version: 66.04
glider: 116
mission: 22
dive: 98
start: 8 6 109 22 57 23
data:
$ID,116
$MISSION,22
$DIVE,98
$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,-59570.434
$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,53
$R_STBD_OVSHOOT,37
$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
$GPS1,224250,2155.023,-15944.752,12,1.6,13,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-64.2
$GPS2,225632,2155.144,-15945.103,34,1.6,34,9.8
$SPEED_LIMITS,0.150,0.374
$TGT_NAME,BobNE
$TGT_LATLONG,2154.185,-15941.805
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.338,-0.160
$KALMAN_X,-161448.3,-415.6,-595.4,157087.3,-1081.2
$KALMAN_Y,48311.6,142.3,221.0,-50374.0,534.8
$MHEAD_RNG_PITCHd_Wd,105.6,5938,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.89,-243.3,0.0,0.0,0,115,0.00,0.00,-93.45,0.000,2,0.000,0.000,122,2640,3357
$GC,118,-1.89,-243.3,3.3,-7.0,14,148,15.30,2.45,-8.85,0.000,4,0.179,0.044,2677,1242,3929
$GC,183,-1.89,-243.3,25.7,-22.9,22,188,0.00,2.38,0.00,0.000,6,0.000,0.035,2677,2619,3930
$GC,254,-1.89,-243.3,42.9,-25.1,28,255,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2619,3930
$GC,318,-1.89,-243.3,57.0,-22.4,34,322,0.00,2.30,0.00,0.000,4,0.000,0.061,2677,3889,3931
$GC,369,-1.89,-243.3,67.9,-21.3,38,373,0.00,2.10,0.00,0.000,6,0.000,0.028,2677,2622,3930
$GC,444,-1.89,-243.3,81.4,-18.8,45,448,0.00,2.33,0.00,0.000,4,0.000,0.033,2677,1243,3930
$GC,482,-1.89,-243.3,89.1,-19.6,48,490,0.00,2.42,0.00,0.000,6,0.000,0.036,2677,2626,3930
$GC,553,-1.89,-243.3,102.8,-20.0,55,554,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2626,3930
$GC,618,-1.89,-243.3,117.4,-22.6,61,622,0.00,2.35,0.00,0.000,4,0.000,0.031,2677,1242,3930
$GC,638,-1.89,-243.3,122.1,-19.8,62,646,0.00,2.42,0.00,0.000,6,0.000,0.035,2677,2629,3930
$GC,710,-1.89,-243.3,134.5,-18.2,69,711,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2629,3930
$GC,774,-1.89,-243.3,146.0,-18.2,75,778,0.00,2.38,0.00,0.000,4,0.000,0.032,2677,1238,3930
$GC,813,-1.89,-243.3,152.8,-16.6,78,818,0.00,2.40,0.00,0.000,6,0.000,0.037,2677,2627,3930
$GC,884,-1.89,-243.3,165.7,-18.7,84,885,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2627,3930
$GC,948,-1.89,-243.3,176.8,-17.4,90,952,0.00,2.33,0.00,0.000,4,0.000,0.068,2677,3890,3931
$GC,1003,-1.89,-243.3,187.7,-18.9,94,1011,0.00,2.10,0.00,0.000,6,0.000,0.028,2677,2623,3930
$GC,1073,-1.89,-243.3,199.8,-17.8,101,1074,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2623,3930
$GC,1138,-1.89,-243.3,210.4,-15.8,107,1139,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2623,3930
$GC,1201,-1.89,-243.3,220.7,-16.1,113,1202,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2623,3931
$GC,1265,-1.89,-243.3,231.2,-16.4,119,1269,0.00,2.35,0.00,0.000,4,0.000,0.035,2677,1242,3931
$GC,1317,-1.89,-243.3,239.7,-16.3,123,1321,0.00,2.42,0.00,0.000,6,0.000,0.039,2677,2635,3931
$GC,1388,-1.89,-243.3,251.5,-17.1,129,1389,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2635,3931
$GC,1451,-1.89,-243.3,261.6,-16.1,135,1455,0.00,2.33,0.00,0.000,4,0.000,0.070,2677,3894,3931
$GC,1484,-1.89,-243.3,267.1,-15.9,137,1491,0.00,2.12,0.00,0.000,6,0.000,0.030,2677,2637,3931
