version: 66.04
glider: 116
mission: 22
dive: 69
start: 8 3 109 23 10 54
data:
$ID,116
$MISSION,22
$DIVE,69
$D_SURF,4
$D_FLARE,3
$D_TGT,450
$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,150
$T_MISSION,175
$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,-58906.152
$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,49
$R_STBD_OVSHOOT,37
$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
$GPS1,225814,2154.519,-15943.140,12,1.2,13,9.8
$_CALLS,2
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-66.1
$GPS2,231002,2154.623,-15943.319,11,1.3,11,9.8
$SPEED_LIMITS,0.100,0.310
$TGT_NAME,BobNE
$TGT_LATLONG,2154.185,-15941.805
$TGT_RADIUS,400.000
$KALMAN_CONTROL,0.292,-0.105
$KALMAN_X,-96679.6,-647.9,141.4,94866.9,-2101.5
$KALMAN_Y,21333.7,55.7,-10.9,-24038.4,776.4
$MHEAD_RNG_PITCHd_Wd,99.9,2725,-13.9,-10.000
$D_GRID,450
$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,-74.70,0.000,2,0.000,0.000,123,2650,3452
$GC,96,-1.43,-219.0,4.2,-10.6,11,125,16.10,0.00,-5.57,0.000,6,0.184,0.000,2780,2650,3830
$GC,194,-1.43,-219.0,32.4,-18.0,22,198,0.00,2.20,0.00,0.000,4,0.000,0.059,2780,3872,3832
$GC,228,-1.43,-219.0,38.2,-17.3,25,232,0.00,2.08,0.00,0.000,6,0.000,0.028,2780,2624,3833
$GC,303,-1.43,-219.0,51.3,-17.4,32,305,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2624,3833
$GC,368,-1.43,-219.0,60.5,-13.4,38,369,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2624,3833
$GC,432,-1.43,-219.0,70.1,-15.7,44,433,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2624,3834
$GC,496,-1.43,-219.0,78.2,-12.0,50,500,0.00,2.28,0.00,0.000,4,0.000,0.061,2780,3871,3835
$GC,547,-1.43,-219.0,85.0,-13.8,54,551,0.00,2.08,0.00,0.000,6,0.000,0.028,2780,2616,3835
$GC,622,-1.43,-219.0,94.7,-12.6,61,623,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2616,3836
$GC,687,-1.43,-219.0,103.1,-13.1,67,688,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2616,3835
$GC,751,-1.43,-219.0,111.8,-13.6,73,755,0.00,2.33,0.00,0.000,4,0.000,0.031,2780,1239,3836
$GC,815,-1.43,-219.0,119.9,-12.7,78,819,0.00,2.38,0.00,0.000,6,0.000,0.035,2780,2621,3837
$GC,886,-1.43,-219.0,128.9,-13.0,84,887,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2621,3837
$GC,951,-1.43,-219.0,136.8,-12.4,90,952,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2621,3837
$GC,1014,-1.43,-219.0,144.1,-11.8,96,1015,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2621,3838
$GC,1077,-1.43,-219.0,150.6,-10.3,102,1081,0.00,2.33,0.00,0.000,4,0.000,0.067,2780,3889,3838
$GC,1150,-1.43,-219.0,158.9,-11.7,108,1153,0.00,2.10,0.00,0.000,6,0.000,0.028,2780,2616,3838
$GC,1225,-1.43,-219.0,166.8,-10.3,115,1226,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2614,3838
$GC,1289,-1.43,-219.0,173.2,-10.2,121,1293,0.00,2.35,0.00,0.000,4,0.000,0.035,2780,1233,3838
$GC,1342,-1.43,-219.0,177.4,-7.4,125,1346,0.00,2.42,0.00,0.000,6,0.000,0.036,2780,2637,3837
$GC,1413,-1.43,-219.0,182.1,-7.0,131,1417,0.00,2.30,0.00,0.000,4,0.000,0.067,2780,3893,3837
$GC,1456,-1.43,-219.0,185.8,-8.4,134,1464,0.00,2.10,0.00,0.000,6,0.000,0.028,2780,2625,3838
$GC,1528,-1.43,-219.0,191.7,-8.7,141,1529,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2624,3838
$GC,1591,-1.43,-219.0,197.7,-9.7,147,1593,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2625,3837
$GC,1655,-1.43,-219.0,203.9,-9.9,153,1657,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2625,3837
$GC,1719,-1.43,-219.0,210.2,-9.7,159,1720,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2625,3837
$GC,1783,-1.43,-219.0,216.4,-9.8,165,1784,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2625,3837
$GC,1847,-1.43,-219.0,222.7,-9.8,171,1848,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2624,3837
$GC,1911,-1.43,-219.0,228.9,-9.8,177,1913,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2624,3837
