version: 66.04
glider: 116
mission: 22
dive: 84
start: 8 5 109 11 16 51
data:
$ID,116
$MISSION,22
$DIVE,84
$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,-59207.375
$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,46
$R_STBD_OVSHOOT,29
$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
$GPS1,110331,2154.442,-15943.847,40,1.7,40,9.8
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-68.9
$GPS2,111555,2154.535,-15944.063,10,1.7,15,9.8
$SPEED_LIMITS,0.100,0.324
$TGT_NAME,BobSW
$TGT_LATLONG,2153.790,-15942.207
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.300,-0.124
$KALMAN_X,-128485.1,613.9,-314.4,124583.1,-1332.4
$KALMAN_Y,33360.9,28.8,65.1,-36276.3,495.9
$MHEAD_RNG_PITCHd_Wd,102.6,3476,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.39,-243.3,0.0,0.0,0,107,0.00,0.00,-87.40,0.000,2,0.000,0.000,124,2647,3575
$GC,110,-1.39,-243.3,4.7,-12.3,13,139,16.10,0.00,-4.95,0.000,6,0.180,0.000,2788,2647,3928
$GC,201,-1.39,-243.3,34.7,-18.0,23,202,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2647,3936
$GC,266,-1.39,-243.3,45.3,-16.9,29,270,0.00,2.25,0.00,0.000,4,0.000,0.061,2789,3881,3934
$GC,309,-1.39,-243.3,51.7,-13.1,32,317,0.00,2.15,0.00,0.000,6,0.000,0.029,2789,2616,3937
$GC,381,-1.39,-243.3,60.8,-13.3,39,385,0.00,2.35,0.00,0.000,4,0.000,0.033,2789,1240,3938
$GC,447,-1.39,-243.3,68.2,-10.2,44,455,0.00,2.40,0.00,0.000,6,0.000,0.035,2789,2624,3938
$GC,517,-1.39,-243.3,76.0,-12.0,51,518,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2624,3936
$GC,582,-1.39,-243.3,83.3,-11.3,57,583,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2624,3935
$GC,647,-1.39,-243.3,90.3,-10.8,63,648,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2624,3937
$GC,711,-1.39,-243.3,97.3,-10.7,69,712,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2624,3937
$GC,774,-1.39,-243.3,103.8,-10.3,75,775,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2624,3938
$GC,837,-1.39,-243.3,110.6,-10.8,81,838,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2624,3938
$GC,901,-1.39,-243.3,116.5,-9.2,87,905,0.00,2.33,0.00,0.000,4,0.000,0.066,2789,3885,3938
$GC,944,-1.39,-243.3,121.4,-10.5,90,952,0.00,2.12,0.00,0.000,6,0.000,0.029,2789,2638,3938
$GC,1014,-1.39,-243.3,128.9,-11.0,97,1016,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2638,3938
$GC,1079,-1.39,-243.3,136.1,-11.6,103,1083,0.00,2.30,0.00,0.000,4,0.000,0.065,2789,3889,3938
$GC,1107,-1.39,-243.3,139.4,-11.8,105,1111,0.00,2.12,0.00,0.000,6,0.000,0.030,2789,2617,3938
$GC,1182,-1.39,-243.3,147.6,-11.0,112,1183,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2617,3938
$GC,1248,-1.39,-243.3,153.5,-8.3,118,1252,0.00,2.38,0.00,0.000,4,0.000,0.035,2789,1229,3938
$GC,1277,-1.39,-243.3,156.4,-9.6,120,1281,0.00,2.42,0.00,0.000,6,0.000,0.037,2789,2625,3939
$GC,1348,-1.39,-243.3,165.2,-12.1,126,1352,0.00,2.40,0.00,0.000,4,0.000,0.035,2789,1228,3938
$GC,1387,-1.39,-243.3,170.1,-11.2,129,1392,0.00,2.45,0.00,0.000,6,0.000,0.036,2789,2639,3938
$GC,1458,-1.39,-243.3,177.8,-10.3,135,1462,0.00,2.33,0.00,0.000,4,0.000,0.069,2788,3896,3938
$GC,1501,-1.39,-243.3,182.9,-11.7,138,1509,0.00,2.17,0.00,0.000,6,0.000,0.029,2789,2616,3938
$GC,1571,-1.39,-243.3,190.8,-11.7,145,1572,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2616,3938
$GC,1636,-1.39,-243.3,197.9,-10.9,151,1638,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2616,3938
$GC,1700,-1.39,-243.3,205.1,-11.4,157,1701,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2616,3939
$GC,1763,-1.39,-243.3,212.3,-11.3,163,1767,0.00,2.38,0.00,0.000,4,0.000,0.037,2789,1235,3938
$GC,1795,-1.39,-243.3,216.2,-11.0,165,1803,0.00,2.45,0.00,0.000,6,0.000,0.038,2789,2623,3938
$GC,1867,-1.39,-243.3,223.9,-11.3,172,1869,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2622,3938
