version: 66.04
glider: 116
mission: 22
dive: 83
start: 8 5 109 7 16 15
data:
$ID,116
$MISSION,22
$DIVE,83
$D_SURF,4
$D_FLARE,3
$D_TGT,660
$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,220
$T_MISSION,275
$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,-59191.215
$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,26
$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
$GPS1,070101,2154.929,-15944.938,42,1.3,42,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-68.1
$GPS2,071520,2155.023,-15945.205,12,1.6,12,9.8
$SPEED_LIMITS,0.100,0.324
$TGT_NAME,BobSW
$TGT_LATLONG,2153.790,-15942.207
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.297,-0.131
$KALMAN_X,-125283.0,-1046.2,94.4,120671.2,-1805.1
$KALMAN_Y,32025.9,602.3,-2.9,-34543.2,798.7
$MHEAD_RNG_PITCHd_Wd,104.1,5635,-13.1,-10.000
$D_GRID,660
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.39,-243.3,0.0,0.0,0,102,0.00,0.00,-81.05,0.000,2,0.000,0.000,123,2633,3341
$GC,104,-1.39,-243.3,3.3,-7.6,12,133,15.95,0.00,-8.95,0.000,6,0.178,0.000,2787,2634,3931
$GC,204,-1.39,-243.3,30.8,-19.0,24,205,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2633,3921
$GC,269,-1.39,-243.3,41.6,-16.7,30,270,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2633,3930
$GC,332,-1.39,-243.3,52.6,-17.5,36,336,0.00,2.28,0.00,0.000,4,0.000,0.061,2788,3883,3927
$GC,372,-1.39,-243.3,59.7,-17.8,39,376,0.00,2.12,0.00,0.000,6,0.000,0.030,2788,2619,3930
$GC,447,-1.39,-243.3,72.0,-15.4,46,449,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2617,3928
$GC,512,-1.39,-243.3,80.9,-13.6,52,514,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2617,3922
$GC,578,-1.39,-243.3,89.0,-12.9,58,579,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2617,3916
$GC,640,-1.39,-243.3,97.7,-13.6,64,644,0.00,2.35,0.00,0.000,4,0.000,0.033,2787,1235,3926
$GC,696,-1.39,-243.3,106.0,-13.9,68,703,0.00,2.42,0.00,0.000,6,0.000,0.036,2788,2633,3928
$GC,766,-1.39,-243.3,115.9,-14.2,75,767,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2633,3928
$GC,831,-1.39,-243.3,124.0,-12.7,81,832,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2633,3927
$GC,894,-1.39,-243.3,131.3,-10.8,87,898,0.00,2.33,0.00,0.000,4,0.000,0.070,2788,3890,3927
$GC,945,-1.39,-243.3,137.1,-11.4,91,949,0.00,2.12,0.00,0.000,6,0.000,0.030,2788,2623,3928
$GC,1020,-1.39,-243.3,145.3,-10.8,98,1022,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2623,3927
$GC,1085,-1.39,-243.3,152.4,-11.1,104,1086,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2623,3928
$GC,1149,-1.39,-243.3,159.6,-11.0,110,1150,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2623,3928
$GC,1212,-1.39,-243.3,166.8,-11.3,116,1214,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2623,3928
$GC,1276,-1.39,-243.3,173.7,-10.5,122,1278,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2622,3927
$GC,1340,-1.39,-243.3,180.4,-10.6,128,1341,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2623,3928
$GC,1405,-1.39,-243.3,186.8,-9.8,134,1409,0.00,2.38,0.00,0.000,4,0.000,0.037,2788,1235,3928
$GC,1471,-1.39,-243.3,193.6,-10.1,139,1479,0.00,2.45,0.00,0.000,6,0.000,0.038,2788,2625,3928
$GC,1543,-1.39,-243.3,200.1,-9.5,146,1544,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2625,3928
$GC,1607,-1.39,-243.3,206.2,-9.5,152,1611,0.00,2.35,0.00,0.000,4,0.000,0.070,2788,3895,3928
$GC,1659,-1.39,-243.3,211.7,-10.9,156,1662,0.00,2.15,0.00,0.000,6,0.000,0.031,2787,2620,3928
$GC,1734,-1.39,-243.3,220.2,-11.4,163,1735,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2619,3928
$GC,1799,-1.39,-243.3,227.5,-12.1,169,1800,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2619,3928
$GC,1862,-1.39,-243.3,235.2,-11.6,175,1863,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2619,3928