$GC,1975,-1.43,-219.0,235.2,-9.8,183,1976,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2624,3836
$GC,2038,-1.43,-219.0,241.1,-9.4,189,2039,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2625,3836
$GC,2101,-1.43,-219.0,247.2,-9.5,195,2102,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2625,3836
$GC,2164,-1.43,-219.0,252.9,-9.1,201,2166,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2624,3836
$GC,2228,-1.43,-219.0,258.7,-9.1,207,2229,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2625,3835
$GC,2291,-1.43,-219.0,264.7,-9.5,213,2292,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2625,3836
$GC,2354,-1.43,-219.0,270.6,-9.2,219,2358,0.00,2.35,0.00,0.000,4,0.000,0.071,2780,3888,3835
$GC,2405,-1.43,-219.0,275.8,-10.0,223,2409,0.00,2.12,0.00,0.000,6,0.000,0.033,2781,2627,3835
$GC,2481,-1.43,-219.0,283.2,-9.6,230,2482,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2627,3835
$GC,2545,-1.43,-219.0,289.3,-9.9,236,2546,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2627,3834
$GC,2609,-1.43,-219.0,296.0,-10.4,242,2610,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2628,3833
$GC,2674,-1.43,-219.0,302.5,-10.2,248,2675,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2627,3832
$GC,2863,-1.43,-219.0,322.5,-10.6,266,2864,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2627,3831
$GC,3054,-1.43,-219.0,343.3,-10.6,284,3055,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2627,3830
$GC,3245,-1.43,-219.0,363.9,-10.9,302,3246,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2627,3828
$GC,3436,-1.43,-219.0,384.2,-10.7,320,3437,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2627,3827
$GC,3628,-1.43,-219.0,404.1,-9.9,338,3632,0.00,2.38,0.00,0.000,4,0.000,0.077,2780,3885,3826
$GC,3689,-1.43,-219.0,410.8,-11.0,343,3696,0.00,2.15,0.00,0.000,6,0.000,0.036,2780,2629,3826
$GC,3887,-1.43,-219.0,430.5,-10.6,362,3888,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2629,3824
$STATE,4065,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4065,begin apogee
$GC,4070,-0.42,0.0,450.6,11.7,379,4353,1.05,0.00,275.42,0.777,6,0.073,0.000,3008,2525,2936
$STATE,4354,end apogee,CONTROL_FINISHED_OK
$STATE,4354,begin climb
$GC,4356,1.43,219.0,468.6,0.0,407,4654,1.77,2.58,281.02,0.741,4,0.047,0.051,3405,1137,2043
$GC,4745,1.43,219.0,440.3,11.4,440,4749,0.00,2.50,0.00,0.000,6,0.000,0.044,3405,2529,2040
$GC,4942,1.43,219.0,418.6,11.0,458,4943,0.00,0.00,0.00,0.000,6,0.000,0.000,3405,2530,2039
$GC,5133,1.43,219.0,398.7,10.1,476,5135,0.00,0.00,0.00,0.000,6,0.000,0.000,3405,2529,2037
$GC,5325,1.51,283.9,382.2,8.0,494,5415,0.00,0.00,82.25,0.743,6,0.000,0.000,3405,2529,1778
$GC,5606,1.51,283.9,355.5,10.4,521,5610,0.00,2.58,0.00,0.000,4,0.000,0.077,3405,3889,1774
$GC,5645,1.51,283.9,351.0,11.8,524,5649,0.00,2.38,0.00,0.000,6,0.000,0.038,3405,2525,1773
$GC,5842,1.51,283.9,327.2,12.3,542,5843,0.00,0.00,0.00,0.000,6,0.000,0.000,3405,2525,1771
$GC,6033,1.51,283.9,305.5,11.1,560,6037,0.00,2.47,0.00,0.000,4,0.000,0.048,3405,1134,1770
$GC,6060,1.51,283.9,302.3,11.3,562,6068,0.00,2.53,0.00,0.000,6,0.000,0.042,3405,2533,1770
$GC,6258,1.51,283.9,281.8,11.8,581,6262,0.00,2.55,0.00,0.000,4,0.000,0.074,3405,3892,1769
$GC,6309,1.51,283.9,275.6,11.9,585,6314,0.00,2.38,0.00,0.000,6,0.000,0.037,3405,2518,1769
$GC,6380,1.51,287.4,268.4,9.9,591,6381,0.00,0.00,0.00,0.000,6,0.000,0.000,3405,2517,1768
$GC,6444,1.52,297.9,262.3,9.7,597,6464,0.00,0.00,16.98,0.697,6,0.000,0.000,3405,2517,1721
$GC,6527,1.57,332.3,255.1,8.9,605,6578,0.15,0.00,46.10,0.706,6,0.048,0.000,3449,2517,1581
$GC,6640,1.57,332.3,240.5,13.6,616,6641,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2517,1579
$GC,6705,1.57,332.3,232.3,12.9,622,6706,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2517,1578