$GC,1931,-1.39,-243.3,231.4,-11.6,178,1932,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2623,3938
$GC,1994,-1.39,-243.3,238.6,-11.4,184,1996,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2622,3938
$GC,2059,-1.39,-243.3,245.7,-10.9,190,2063,0.00,2.35,0.00,0.000,4,0.000,0.071,2789,3887,3939
$GC,2132,-1.39,-243.3,254.0,-10.9,196,2136,0.00,2.12,0.00,0.000,6,0.000,0.031,2789,2629,3939
$GC,2207,-1.39,-243.3,261.5,-9.8,203,2208,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2627,3939
$GC,2272,-1.39,-243.3,267.5,-9.6,209,2273,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2627,3939
$GC,2336,-1.39,-243.3,273.2,-9.0,215,2337,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2627,3939
$GC,2399,-1.39,-243.3,278.4,-7.9,221,2400,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2627,3939
$GC,2463,-1.39,-243.3,283.3,-7.7,227,2465,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2627,3939
$GC,2527,-1.39,-243.3,288.2,-7.9,233,2528,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2627,3940
$GC,2591,-1.39,-243.3,293.4,-8.2,239,2592,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2627,3940
$GC,2655,-1.39,-243.3,298.6,-8.2,245,2656,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2627,3940
$GC,2718,-1.39,-243.3,303.5,-8.1,251,2719,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2627,3941
$GC,2909,-1.39,-243.3,321.2,-9.7,269,2910,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2627,3941
$GC,3099,-1.39,-243.3,338.8,-9.1,287,3103,0.00,2.38,0.00,0.000,4,0.000,0.074,2789,3889,3941
$GC,3165,-1.39,-243.3,345.8,-10.3,292,3173,0.00,2.17,0.00,0.000,6,0.000,0.035,2789,2636,3942
$GC,3364,-1.39,-243.3,364.0,-9.2,311,3366,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2636,3940
$GC,3555,-1.39,-243.3,381.5,-8.6,329,3559,0.00,2.38,0.00,0.000,4,0.000,0.077,2789,3887,3939
$GC,3598,-1.39,-243.3,385.6,-9.4,332,3606,0.00,2.20,0.00,0.000,6,0.000,0.035,2789,2626,3940
$GC,3797,-1.39,-243.3,402.5,-8.7,351,3799,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2625,3941
$GC,3987,-1.39,-243.3,418.7,-8.2,369,3991,0.00,2.40,0.00,0.000,4,0.000,0.080,2789,3885,3942
$GC,4050,-1.39,-243.3,424.4,-9.1,374,4054,0.00,2.17,0.00,0.000,6,0.000,0.038,2789,2629,3942
$GC,4247,-1.39,-243.3,441.8,-9.1,392,4248,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2629,3942
$GC,4438,-1.39,-243.3,459.0,-9.0,410,4439,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2629,3941
$GC,4629,-1.39,-243.3,475.2,-8.0,428,4630,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2627,3940
$GC,4821,-1.39,-243.3,488.5,-6.6,446,4825,0.00,2.42,0.00,0.000,4,0.000,0.084,2789,3886,3939
$GC,4894,-1.39,-243.3,493.8,-7.0,452,4898,0.00,2.20,0.00,0.000,6,0.000,0.038,2789,2623,3939
$GC,5091,-1.39,-243.3,507.2,-7.1,470,5092,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2622,3939
$GC,5283,-1.39,-243.3,522.6,-8.3,488,5284,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2622,3938
$GC,5474,-1.39,-243.3,538.6,-8.1,506,5475,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2622,3937
$GC,5665,-1.39,-243.3,552.7,-6.6,524,5666,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2622,3936
$GC,5856,-1.39,-243.3,566.9,-7.6,542,5857,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2622,3935
$GC,6047,-1.39,-243.3,580.8,-7.1,560,6048,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2622,3935
$GC,6238,-1.39,-243.3,593.8,-6.7,578,6239,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2622,3931
$GC,6429,-1.39,-243.3,606.6,-7.0,596,6433,0.00,2.47,0.00,0.000,4,0.000,0.094,2789,3884,3930
$GC,6517,-1.39,-243.3,613.4,-7.9,603,6524,0.00,2.22,0.00,0.000,6,0.000,0.041,2789,2637,3929
$GC,6716,-1.39,-243.3,628.2,-7.1,622,6717,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2637,3928
