,0.00,0.00,0.000,6,0.000,0.000,3448,2521,1454
$GC,5001,1.60,362.3,26.8,10.6,462,5002,0.00,0.00,0.00,0.000,6,0.000,0.000,3448,2521,1454
$GC,5065,1.61,367.1,20.3,9.9,468,5078,0.00,2.50,6.55,0.446,4,0.000,0.058,3447,3888,1439
$GC,5117,1.61,367.1,14.6,11.2,476,5124,0.00,2.28,0.00,0.000,6,0.000,0.028,3448,2529,1439
$GC,5194,1.61,367.1,6.7,10.7,489,5201,0.00,0.00,0.00,0.000,6,0.000,0.000,3448,2526,1439
$STATE,5222,end climb,SURFACE_DEPTH_REACHED
$STATE,5222,begin surface coast
$FINISH,-0.0,1.022875
$STATE,5269,end surface coast,CONTROL_FINISHED_OK
$STATE,5270,begin surface
$SM_CCo,5293,16.00,0.484,0,0,1304,400.08
$SM_GC,1.02,0.00,0.00,16.00,0.000,0.000,0.484,123,2649,1304,-13.67,0.59,400.08
$IRIDIUM_FIX,2148.09,-15942.95,281098,191929
$TT8_MAMPS,0.056758
$HUMID,1908
$INTERNAL_PRESSURE,11.4653
$TCM_TEMP,23.90
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.8,20.349
$10V_AH,10.1,6.799
$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,33.250,61.775,733.625,16.000,0.000,24.979,38.190,310.206,0.000,0.000,38.437,44.472,1028.173,2334.153,768.099,958.609,760.670,33.342,1425.340,0.000,893.878,0.000,0.000,0.000
$DEVICE_MAMPS,177.944,71.331,631.241,483.977,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,326.863,0.000,0.000,0.000,0.000,0.000,74.880,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,15894,502
$CAP_FILE_SIZE,215968,0
$CFSIZE,260034560,249659392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030809,225814,2154.519,-15943.140,12,1.2,13,9.8