$GC,1926,-1.39,-243.3,242.2,-11.3,181,1927,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2619,3928
$GC,1990,-1.39,-243.3,249.7,-11.8,187,1991,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2619,3929
$GC,2053,-1.39,-243.3,256.4,-10.2,193,2054,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2619,3930
$GC,2117,-1.39,-243.3,263.1,-10.6,199,2118,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2619,3930
$GC,2181,-1.39,-243.3,270.0,-10.7,205,2182,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2619,3930
$GC,2246,-1.39,-243.3,276.9,-10.8,211,2247,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2619,3929
$GC,2309,-1.39,-243.3,283.6,-10.5,217,2313,0.00,2.38,0.00,0.000,4,0.000,0.071,2788,3889,3929
$GC,2361,-1.39,-243.3,289.3,-11.1,221,2365,0.00,2.15,0.00,0.000,6,0.000,0.035,2787,2627,3929
$GC,2436,-1.39,-243.3,296.9,-9.6,228,2437,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2627,3928
$GC,2501,-1.39,-243.3,303.0,-9.6,234,2502,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2627,3928
$GC,2691,-1.39,-243.3,322.3,-10.2,252,2692,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2627,3932
$GC,2882,-1.39,-243.3,341.6,-9.7,270,2886,0.00,2.38,0.00,0.000,4,0.000,0.075,2788,3887,3929
$GC,2915,-1.39,-243.3,345.3,-10.5,272,2923,0.00,2.17,0.00,0.000,6,0.000,0.036,2788,2633,3930
$GC,3114,-1.39,-243.3,363.7,-9.5,291,3115,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2633,3930
$GC,3304,-1.39,-243.3,380.9,-8.7,309,3308,0.00,2.38,0.00,0.000,4,0.000,0.078,2788,3890,3928
$GC,3372,-1.39,-243.3,387.2,-8.9,315,3376,0.00,2.17,0.00,0.000,6,0.000,0.037,2788,2625,3926
$GC,3570,-1.39,-243.3,404.3,-8.6,333,3571,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2624,3927
$GC,3761,-1.39,-243.3,421.0,-8.6,351,3765,0.00,2.45,0.00,0.000,4,0.000,0.048,2787,1234,3926
$GC,3813,-1.39,-243.3,425.1,-7.4,355,3817,0.00,2.47,0.00,0.000,6,0.000,0.047,2788,2626,3926
$GC,4010,-1.39,-243.3,439.5,-7.0,373,4011,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2626,3925
$GC,4201,-1.39,-243.3,452.8,-6.9,391,4205,0.00,2.40,0.00,0.000,4,0.000,0.081,2788,3892,3924
$GC,4244,-1.39,-243.3,456.0,-7.6,394,4252,0.00,2.20,0.00,0.000,6,0.000,0.039,2788,2622,3923
$GC,4443,-1.39,-243.3,468.9,-6.7,413,4444,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2622,3922
$GC,4634,-1.39,-243.3,482.4,-7.7,431,4638,0.00,2.42,0.00,0.000,4,0.000,0.082,2788,3890,3920
$GC,4700,-1.39,-243.3,488.2,-9.0,436,4707,0.00,2.20,0.00,0.000,6,0.000,0.039,2788,2625,3920
$GC,4898,-1.39,-243.3,504.6,-8.8,455,4899,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2625,3918
$GC,5088,-1.39,-243.3,520.6,-8.7,473,5090,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2625,3917
$GC,5280,-1.39,-243.3,537.4,-8.9,491,5284,0.00,2.50,0.00,0.000,4,0.000,0.054,2788,1231,3915
$GC,5335,-1.39,-243.3,542.4,-8.9,495,5342,0.00,2.53,0.00,0.000,6,0.000,0.051,2788,2632,3915
$GC,5534,-1.39,-243.3,557.9,-7.0,514,5538,0.00,2.42,0.00,0.000,4,0.000,0.090,2788,3890,3914
$GC,5586,-1.39,-243.3,561.7,-7.1,518,5590,0.00,2.20,0.00,0.000,6,0.000,0.041,2788,2630,3913
$GC,5783,-1.39,-243.3,574.9,-6.3,536,5784,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2630,3912
$GC,5974,-1.39,-243.3,589.3,-7.9,554,5978,0.00,2.45,0.00,0.000,4,0.000,0.090,2788,3890,3911
$GC,6026,-1.39,-243.3,593.8,-8.8,558,6030,0.00,2.22,0.00,0.000,6,0.000,0.041,2787,2623,3911
$GC,6224,-1.39,-243.3,612.1,-9.2,576,6225,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2623,3910
$GC,6414,-1.39,-243.3,629.7,-9.2,594,6415,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2623,3909
$GC,6606,-1.39,-243.3,645.3,-7.7,612,6607,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2623,3908
$GC,6797,-1.39,-243.3,659.5,-8.3,630,6801,0.00,2.25,0.00,0.000,3,0.000,0.097,2787,3762,3907