$GC,6906,-1.39,-243.3,641.7,-7.1,640,6910,0.00,2.45,0.00,0.000,4,0.000,0.096,2789,3885,3927
$GC,6961,-1.39,-243.3,646.1,-8.1,644,6969,0.00,2.22,0.00,0.000,6,0.000,0.041,2789,2623,3927
$STATE,7135,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7135,begin apogee
$GC,7140,-0.42,0.0,660.2,7.9,661,7470,1.02,0.00,322.17,0.927,6,0.077,0.000,3005,2521,2936
$STATE,7473,end apogee,CONTROL_FINISHED_OK
$STATE,7473,begin climb
$GC,7474,1.39,243.3,674.1,0.0,694,7813,1.77,2.65,326.40,0.877,4,0.052,0.067,3395,1128,1944
$GC,7836,1.39,243.3,650.4,10.9,724,7840,0.00,2.60,0.00,0.000,6,0.000,0.057,3395,2526,1942
$GC,8033,1.39,243.3,628.7,10.9,742,8037,0.00,2.70,0.00,0.000,4,0.000,0.094,3394,3896,1938
$GC,8076,1.39,243.3,623.4,12.3,745,8083,0.00,2.45,0.00,0.000,6,0.000,0.042,3394,2521,1938
$GC,8274,1.39,243.3,600.8,11.3,764,8278,0.00,2.67,0.00,0.000,4,0.000,0.087,3394,3891,1937
$GC,8305,1.39,243.3,596.8,12.0,766,8313,0.00,2.42,0.00,0.000,6,0.000,0.041,3394,2521,1937
$GC,8504,1.39,243.3,576.0,10.1,785,8505,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,2521,1936
$GC,8695,1.40,255.5,556.9,9.7,803,8717,0.00,2.58,15.23,0.833,4,0.000,0.057,3395,1126,1894
$GC,8744,1.40,255.5,551.9,10.0,807,8752,0.00,2.58,0.00,0.000,6,0.000,0.051,3394,2535,1894
$GC,8943,1.41,260.8,532.4,9.9,826,8953,0.00,0.00,8.40,0.765,6,0.000,0.000,3395,2535,1873
$GC,9143,1.41,260.8,512.0,10.5,845,9144,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,2535,1871
$GC,9334,1.41,260.8,492.1,10.7,863,9335,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,2535,1871
$GC,9525,1.41,265.0,472.3,9.9,881,9539,0.00,2.62,6.78,0.726,4,0.000,0.082,3394,3891,1855
$GC,9588,1.41,265.0,465.0,11.3,886,9596,0.00,2.45,0.00,0.000,6,0.000,0.041,3394,2524,1855
$GC,9787,1.41,265.0,444.8,10.3,905,9788,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,2524,1854
$GC,9977,1.41,265.0,424.1,11.1,923,9981,0.00,2.53,0.00,0.000,4,0.000,0.054,3395,1119,1854
$GC,10016,1.41,265.0,419.7,11.0,926,10021,0.00,2.55,0.00,0.000,6,0.000,0.046,3395,2539,1854
$GC,10213,1.41,265.0,398.6,10.9,944,10218,0.00,2.58,0.00,0.000,4,0.000,0.081,3394,3895,1853
$GC,10257,1.41,265.0,393.4,11.8,947,10265,0.00,2.42,0.00,0.000,6,0.000,0.041,3395,2529,1853
$GC,10456,1.43,273.9,373.1,9.8,966,10476,0.00,0.00,12.65,0.781,6,0.000,0.000,3394,2528,1819
$GC,10667,1.44,289.3,352.3,9.6,986,10697,0.00,0.00,22.12,0.792,6,0.000,0.000,3395,2528,1756
$GC,10887,1.44,289.3,330.1,10.3,1007,10888,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,2527,1754
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$GC,13610,1.66,466.9,34.8,7.4,1250,13732,0.08,2.50,115.53,0.551,4,0.061,0.038,3463,1142,1031
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$STATE,13893,end climb,SURFACE_DEPTH_REACHED
$STATE,13894,begin surface coast
$FINISH,-0.3,1.023083
$STATE,13928,end surface coast,CONTROL_FINISHED_OK
$STATE,13928,begin surface
$SM_CCo,14013,0.00,0.000,0,0,1026,468.52
$SM_GC,0.93,14.77,0.00,0.00,0.041,0.000,0.000,124,2636,1026,-13.58,0.23,468.52
$IRIDIUM_FIX,2145.77,-15940.77,301098,070710
$TT8_MAMPS,0.062894
$HUMID,1858
$INTERNAL_PRESSURE,11.3383
$TCM_TEMP,23.50
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.4,23.873
$10V_AH,10.0,8.485
$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
$DEVICE_SECS,33.875,164.300,944.025,0.000,0.000,25.338,37.377,491.201,0.000,0.000,233.599,15.533,2619.794,7382.714,1019.740,2266.884,1445.844,33.382,2396.756,0.000,2203.496,0.000,0.000,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,866.805,0.000,0.000,0.000,0.000,0.000,184.740,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,40969,1293
$CAP_FILE_SIZE,510775,0
$CFSIZE,260034560,246992896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050809,151137,2153.893,-15942.468,39,1.0,39,9.8