$GC,6769,1.57,332.3,224.6,12.2,628,6770,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2517,1577
$GC,6833,1.57,332.3,216.7,12.2,634,6834,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2517,1576
$GC,6896,1.57,332.3,209.2,12.1,640,6897,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2517,1576
$GC,6960,1.57,332.3,201.0,13.2,646,6961,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2517,1576
$GC,7025,1.57,332.3,192.3,14.0,652,7026,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2517,1576
$GC,7088,1.57,332.3,183.6,13.8,658,7089,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2517,1575
$GC,7151,1.57,332.3,175.1,13.8,664,7152,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2517,1575
$GC,7214,1.57,332.3,166.4,13.9,670,7215,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2517,1575
$GC,7278,1.57,332.3,158.3,12.5,676,7279,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2517,1575
$GC,7340,1.57,332.3,150.7,11.5,682,7342,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2517,1574
$GC,7404,1.57,332.3,143.3,11.7,688,7409,0.00,2.55,0.00,0.000,4,0.000,0.066,3449,3890,1574
$GC,7466,1.57,332.3,135.5,13.0,693,7471,0.00,2.35,0.00,0.000,6,0.000,0.034,3449,2517,1574
$GC,7537,1.57,332.3,127.6,11.5,699,7538,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2514,1574
$GC,7601,1.57,332.3,120.1,11.9,705,7605,0.00,2.40,0.00,0.000,4,0.000,0.041,3449,1136,1574
$GC,7644,1.57,332.3,114.9,11.8,708,7652,0.00,2.47,0.00,0.000,6,0.000,0.038,3449,2533,1573
$GC,7714,1.57,332.3,106.5,12.5,715,7715,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2532,1573
$GC,7779,1.57,332.3,98.6,13.0,721,7780,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2532,1573
$GC,7843,1.57,332.3,91.3,10.7,727,7844,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2533,1573
$GC,7907,1.57,332.3,84.6,10.3,733,7911,0.00,2.45,0.00,0.000,4,0.000,0.038,3449,1129,1573
$GC,8003,1.57,332.3,73.8,10.8,741,8007,0.00,2.45,0.00,0.000,6,0.000,0.036,3449,2535,1573
$GC,8073,1.57,332.3,65.9,10.8,747,8077,0.00,2.47,0.00,0.000,4,0.000,0.064,3449,3890,1573
$GC,8203,1.57,332.3,51.5,11.2,758,8207,0.00,2.30,0.00,0.000,6,0.000,0.031,3449,2523,1573
$GC,8274,1.57,332.3,44.0,10.3,764,8275,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2521,1573
$GC,8339,1.63,383.7,38.6,8.4,770,8409,0.00,0.00,63.53,0.573,6,0.000,0.000,3449,2521,1370
$GC,8472,1.63,383.7,25.6,10.2,782,8473,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2521,1369
$GC,8536,1.63,383.7,19.1,10.2,788,8543,0.00,2.53,0.00,0.000,4,0.000,0.063,3449,3890,1368
$GC,8582,1.64,390.3,14.2,9.8,796,8597,0.00,2.30,8.60,0.482,6,0.000,0.029,3449,2525,1344
$GC,8665,1.64,390.3,5.9,10.3,810,8671,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2525,1343
$STATE,8681,end climb,SURFACE_DEPTH_REACHED
$STATE,8681,begin surface coast
$FINISH,-0.2,1.022821
$STATE,8721,end surface coast,CONTROL_FINISHED_OK
$STATE,8721,begin surface
$SM_CCo,8746,5.18,0.401,0,0,1305,400.08
$SM_GC,0.43,0.00,0.00,5.18,0.000,0.000,0.401,123,2637,1305,-13.67,0.25,400.08
$IRIDIUM_FIX,2145.77,-15943.76,281098,232311
$TT8_MAMPS,0.057525
$HUMID,1952
$INTERNAL_PRESSURE,11.3969
$TCM_TEMP,23.50
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.7,20.557
$10V_AH,10.0,6.886
$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,33.875,80.500,773.900,5.175,0.000,53.941,62.876,418.799,0.000,0.000,61.237,11.401,1689.054,4422.643,792.337,1436.802,1122.484,33.344,1709.897,0.000,1395.644,0.000,0.000,0.000
$DEVICE_MAMPS,184.080,77.467,776.971,401.141,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,544.495,0.000,0.000,0.000,0.000,0.000,114.814,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,25232,820
$CAP_FILE_SIZE,332356,0
$CFSIZE,260034560,249417728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040809,013801,2154.367,-15942.553,39,1.4,39,9.8