version: 66.04
glider: 116
mission: 22
dive: 70
start: 8 4 109 1 51 17
data:
$ID,116
$MISSION,22
$DIVE,70
$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,125
$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,-58922.434
$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,50
$R_STBD_OVSHOOT,28
$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
$GPS1,013801,2154.367,-15942.553,39,1.4,39,9.8
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,0.66
$_SM_ANGLEo,-67.7
$GPS2,015025,2154.513,-15942.802,10,1.2,15,9.8
$SPEED_LIMITS,0.100,0.310
$TGT_NAME,BobNE
$TGT_LATLONG,2154.185,-15941.805
$TGT_RADIUS,400.000
$KALMAN_CONTROL,0.287,-0.117
$KALMAN_X,-97941.9,-1240.3,254.7,97488.8,-1016.0
$KALMAN_Y,21854.3,436.1,-173.6,-24978.6,443.5
$MHEAD_RNG_PITCHd_Wd,102.4,1817,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-1.43,-219.0,0.0,0.0,0,93,0.00,0.00,-73.22,0.000,2,0.000,0.000,124,2639,3404
$GC,95,-1.43,-219.0,3.9,-9.9,11,124,16.05,0.00,-6.30,0.000,6,0.183,0.000,2778,2639,3832
$GC,189,-1.43,-219.0,30.2,-18.0,22,193,0.00,2.28,0.00,0.000,4,0.000,0.061,2777,3885,3833
$GC,260,-1.43,-219.0,43.1,-18.3,28,268,0.00,2.15,0.00,0.000,6,0.000,0.028,2777,2617,3833
$GC,332,-1.43,-219.0,54.9,-17.5,35,336,0.00,2.35,0.00,0.000,4,0.000,0.031,2778,1235,3833
$GC,363,-1.43,-219.0,60.1,-14.5,37,372,0.00,2.42,0.00,0.000,6,0.000,0.035,2778,2621,3833
$GC,434,-1.43,-219.0,70.3,-15.0,44,438,0.00,2.30,0.00,0.000,4,0.000,0.062,2777,3886,3834
$GC,507,-1.43,-219.0,81.1,-14.1,50,511,0.00,2.10,0.00,0.000,6,0.000,0.028,2778,2623,3834
$GC,582,-1.43,-219.0,91.0,-13.5,57,586,0.00,2.35,0.00,0.000,4,0.000,0.031,2777,1235,3835
$GC,625,-1.43,-219.0,96.9,-13.5,60,633,0.00,2.42,0.00,0.000,6,0.000,0.034,2778,2624,3835
$GC,696,-1.43,-219.0,106.4,-14.0,67,700,0.00,2.38,0.00,0.000,4,0.000,0.032,2777,1232,3835
$GC,735,-1.43,-219.0,111.5,-12.2,70,740,0.00,2.40,0.00,0.000,6,0.000,0.035,2778,2627,3835
$GC,806,-1.43,-219.0,120.2,-12.5,76,807,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2627,3835
$GC,870,-1.43,-219.0,128.2,-12.5,82,871,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2627,3836
$GC,933,-1.43,-219.0,135.4,-11.2,88,935,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2627,3836
$GC,997,-1.43,-219.0,143.1,-12.2,94,998,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2627,3836
$GC,1061,-1.43,-219.0,150.5,-11.9,100,1062,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2627,3836
$GC,1126,-1.43,-219.0,157.4,-11.0,106,1127,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2627,3837
$GC,1190,-1.43,-219.0,164.8,-12.1,112,1191,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2627,3837
$GC,1253,-1.43,-219.0,171.9,-10.9,118,1254,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2627,3837
$GC,1317,-1.43,-219.0,178.8,-11.1,124,1321,0.00,2.33,0.00,0.000,4,0.000,0.069,2778,3888,3837
