version: 66.04
glider: 116
mission: 22
dive: 79
start: 8 4 109 20 59 28
data:
$ID,116
$MISSION,22
$DIVE,79
$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,250
$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,375
$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,-59110.336
$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,54
$R_STBD_OVSHOOT,30
$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
$GPS1,204655,2154.479,-15944.339,69,0.9,70,9.8
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,1
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-69.5
$GPS2,205832,2154.532,-15944.630,14,1.5,14,9.8
$SPEED_LIMITS,0.100,0.324
$TGT_NAME,BobSW
$TGT_LATLONG,2153.790,-15942.207
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.302,-0.118
$KALMAN_X,-114487.9,-219.6,-773.4,110918.0,-1526.4
$KALMAN_Y,27453.6,-70.2,286.5,-30497.8,600.4
$MHEAD_RNG_PITCHd_Wd,101.5,4385,-13.1,-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,-1.39,-243.3,0.0,0.0,0,94,0.00,0.00,-74.43,0.000,2,0.000,0.000,122,2641,3389
$GC,96,-1.39,-243.3,4.0,-9.5,11,125,15.90,0.00,-7.93,0.000,6,0.179,0.000,2787,2641,3931
$GC,195,-1.39,-243.3,32.5,-17.9,22,196,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2641,3931
$GC,260,-1.39,-243.3,43.2,-16.9,28,261,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2641,3931
$GC,323,-1.39,-243.3,53.9,-16.4,34,327,0.00,2.25,0.00,0.000,4,0.000,0.061,2787,3880,3931
$GC,363,-1.39,-243.3,61.1,-18.4,37,367,0.00,2.08,0.00,0.000,6,0.000,0.027,2787,2622,3931
$GC,437,-1.39,-243.3,73.4,-15.2,44,441,0.00,2.33,0.00,0.000,4,0.000,0.031,2787,1245,3931
$GC,481,-1.39,-243.3,79.9,-14.8,47,489,0.00,2.38,0.00,0.000,6,0.000,0.035,2787,2624,3931
$GC,551,-1.39,-243.3,90.3,-15.5,54,552,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2624,3931
$GC,616,-1.39,-243.3,101.0,-17.3,60,617,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2624,3931
$GC,680,-1.39,-243.3,111.2,-15.7,66,681,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2624,3931
$GC,743,-1.39,-243.3,121.0,-14.9,72,744,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2624,3931
$GC,807,-1.39,-243.3,130.1,-14.1,78,808,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2624,3931
$GC,871,-1.39,-243.3,139.0,-13.9,84,875,0.00,2.30,0.00,0.000,4,0.000,0.066,2787,3885,3931
$GC,892,-1.39,-243.3,142.4,-14.6,85,900,0.00,2.10,0.00,0.000,6,0.000,0.027,2787,2633,3931
$GC,962,-1.39,-243.3,151.8,-13.4,92,963,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2633,3932
$GC,1027,-1.39,-243.3,160.2,-13.4,98,1031,0.00,2.38,0.00,0.000,4,0.000,0.032,2787,1233,3931
$GC,1070,-1.39,-243.3,166.3,-13.4,101,1078,0.00,2.45,0.00,0.000,6,0.000,0.036,2787,2631,3931
$GC,1140,-1.39,-243.3,174.8,-12.0,108,1144,0.00,2.30,0.00,0.000,4,0.000,0.067,2787,3888,3931
$GC,1196,-1.39,-243.3,181.9,-12.7,112,1203,0.00,2.10,0.00,0.000,6,0.000,0.028,2787,2620,3931
$GC,1267,-1.39,-243.3,189.7,-11.3,119,1268,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2619,3931
$GC,1332,-1.39,-243.3,196.5,-10.4,125,1336,0.00,2.35,0.00,0.000,4,0.000,0.035,2787,1238,3930
$GC,1364,-1.39,-243.3,200.3,-10.6,127,1372,0.00,2.42,0.00,0.000,6,0.000,0.037,2787,2624,3929
$GC,1435,-1.39,-243.3,207.3,-10.1,134,1440,0.00,2.33,0.00,0.000,4,0.000,0.067,2787,3891,3921
$GC,1501,-1.39,-243.3,214.7,-10.5,139,1509,0.00,2.12,0.00,0.000,6,0.000,0.028,2787,2630,3928
$GC,1573,-1.39,-243.3,221.8,-10.4,146,1574,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2630,3928
$GC,1637,-1.39,-243.3,228.7,-11.1,152,1638,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2630,3926
$GC,1700,-1.39,-243.3,235.7,-10.9,158,1701,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2630,3920
$GC,1764,-1.39,-243.3,243.0,-12.0,164,1765,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2630,3921
$GC,1828,-1.39,-243.3,250.0,-10.8,170,1829,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2630,3921
$GC,1892,-1.39,-243.3,257.1,-11.1,176,1893,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2630,3922
$GC,1957,-1.39,-243.3,264.0,-10.7,182,1958,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2630,3921
$STATE,2018,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2018,begin apogee
