version: 66.04
glider: 116
mission: 22
dive: 96
start: 8 6 109 20 6 29
data:
$ID,116
$MISSION,22
$DIVE,96
$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,60
$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,-59500.402
$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,44
$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
$GPS1,195450,2154.478,-15943.413,11,1.8,12,9.8
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-68.0
$GPS2,200537,2154.604,-15943.736,42,1.5,42,9.8
$SPEED_LIMITS,0.150,0.374
$TGT_NAME,BobNE
$TGT_LATLONG,2154.185,-15941.805
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.342,-0.150
$KALMAN_X,-158329.2,790.4,-329.7,154849.4,-1336.2
$KALMAN_Y,46935.6,-383.3,65.9,-49322.8,566.0
$MHEAD_RNG_PITCHd_Wd,103.9,3409,-19.1,-15.000
$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,-1.89,-243.3,0.0,0.0,0,114,0.00,0.00,-93.43,0.000,2,0.000,0.000,123,2642,3356
$GC,117,-1.89,-243.3,3.3,-7.0,14,147,15.35,2.47,-8.80,0.000,4,0.180,0.043,2674,1232,3932
$GC,169,-1.89,-243.3,23.7,-29.1,21,177,0.00,2.45,0.00,0.000,6,0.000,0.036,2674,2624,3933
$GC,240,-1.89,-243.3,41.0,-25.1,28,241,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2624,3933
$GC,304,-1.89,-243.3,56.7,-24.4,34,306,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2624,3933
$GC,368,-1.89,-243.3,70.9,-21.6,40,372,0.00,2.33,0.00,0.000,4,0.000,0.063,2674,3896,3933
$GC,431,-1.89,-243.3,86.1,-23.9,45,435,0.00,2.12,0.00,0.000,6,0.000,0.028,2674,2615,3933
$GC,506,-1.89,-243.3,101.9,-20.0,52,507,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2613,3933
$GC,571,-1.89,-243.3,114.5,-19.3,58,572,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2613,3933
$GC,635,-1.89,-243.3,127.1,-20.8,64,636,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2613,3933
$GC,699,-1.89,-243.3,138.5,-17.2,70,700,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2613,3933
$GC,762,-1.89,-243.3,149.8,-17.5,76,766,0.00,2.35,0.00,0.000,4,0.000,0.034,2674,1235,3933
$GC,825,-1.89,-243.3,162.1,-21.0,81,829,0.00,2.42,0.00,0.000,6,0.000,0.038,2674,2630,3933
$GC,895,-1.89,-243.3,177.1,-21.1,87,896,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2631,3933
$GC,959,-1.89,-243.3,189.2,-18.8,93,963,0.00,2.33,0.00,0.000,4,0.000,0.069,2674,3890,3932
$GC,1003,-1.89,-243.3,198.5,-20.1,96,1010,0.00,2.12,0.00,0.000,6,0.000,0.028,2674,2629,3932
$GC,1074,-1.89,-243.3,210.9,-17.6,103,1076,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2629,3932
$GC,1139,-1.89,-243.3,220.4,-14.7,109,1143,0.00,2.38,0.00,0.000,4,0.000,0.035,2674,1240,3932
$GC,1178,-1.89,-243.3,226.3,-13.6,112,1183,0.00,2.42,0.00,0.000,6,0.000,0.038,2674,2636,3932
$GC,1250,-1.89,-243.3,236.0,-13.7,118,1254,0.00,2.33,0.00,0.000,4,0.000,0.069,2674,3894,3932
$GC,1316,-1.89,-243.3,246.7,-14.9,123,1324,0.00,2.12,0.00,0.000,6,0.000,0.030,2674,2625,3933
$GC,1386,-1.89,-243.3,256.9,-14.6,130,1391,0.00,2.38,0.00,0.000,4,0.000,0.036,2674,1238,3932
$GC,1442,-1.89,-243.3,265.2,-15.4,134,1450,0.00,2.42,0.00,0.000,6,0.000,0.039,2674,2627,3932
$STATE,1478,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1478,begin apogee
$GC,1483,-0.42,0.0,270.7,14.8,138,1803,1.55,0.00,307.52,0.611,6,0.084,0.000,2999,2525,2936
$STATE,1804,end apogee,CONTROL_FINISHED_OK