$GC,1379,-1.43,-219.0,186.1,-11.5,129,1382,0.00,2.10,0.00,0.000,6,0.000,0.028,2778,2623,3837
$GC,1454,-1.43,-219.0,194.1,-10.3,136,1455,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2623,3837
$GC,1519,-1.43,-219.0,201.0,-10.5,142,1520,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2623,3837
$GC,1582,-1.43,-219.0,207.6,-10.6,148,1583,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2623,3837
$GC,1646,-1.43,-219.0,214.6,-11.1,154,1650,0.00,2.38,0.00,0.000,4,0.000,0.036,2778,1235,3837
$GC,1685,-1.43,-219.0,219.0,-11.1,157,1689,0.00,2.42,0.00,0.000,6,0.000,0.038,2778,2631,3837
$GC,1756,-1.43,-219.0,226.3,-10.5,163,1757,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2631,3837
$GC,1820,-1.43,-219.0,232.7,-9.9,169,1821,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2631,3837
$GC,1884,-1.43,-219.0,238.9,-9.7,175,1885,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2631,3837
$GC,1949,-1.43,-219.0,244.9,-9.2,181,1950,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2632,3837
$GC,2012,-1.43,-219.0,250.6,-8.8,187,2013,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2631,3837
$GC,2075,-1.43,-219.0,256.5,-9.1,193,2079,0.00,2.40,0.00,0.000,4,0.000,0.036,2778,1236,3837
$GC,2107,-1.43,-219.0,260.0,-10.2,195,2115,0.00,2.45,0.00,0.000,6,0.000,0.039,2777,2637,3837
$GC,2178,-1.43,-219.0,266.8,-9.9,202,2182,0.00,2.33,0.00,0.000,4,0.000,0.073,2778,3889,3836
$STATE,2209,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2210,begin apogee
$GC,2216,-0.42,0.0,270.4,11.0,204,2496,1.00,0.00,270.65,0.635,6,0.072,0.000,3002,2527,2936
$STATE,2497,end apogee,CONTROL_FINISHED_OK
$STATE,2498,begin climb
$GC,2499,1.43,219.0,284.0,0.0,232,2785,1.80,2.50,270.80,0.623,4,0.048,0.044,3407,1139,2043
$GC,3037,1.44,231.8,246.8,9.6,278,3060,0.00,2.47,16.77,0.581,6,0.000,0.038,3407,2539,1991
$GC,3132,1.47,256.2,238.2,9.2,287,3165,0.00,0.00,31.40,0.602,6,0.000,0.000,3407,2539,1891
$GC,3225,1.47,256.2,228.7,10.6,296,3229,0.00,2.50,0.00,0.000,4,0.000,0.042,3407,1132,1889
$GC,3264,1.47,256.2,224.5,11.3,299,3268,0.00,2.47,0.00,0.000,6,0.000,0.038,3407,2533,1889
$GC,3334,1.47,256.2,217.1,10.7,305,3335,0.00,0.00,0.00,0.000,6,0.000,0.000,3407,2533,1888
$GC,3398,1.47,256.2,210.7,10.3,311,3402,0.00,2.47,0.00,0.000,4,0.000,0.041,3407,1131,1888
$GC,3441,1.47,256.2,206.0,10.5,314,3449,0.00,2.50,0.00,0.000,6,0.000,0.038,3407,2531,1887
$GC,3513,1.47,256.2,198.9,10.2,321,3514,0.00,0.00,0.00,0.000,6,0.000,0.000,3407,2531,1886
$GC,3576,1.49,272.5,192.6,9.5,327,3602,0.00,2.55,20.48,0.597,4,0.000,0.068,3406,3888,1825
$GC,3636,1.49,272.5,186.2,10.3,332,3640,0.00,2.35,0.00,0.000,6,0.000,0.034,3406,2521,1824
$GC,3707,1.56,325.1,180.1,8.4,338,3779,0.12,0.00,67.93,0.610,6,0.051,0.000,3446,2520,1610
$GC,3848,1.56,325.1,165.7,11.4,351,3850,0.00,0.00,0.00,0.000,6,0.000,0.000,3446,2520,1607