$GC,2023,-0.42,0.0,270.7,10.2,188,2332,0.98,0.00,300.08,0.621,6,0.070,0.000,3002,2540,2933
$STATE,2333,end apogee,CONTROL_FINISHED_OK
$STATE,2333,begin climb
$GC,2335,1.39,243.3,285.4,0.0,219,2649,1.75,2.62,302.12,0.608,4,0.045,0.069,3397,3889,1944
$GC,2710,1.39,243.3,260.7,11.1,251,2718,0.00,2.35,0.00,0.000,6,0.000,0.032,3398,2520,1942
$GC,2780,1.40,256.4,253.8,9.6,258,2802,0.00,0.00,17.23,0.565,6,0.000,0.000,3398,2519,1890
$GC,2864,1.41,259.2,245.4,9.9,266,2875,0.00,0.00,4.53,0.412,6,0.000,0.000,3398,2518,1879
$GC,2938,1.41,265.8,238.4,9.8,273,2949,0.00,0.00,8.18,0.514,6,0.000,0.000,3398,2519,1852
$GC,3012,1.46,305.0,231.6,8.9,280,3043,0.00,0.00,25.60,0.586,6,0.000,0.000,3398,2519,1689
$GC,3105,1.50,338.5,222.9,9.1,289,3182,0.12,0.00,66.85,0.584,6,0.053,0.000,3436,2518,1556
$GC,3242,1.50,338.5,205.8,13.4,302,3247,0.00,2.58,0.00,0.000,4,0.000,0.067,3435,3892,1550
$GC,3316,1.50,338.5,194.8,15.0,308,3320,0.00,2.35,0.00,0.000,6,0.000,0.033,3436,2520,1544
$GC,3386,1.50,338.5,185.6,12.5,314,3391,0.00,2.42,0.00,0.000,4,0.000,0.041,3436,1136,1542
$GC,3442,1.50,338.5,178.3,12.4,318,3449,0.00,2.45,0.00,0.000,6,0.000,0.037,3436,2532,1540
$GC,3511,1.50,338.5,169.8,12.6,325,3513,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2532,1539
$GC,3577,1.50,338.5,161.8,12.1,331,3581,0.00,2.50,0.00,0.000,4,0.000,0.066,3436,3888,1538
$GC,3616,1.50,338.5,156.1,14.3,334,3620,0.00,2.33,0.00,0.000,6,0.000,0.031,3436,2520,1538
$GC,3687,1.50,338.5,146.8,13.1,340,3691,0.00,2.40,0.00,0.000,4,0.000,0.040,3436,1139,1538
$GC,3775,1.50,338.5,134.7,13.1,347,3786,0.00,2.45,5.18,0.445,6,0.000,0.037,3436,2539,1565
$GC,3857,1.50,338.5,124.5,11.8,355,3859,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2540,1565
$GC,3922,1.50,338.5,117.3,11.1,361,3927,0.00,2.47,0.00,0.000,4,0.000,0.064,3435,3888,1565
$GC,3978,1.50,338.5,109.7,13.9,365,3988,0.00,2.30,4.70,0.423,6,0.000,0.031,3436,2525,1560
$GC,4047,1.50,338.5,101.3,11.7,372,4048,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2525,1559
$GC,4112,1.50,338.5,94.4,10.7,378,4113,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2525,1559
$GC,4175,1.50,338.5,87.8,10.1,384,4177,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2525,1559
$GC,4240,1.52,348.2,81.5,9.7,390,4260,0.00,0.00,15.10,0.542,6,0.000,0.000,3436,2525,1518
$GC,4322,1.52,348.2,73.3,10.0,398,4323,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2525,1517
$GC,4387,1.52,348.2,66.6,10.7,404,4388,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2525,1516
$GC,4451,1.52,348.2,60.0,10.2,410,4452,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2525,1516
$GC,4514,1.54,365.2,53.6,9.5,416,4544,0.00,0.00,22.92,0.536,6,0.000,0.000,3435,2525,1447
$GC,4607,1.61,424.5,45.5,8.3,425,4690,0.00,0.00,75.90,0.530,6,0.000,0.000,3435,2525,1204
$GC,4752,1.61,424.5,30.4,10.7,439,4753,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2525,1202
$GC,4816,1.61,424.5,23.3,11.3,445,4820,0.00,2.50,0.00,0.000,4,0.000,0.059,3435,3888,1201
$GC,4855,1.61,424.5,19.0,10.7,448,4862,0.00,2.30,0.00,0.000,6,0.000,0.028,3435,2515,1200
$GC,4931,1.61,424.5,10.8,10.2,461,4937,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2513,1200
$STATE,4997,end climb,SURFACE_DEPTH_REACHED
$STATE,4997,begin surface coast
$FINISH,0.2,1.022962
$STATE,5050,end surface coast,CONTROL_FINISHED_OK
$STATE,5050,begin surface
$SM_CCo,5134,0.00,0.000,0,0,1163,428.05
$SM_GC,1.04,14.35,0.00,0.00,0.034,0.000,0.000,123,2636,1163,-13.59,0.23,428.05
$IRIDIUM_FIX,2145.77,-15948.11,291098,191916
$TT8_MAMPS,0.055224
$HUMID,1860
$INTERNAL_PRESSURE,11.475
$TCM_TEMP,24.20
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.9,22.510
$10V_AH,9.9,7.823
$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,33.100,66.250,848.375,0.000,0.000,32.249,25.907,474.963,0.000,0.000,38.442,14.768,944.854,2195.744,857.683,902.799,934.669,33.340,1515.603,0.000,859.629,0.000,0.000,0.000
$DEVICE_MAMPS,178.711,69.030,620.503,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,311.190,0.000,0.000,0.000,0.000,0.000,238.701,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,15883,482
$CAP_FILE_SIZE,210028,0
$CFSIZE,260034560,248205312
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,040809,222544,2154.675,-15944.924,9,1.6,10,9.8