version: 66.04
glider: 116
mission: 22
dive: 71
start: 8 4 109 3 38 5
data:
$ID,116
$MISSION,22
$DIVE,71
$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,-58938.043
$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,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
$GPS1,032238,2154.417,-15942.579,10,1.3,11,9.8
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-69.0
$GPS2,033713,2154.552,-15942.757,14,1.4,14,9.8
$SPEED_LIMITS,0.100,0.310
$TGT_NAME,BobNE
$TGT_LATLONG,2154.185,-15941.805
$TGT_RADIUS,400.000
$KALMAN_CONTROL,0.277,-0.141
$KALMAN_X,-99155.8,-1323.0,107.1,99018.9,-857.9
$KALMAN_Y,22381.9,552.3,-128.7,-25599.3,495.8
$MHEAD_RNG_PITCHd_Wd,107.1,1771,-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,-74.45,0.000,2,0.000,0.000,122,2635,3432
$GC,97,-1.43,-219.0,3.7,-8.3,11,126,15.93,2.38,-5.80,0.000,4,0.179,0.043,2781,1240,3831
$GC,379,-1.43,-219.0,63.8,-14.0,38,387,0.00,2.42,0.00,0.000,6,0.000,0.035,2781,2625,3832
$GC,450,-1.43,-219.0,73.8,-14.4,45,454,0.00,2.35,0.00,0.000,4,0.000,0.030,2781,1239,3832
$GC,502,-1.43,-219.0,81.7,-15.7,49,506,0.00,2.40,0.00,0.000,6,0.000,0.035,2781,2633,3833
$GC,573,-1.43,-219.0,91.2,-12.8,55,577,0.00,2.28,0.00,0.000,4,0.000,0.061,2781,3888,3833
$GC,657,-1.43,-219.0,100.4,-12.6,62,661,0.00,2.10,0.00,0.000,6,0.000,0.028,2781,2613,3834
$GC,732,-1.43,-219.0,110.8,-13.6,69,736,0.00,2.33,0.00,0.000,4,0.000,0.032,2781,1239,3834
$GC,815,-1.43,-219.0,121.6,-12.9,76,820,0.00,2.40,0.00,0.000,6,0.000,0.035,2781,2631,3834
$GC,886,-1.43,-219.0,130.1,-12.4,82,887,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2631,3834
$GC,950,-1.43,-219.0,138.0,-12.4,88,951,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2631,3835
$GC,1013,-1.43,-219.0,145.9,-12.6,94,1015,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2631,3835
$GC,1077,-1.43,-219.0,153.9,-12.0,100,1081,0.00,2.30,0.00,0.000,4,0.000,0.067,2781,3886,3835
$GC,1120,-1.43,-219.0,159.3,-12.3,103,1128,0.00,2.10,0.00,0.000,6,0.000,0.028,2781,2632,3835
$GC,1190,-1.43,-219.0,167.3,-12.2,110,1191,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2632,3835
$GC,1255,-1.43,-219.0,174.7,-11.5,116,1256,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2632,3835
$GC,1319,-1.43,-219.0,182.4,-12.4,122,1320,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2632,3835
$GC,1384,-1.43,-219.0,190.3,-11.9,128,1385,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2632,3835
$GC,1447,-1.43,-219.0,197.5,-11.3,134,1448,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2632,3835
$GC,1510,-1.43,-219.0,204.5,-11.2,140,1514,0.00,2.33,0.00,0.000,4,0.000,0.067,2781,3891,3835