$STATE,1510,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1510,begin apogee
$GC,1515,-0.42,0.0,271.0,15.1,140,1834,1.55,0.00,309.50,0.611,6,0.086,0.000,3001,2528,2936
$STATE,1835,end apogee,CONTROL_FINISHED_OK
$STATE,1837,begin climb
$GC,1838,1.89,243.3,285.2,0.0,172,2160,2.00,2.50,307.52,0.601,4,0.047,0.043,3463,1129,1944
$GC,2391,1.97,313.5,231.8,12.1,219,2493,0.00,2.47,90.28,0.586,6,0.000,0.037,3463,2536,1656
$GC,2555,2.05,377.5,212.4,12.3,234,2650,0.00,2.58,83.43,0.579,4,0.000,0.040,3463,1129,1397
$GC,2711,2.06,383.2,190.4,14.8,247,2729,0.00,2.47,8.60,0.491,6,0.000,0.037,3463,2533,1373
$GC,2792,2.09,410.0,179.4,13.9,255,2833,0.00,0.00,35.90,0.561,6,0.000,0.000,3462,2533,1264
$GC,2896,2.12,433.8,164.9,14.0,265,2933,0.00,2.53,31.55,0.552,4,0.000,0.066,3463,3887,1167
$GC,2957,2.13,439.6,156.0,14.8,270,2971,0.00,2.33,8.88,0.486,6,0.000,0.032,3463,2526,1144
$GC,3032,2.13,439.6,144.8,15.0,277,3036,0.00,2.42,0.00,0.000,4,0.000,0.040,3462,1141,1142
$GC,3071,2.13,439.6,138.4,16.5,280,3076,0.00,2.45,0.00,0.000,6,0.000,0.037,3463,2538,1142
$GC,3142,2.13,439.6,127.4,15.6,286,3143,0.00,0.00,0.00,0.000,6,0.000,0.000,3463,2538,1141
$GC,3206,2.14,445.9,118.0,14.7,292,3217,0.00,0.00,8.75,0.486,6,0.000,0.000,3463,2538,1118
$GC,3280,2.22,514.4,108.8,12.2,299,3374,0.00,2.47,87.93,0.547,4,0.000,0.038,3463,1140,838
$GC,3415,2.22,514.4,90.0,15.5,311,3419,0.00,2.45,0.00,0.000,6,0.000,0.035,3463,2540,837
$GC,3486,2.23,523.7,79.9,14.6,317,3505,0.00,0.00,12.27,0.489,6,0.000,0.000,3463,2540,801
$GC,3568,2.23,523.7,67.1,15.8,325,3569,0.00,0.00,0.00,0.000,6,0.000,0.000,3463,2540,800
$GC,3633,2.23,523.7,56.6,16.3,331,3634,0.00,0.00,0.00,0.000,6,0.000,0.000,3463,2540,800
$GC,3696,2.25,534.2,46.8,14.6,337,3709,0.00,0.00,10.85,0.474,6,0.000,0.000,3463,2540,770
$GC,3769,2.28,562.7,36.3,13.8,344,3770,0.00,0.00,0.00,0.000,6,0.000,0.000,3463,2540,769
$GC,3833,2.32,592.6,27.5,13.8,350,3834,0.00,0.00,0.00,0.000,6,0.000,0.000,3463,2540,769
$GC,3897,2.38,646.1,19.2,12.8,356,3904,0.00,0.00,0.00,0.000,6,0.000,0.000,3463,2540,768
$GC,3972,2.44,694.8,9.4,13.0,369,3978,0.00,0.00,0.00,0.000,6,0.000,0.000,3463,2540,768
$STATE,4012,end climb,SURFACE_DEPTH_REACHED
$STATE,4012,begin surface coast
$FINISH,0.3,1.023018
$STATE,4041,end surface coast,CONTROL_FINISHED_OK
$STATE,4041,begin surface
$SM_CCo,4125,0.00,0.000,0,0,767,532.30
$SM_GC,1.02,14.57,0.00,0.00,0.038,0.000,0.000,123,2632,767,-13.59,0.11,532.30
$IRIDIUM_FIX,2148.09,-15945.13,311098,222257
$TT8_MAMPS,0.072098
$HUMID,1895
$INTERNAL_PRESSURE,11.436
$TCM_TEMP,23.70
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.8,27.133
$10V_AH,9.9,10.028
$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,33.425,62.150,995.450,0.000,0.000,54.477,55.467,499.556,0.000,0.000,35.296,34.821,697.091,1557.147,930.329,817.597,948.480,33.335,1564.575,0.000,754.678,0.000,0.000,0.000
$DEVICE_MAMPS,179.478,69.797,611.299,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,242.410,0.000,0.000,0.000,0.000,0.000,154.119,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,12685,381
$CAP_FILE_SIZE,172555,0
$CFSIZE,260034560,245092352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070809,000707,2155.161,-15945.311,25,1.5,26,9.8