$GC,3913,1.56,325.1,158.1,11.8,357,3914,0.00,0.00,0.00,0.000,6,0.000,0.000,3446,2520,1605
$GC,3977,1.56,325.1,150.9,11.5,363,3978,0.00,0.00,0.00,0.000,6,0.000,0.000,3446,2520,1605
$GC,4041,1.56,325.1,144.3,10.5,369,4042,0.00,0.00,0.00,0.000,6,0.000,0.000,3446,2521,1604
$GC,4104,1.56,325.1,137.6,10.3,375,4109,0.00,2.55,0.00,0.000,4,0.000,0.065,3446,3895,1603
$GC,4144,1.56,325.1,133.1,11.9,378,4148,0.00,2.35,0.00,0.000,6,0.000,0.032,3446,2517,1603
$GC,4214,1.56,325.1,124.6,12.3,384,4216,0.00,0.00,0.00,0.000,6,0.000,0.000,3446,2516,1603
$GC,4278,1.56,325.1,117.7,10.9,390,4280,0.00,0.00,0.00,0.000,6,0.000,0.000,3446,2516,1602
$GC,4342,1.56,325.1,111.0,10.5,396,4346,0.00,2.53,0.00,0.000,4,0.000,0.062,3446,3890,1602
$GC,4363,1.56,325.1,108.3,11.7,397,4370,0.00,2.33,0.00,0.000,6,0.000,0.031,3446,2518,1602
$GC,4433,1.56,325.1,101.0,10.5,404,4434,0.00,0.00,0.00,0.000,6,0.000,0.000,3446,2519,1602
$GC,4498,1.56,325.1,94.0,11.0,410,4502,0.00,2.40,0.00,0.000,4,0.000,0.038,3446,1135,1602
$GC,4553,1.56,325.1,87.8,10.9,414,4560,0.00,2.45,0.00,0.000,6,0.000,0.035,3447,2545,1601
$GC,4623,1.56,325.8,80.8,10.0,421,4627,0.00,2.45,0.00,0.000,4,0.000,0.064,3446,3884,1601
$GC,4745,1.56,325.8,65.9,13.3,431,4752,0.00,2.30,0.00,0.000,6,0.000,0.030,3446,2518,1601
$GC,4815,1.56,325.8,58.4,10.1,438,4819,0.00,2.38,0.00,0.000,4,0.000,0.037,3446,1138,1601
$GC,4904,1.59,353.8,50.2,9.1,445,4947,0.00,2.40,34.58,0.549,6,0.000,0.033,3446,2532,1493
$GC,5009,1.64,392.5,40.7,8.8,455,5070,0.00,2.55,49.67,0.532,4,0.000,0.061,3446,3884,1335
$GC,5153,1.64,392.5,26.0,10.5,467,5161,0.00,2.33,0.00,0.000,6,0.000,0.028,3446,2522,1333
$GC,5225,1.64,392.5,18.7,10.4,475,5231,0.00,0.00,0.00,0.000,6,0.000,0.000,3446,2520,1333
$GC,5300,1.64,392.5,10.7,11.7,488,5306,0.00,0.00,0.00,0.000,6,0.000,0.000,3446,2520,1333
$STATE,5367,end climb,SURFACE_DEPTH_REACHED
$STATE,5367,begin surface coast
$FINISH,-0.1,1.022237
$STATE,5407,end surface coast,CONTROL_FINISHED_OK
$STATE,5407,begin surface
$SM_CCo,5432,3.50,0.308,0,0,1304,400.08
$SM_GC,0.96,0.00,0.00,3.50,0.000,0.000,0.308,122,2633,1304,-13.67,0.14,400.08
$IRIDIUM_FIX,2148.09,-15945.13,281098,232358
$TT8_MAMPS,0.065195
$HUMID,1876
$INTERNAL_PRESSURE,11.4555
$TCM_TEMP,24.00
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.8,20.735
$10V_AH,10.0,6.969
$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,33.600,90.925,762.275,3.500,0.000,22.832,29.021,517.348,0.000,0.000,40.369,15.654,1044.874,2322.527,777.182,1044.756,982.956,33.342,1500.310,0.000,992.812,0.000,0.000,0.000
$DEVICE_MAMPS,182.546,72.865,635.076,308.334,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,329.929,0.000,0.000,0.000,0.000,0.000,136.755,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,15874,507
$CAP_FILE_SIZE,226385,0
$CFSIZE,260034560,249376768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040809,032238,2154.417,-15942.579,10,1.3,11,9.8