$GC,1586,-1.43,-219.0,213.9,-11.5,146,1595,0.00,2.12,0.00,0.000,6,0.000,0.028,2781,2634,3835
$GC,1657,-1.43,-219.0,221.1,-9.8,153,1662,0.00,2.40,0.00,0.000,4,0.000,0.037,2781,1230,3835
$GC,1701,-1.43,-219.0,225.6,-9.7,156,1709,0.00,2.42,0.00,0.000,6,0.000,0.038,2781,2630,3835
$GC,1772,-1.43,-219.0,231.8,-9.1,163,1776,0.00,2.33,0.00,0.000,4,0.000,0.069,2781,3893,3834
$GC,1804,-1.43,-219.0,235.3,-10.6,165,1812,0.00,2.15,0.00,0.000,6,0.000,0.030,2781,2626,3835
$GC,1876,-1.43,-219.0,241.9,-9.6,172,1877,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2626,3835
$GC,1940,-1.43,-219.0,248.0,-9.5,178,1944,0.00,2.38,0.00,0.000,4,0.000,0.038,2781,1239,3835
$GC,1992,-1.43,-219.0,252.9,-9.2,182,1996,0.00,2.42,0.00,0.000,6,0.000,0.039,2781,2634,3835
$GC,2063,-1.43,-219.0,259.0,-8.3,188,2064,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2634,3835
$GC,2126,-1.43,-219.0,263.7,-7.5,194,2127,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2634,3834
$GC,2190,-1.43,-219.0,268.8,-8.0,200,2191,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2634,3834
$STATE,2210,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2210,begin apogee
$GC,2215,-0.42,0.0,270.5,8.0,202,2495,1.00,0.00,270.85,0.628,6,0.072,0.000,3000,2533,2936
$STATE,2496,end apogee,CONTROL_FINISHED_OK
$STATE,2496,begin climb
$GC,2498,1.43,219.0,281.8,0.0,230,2784,1.83,2.53,270.60,0.617,4,0.048,0.043,3409,1129,2043
$GC,2968,1.50,277.9,253.3,8.2,270,3048,0.00,2.47,74.05,0.607,6,0.000,0.038,3409,2531,1802
$GC,3109,1.50,277.9,239.8,10.0,283,3110,0.00,0.00,0.00,0.000,6,0.000,0.000,3409,2531,1799
$GC,3174,1.50,280.5,233.4,9.9,289,3175,0.00,0.00,0.00,0.000,6,0.000,0.000,3410,2531,1798
$GC,3238,1.50,280.5,226.6,10.6,295,3239,0.00,0.00,0.00,0.000,6,0.000,0.000,3410,2531,1798
$GC,3301,1.51,286.7,220.2,9.8,301,3314,0.00,0.00,10.90,0.555,6,0.000,0.000,3409,2531,1767
$GC,3374,1.55,315.2,213.3,9.1,308,3423,0.10,2.53,38.05,0.601,4,0.058,0.041,3444,1143,1650
$GC,3439,1.55,315.2,206.1,11.0,313,3447,0.00,2.50,0.00,0.000,6,0.000,0.039,3444,2532,1649
$GC,3510,1.55,315.2,198.0,11.4,320,3515,0.00,2.53,0.00,0.000,4,0.000,0.070,3444,3887,1647
$GC,3566,1.55,315.2,190.7,12.8,324,3573,0.00,2.35,0.00,0.000,6,0.000,0.034,3444,2518,1647
$GC,3637,1.55,315.2,182.6,11.8,331,3638,0.00,0.00,0.00,0.000,6,0.000,0.000,3444,2517,1646
$GC,3700,1.55,315.2,174.9,12.2,337,3701,0.00,0.00,0.00,0.000,6,0.000,0.000,3444,2517,1646
$GC,3764,1.55,315.2,166.6,13.0,343,3765,0.00,0.00,0.00,0.000,6,0.000,0.000,3444,2517,1645
$GC,3828,1.55,315.2,158.7,12.2,349,3829,0.00,0.00,0.00,0.000,6,0.000,0.000,3444,2517,1645
$GC,3892,1.55,315.2,150.5,12.7,355,3896,0.00,2.55,0.00,0.000,4,0.000,0.065,3444,3894,1644