$STATE,6801,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6801,begin apogee
$GC,6808,-0.42,0.0,660.1,8.4,630,7136,1.00,0.00,315.52,0.925,6,0.079,0.000,3001,2536,2937
$STATE,7138,end apogee,CONTROL_FINISHED_OK
$STATE,7138,begin climb
$GC,7140,1.39,243.3,677.7,0.0,663,7483,1.80,2.83,326.10,0.881,4,0.053,0.096,3396,3893,1944
$GC,7567,1.39,243.3,651.0,10.0,699,7575,0.00,2.47,0.00,0.000,6,0.000,0.042,3396,2530,1940
$GC,7766,1.39,243.3,628.5,11.3,718,7767,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,2529,1939
$GC,7956,1.39,243.3,606.2,12.6,736,7958,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,2529,1937
$GC,8148,1.39,243.3,583.8,11.5,754,8152,0.00,2.70,0.00,0.000,4,0.000,0.087,3396,3893,1936
$GC,8199,1.39,243.3,577.7,12.1,758,8203,0.00,2.45,0.00,0.000,6,0.000,0.042,3396,2515,1936
$GC,8396,1.39,243.3,555.9,10.7,776,8400,0.00,2.55,0.00,0.000,4,0.000,0.058,3396,1121,1935
$GC,8436,1.39,243.3,551.5,10.6,779,8440,0.00,2.58,0.00,0.000,6,0.000,0.050,3396,2538,1935
$GC,8633,1.39,243.3,530.6,11.0,797,8638,0.00,2.58,0.00,0.000,4,0.000,0.052,3396,1125,1934
$GC,8890,1.39,243.3,501.1,12.3,819,8898,0.00,2.55,0.00,0.000,6,0.000,0.048,3396,2533,1934
$GC,9088,1.39,243.3,478.5,11.3,838,9092,0.00,2.62,0.00,0.000,4,0.000,0.085,3396,3897,1933
$GC,9294,1.39,243.3,453.8,13.3,856,9299,0.00,2.42,0.00,0.000,6,0.000,0.041,3396,2516,1933
$GC,9492,1.42,273.7,433.7,9.2,874,9539,0.00,2.60,37.72,0.858,4,0.000,0.053,3396,1126,1820
$GC,9579,1.45,291.7,425.5,9.5,881,9612,0.00,2.55,25.83,0.827,6,0.000,0.045,3396,2537,1746
$GC,9800,1.45,291.7,403.7,10.4,902,9805,0.00,2.58,0.00,0.000,4,0.000,0.080,3396,3888,1743
$GC,9840,1.45,291.7,399.1,12.6,905,9844,0.00,2.40,0.00,0.000,6,0.000,0.041,3396,2527,1742
$GC,10037,1.45,291.7,378.2,10.8,923,10041,0.00,2.60,0.00,0.000,4,0.000,0.075,3396,3890,1741
$GC,10068,1.45,291.7,374.4,11.6,925,10076,0.00,2.45,0.00,0.000,6,0.000,0.041,3396,2528,1741
$GC,10268,1.45,291.7,353.6,10.1,944,10269,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,2528,1740
$GC,10458,1.46,298.9,335.2,9.8,962,10470,0.00,0.00,9.40,0.733,6,0.000,0.000,3396,2526,1717
$GC,10660,1.46,298.9,314.8,10.5,981,10661,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,2526,1717
$GC,10850,1.46,298.9,294.5,10.6,999,10854,0.00,2.58,0.00,0.000,4,0.000,0.073,3396,3889,1716
$GC,10905,1.46,298.9,288.5,10.9,1003,10912,0.00,2.38,0.00,0.000,6,0.000,0.038,3396,2529,1716
$GC,10975,1.46,298.9,281.2,10.2,1010,10976,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,2529,1716
$GC,11039,1.46,298.9,274.4,10.2,1016,11040,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,2526,1716
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$STATE,13443,end climb,SURFACE_DEPTH_REACHED
$STATE,13443,begin surface coast
$FINISH,-0.3,1.022904
$STATE,13478,end surface coast,CONTROL_FINISHED_OK
$STATE,13478,begin surface
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$TT8_MAMPS,0.055991
$HUMID,1881
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$TCM_TEMP,23.70
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$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.1,23.557
$10V_AH,10.0,8.352
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$DEVICE_SECS,33.850,159.925,926.450,0.000,0.000,25.059,35.305,589.244,0.000,0.000,250.303,12.465,2548.800,7092.085,975.439,2262.031,1522.400,33.358,2341.569,0.000,2187.720,0.000,0.000,0.000
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$SENSOR_SECS,836.437,0.000,0.000,0.000,0.000,0.000,183.835,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,40950,1247
$CAP_FILE_SIZE,497719,0
$CFSIZE,260034560,247189504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050809,110331,2154.442,-15943.847,40,1.7,40,9.8