$STATE,1805,begin climb
$GC,1807,1.89,243.3,288.9,0.0,170,2129,2.00,2.65,305.38,0.605,4,0.047,0.071,3451,3890,1944
$GC,2320,1.94,285.5,243.8,13.3,214,2381,0.00,2.35,53.62,0.588,6,0.000,0.033,3451,2520,1772
$GC,2442,1.94,285.5,226.9,15.1,225,2446,0.00,2.58,0.00,0.000,4,0.000,0.068,3451,3891,1770
$GC,2519,2.01,346.0,215.9,12.5,231,2609,0.00,2.35,78.45,0.584,6,0.000,0.033,3451,2523,1525
$GC,2671,2.08,401.2,196.5,12.7,245,2754,0.00,2.45,72.47,0.575,4,0.000,0.041,3452,1139,1300
$GC,2782,2.14,446.6,182.4,13.1,254,2850,0.00,2.47,59.17,0.566,6,0.000,0.037,3452,2543,1115
$GC,2911,2.16,461.8,164.7,14.4,266,2934,0.00,0.00,20.48,0.540,6,0.000,0.000,3452,2543,1053
$GC,2993,2.16,461.8,152.1,15.7,274,2994,0.00,0.00,0.00,0.000,6,0.000,0.000,3452,2543,1052
$GC,3058,2.16,461.8,141.9,16.2,280,3062,0.00,2.47,0.00,0.000,4,0.000,0.039,3451,1136,1050
$GC,3089,2.16,461.8,136.5,15.2,282,3097,0.00,2.45,0.00,0.000,6,0.000,0.037,3452,2532,1050
$GC,3161,2.18,478.0,126.5,14.3,289,3187,0.00,2.47,21.00,0.539,4,0.000,0.038,3451,1134,986
$GC,3222,2.21,505.9,118.3,13.8,294,3269,0.00,2.45,37.05,0.545,6,0.000,0.036,3452,2531,873
$GC,3332,2.21,505.9,102.3,15.4,304,3336,0.00,2.53,0.00,0.000,4,0.000,0.065,3451,3894,871
$GC,3363,2.21,505.9,97.0,16.4,306,3371,0.00,2.35,0.00,0.000,6,0.000,0.031,3451,2512,871
$GC,3434,2.21,505.9,86.2,15.4,313,3435,0.00,0.00,0.00,0.000,6,0.000,0.000,3451,2512,870
$GC,3499,2.24,526.8,76.8,14.1,319,3535,0.00,2.45,26.77,0.522,4,0.000,0.038,3452,1139,788
$GC,3558,2.27,551.5,68.5,14.0,324,3571,0.00,2.42,7.10,0.442,6,0.000,0.034,3452,2531,770
$GC,3633,2.35,622.7,59.2,12.1,331,3637,0.00,2.50,0.00,0.000,4,0.000,0.062,3451,3892,770
$GC,3717,2.41,666.6,48.2,13.2,338,3721,0.00,2.30,0.00,0.000,6,0.000,0.031,3451,2531,769
$GC,3788,2.48,724.2,39.2,12.6,344,3789,0.00,0.00,0.00,0.000,6,0.000,0.000,3452,2529,769
$GC,3851,2.56,792.5,31.2,12.2,350,3855,0.00,2.40,0.00,0.000,4,0.000,0.037,3452,1138,769
$GC,3890,2.64,856.7,26.2,12.3,353,3895,0.00,2.42,0.00,0.000,6,0.000,0.033,3452,2540,768
$GC,3961,2.72,916.8,17.5,12.5,360,3967,0.00,0.00,0.00,0.000,6,0.000,0.000,3451,2540,768
$GC,4036,2.79,974.4,8.2,12.6,373,4042,0.00,0.00,0.00,0.000,6,0.000,0.000,3452,2540,768
$STATE,4070,end climb,SURFACE_DEPTH_REACHED
$STATE,4070,begin surface coast
$FINISH,0.5,1.022988
$STATE,4105,end surface coast,CONTROL_FINISHED_OK
$STATE,4105,begin surface
$SM_CCo,4189,0.00,0.000,0,0,767,532.06
$SM_GC,1.04,14.48,0.00,0.00,0.035,0.000,0.000,124,2634,767,-13.58,0.17,532.06
$IRIDIUM_FIX,2148.09,-15942.95,311098,181815
$TT8_MAMPS,0.059826
$HUMID,1836
$INTERNAL_PRESSURE,11.436
$TCM_TEMP,24.00
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.8,26.706
$10V_AH,9.7,9.859
$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,33.375,77.025,989.025,0.000,0.000,33.161,32.981,403.172,0.000,0.000,70.534,42.755,714.073,1517.873,933.904,873.549,801.379,33.364,1597.382,0.000,795.519,0.000,0.000,0.000
$DEVICE_MAMPS,180.245,70.564,611.299,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,244.910,0.000,0.000,0.000,0.000,0.000,94.613,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,12694,385
$CAP_FILE_SIZE,174032,0
$CFSIZE,260034560,245329920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060809,211722,2154.782,-15944.088,11,6.1,31,9.8