$GC,3934,1.55,315.2,144.6,13.2,358,3943,0.00,2.35,0.00,0.000,6,0.000,0.032,3444,2532,1644
$GC,4005,1.55,315.2,136.6,11.2,365,4009,0.00,2.42,0.00,0.000,4,0.000,0.039,3444,1137,1643
$GC,4044,1.55,315.2,132.4,11.6,368,4048,0.00,2.42,0.00,0.000,6,0.000,0.035,3445,2532,1644
$GC,4114,1.55,315.2,124.9,10.4,374,4115,0.00,0.00,0.00,0.000,6,0.000,0.000,3444,2532,1643
$GC,4178,1.55,315.2,118.1,10.9,380,4182,0.00,2.50,0.00,0.000,4,0.000,0.064,3444,3895,1643
$GC,4241,1.55,315.2,111.0,11.8,385,4245,0.00,2.33,0.00,0.000,6,0.000,0.031,3444,2521,1643
$GC,4312,1.55,315.2,103.3,10.5,391,4316,0.00,2.53,0.00,0.000,4,0.000,0.062,3444,3895,1643
$GC,4367,1.55,315.2,97.3,10.5,395,4374,0.00,2.33,0.00,0.000,6,0.000,0.031,3444,2519,1642
$GC,4437,1.57,336.8,90.8,9.3,402,4468,0.00,0.00,26.15,0.566,6,0.000,0.000,3444,2518,1563
$GC,4530,1.57,336.8,81.0,10.4,411,4534,0.00,2.40,0.00,0.000,4,0.000,0.037,3445,1134,1561
$GC,4650,1.63,380.7,69.9,8.6,421,4714,0.00,2.42,56.05,0.556,6,0.000,0.033,3444,2537,1383
$GC,4785,1.68,421.4,57.9,8.7,433,4844,0.00,2.55,51.47,0.535,4,0.000,0.060,3444,3887,1218
$GC,4916,1.68,421.4,44.2,10.8,444,4924,0.00,2.30,0.00,0.000,6,0.000,0.029,3444,2521,1216
$GC,4986,1.68,421.4,36.1,12.0,451,4987,0.00,0.00,0.00,0.000,6,0.000,0.000,3444,2519,1216
$GC,5051,1.68,421.4,28.9,11.2,457,5052,0.00,0.00,0.00,0.000,6,0.000,0.000,3444,2518,1216
$GC,5115,1.68,421.4,21.5,11.3,463,5116,0.00,0.00,0.00,0.000,6,0.000,0.000,3444,2519,1216
$GC,5179,1.76,492.2,15.4,7.8,473,5262,0.00,0.00,78.25,0.503,6,0.000,0.000,3444,2518,929
$STATE,5288,end climb,SURFACE_DEPTH_REACHED
$STATE,5288,begin surface coast
$FINISH,-0.1,1.011267
$STATE,5328,end surface coast,CONTROL_FINISHED_OK
$STATE,5329,begin surface
$SM_CCo,5412,0.00,0.000,0,0,924,493.54
$SM_GC,0.82,14.68,0.00,0.00,0.041,0.000,0.000,125,2631,924,-13.59,0.08,493.54
$IRIDIUM_FIX,2148.09,-15942.95,291098,030340
$TT8_MAMPS,0.057525
$HUMID,1851
$INTERNAL_PRESSURE,11.4458
$TCM_TEMP,24.20
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.8,20.933
$10V_AH,10.0,7.052
$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,33.525,85.950,876.375,0.000,0.000,56.393,62.696,564.343,0.000,0.000,40.498,14.979,993.798,2308.077,845.668,1047.346,1092.105,33.344,1585.546,0.000,998.413,0.000,0.000,0.000
$DEVICE_MAMPS,178.711,69.797,628.173,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,321.401,0.000,0.000,0.000,0.000,0.000,135.252,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,15861,497
$CAP_FILE_SIZE,221337,0
$CFSIZE,260034560,249262080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040809,050931,2154.293,-15942.572,41,1.6,42,9.8