version: 66.04
glider: 116
mission: 22
dive: 107
start: 8 7 109 20 25 30
data:
$ID,116
$MISSION,22
$DIVE,107
$D_SURF,4
$D_FLARE,3
$D_TGT,450
$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,120
$T_MISSION,150
$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,-59731.477
$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,40
$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
$GPS1,200806,2155.301,-15945.079,34,2.0,34,9.8
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,1
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-65.4
$GPS2,202438,2155.525,-15945.526,10,1.8,10,9.8
$SPEED_LIMITS,0.125,0.352
$TGT_NAME,BobNE
$TGT_LATLONG,2154.185,-15941.805
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.322,-0.140
$KALMAN_X,-185576.9,1521.0,-111.0,178050.6,-2833.9
$KALMAN_Y,59443.4,-696.3,97.7,-59829.3,1211.0
$MHEAD_RNG_PITCHd_Wd,103.8,6860,-16.2,-12.500
$D_GRID,450
$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,16,begin dive
$GC,18,-1.65,-243.3,0.0,0.0,0,108,0.00,0.00,-86.70,0.000,2,0.000,0.000,123,2643,3315
$GC,111,-1.65,-243.3,3.1,-5.9,13,148,15.62,2.50,-9.80,0.000,4,0.178,0.044,2727,1223,3914
$GC,212,-1.65,-243.3,31.3,-19.4,24,216,0.00,2.45,0.00,0.000,6,0.000,0.037,2727,2628,3968
$GC,283,-1.65,-243.3,45.6,-20.4,30,284,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2628,3969
$GC,346,-1.65,-243.3,58.7,-20.1,36,347,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2628,3969
$GC,412,-1.65,-243.3,71.4,-20.0,42,415,0.00,2.30,0.00,0.000,4,0.000,0.064,2727,3890,3969
$GC,440,-1.65,-243.3,77.3,-19.5,44,444,0.00,2.15,0.00,0.000,6,0.000,0.029,2727,2611,3967
$GC,510,-1.65,-243.3,89.3,-17.7,50,515,0.00,2.35,0.00,0.000,4,0.000,0.033,2727,1233,3964
$GC,542,-1.65,-243.3,95.5,-17.0,52,550,0.00,2.45,0.00,0.000,6,0.000,0.036,2727,2626,3966
$GC,614,-1.65,-243.3,107.3,-17.6,59,618,0.00,2.33,0.00,0.000,4,0.000,0.064,2727,3894,3967
$GC,654,-1.65,-243.3,114.6,-19.2,62,657,0.00,2.12,0.00,0.000,6,0.000,0.030,2727,2627,3967
$GC,730,-1.65,-243.3,128.3,-17.9,69,731,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2626,3967
$GC,794,-1.65,-243.3,139.5,-17.6,75,798,0.00,2.38,0.00,0.000,4,0.000,0.034,2727,1236,3967
$GC,833,-1.65,-243.3,146.2,-16.4,78,838,0.00,2.42,0.00,0.000,6,0.000,0.036,2728,2633,3968
$GC,904,-1.65,-243.3,157.6,-16.3,84,908,0.00,2.33,0.00,0.000,4,0.000,0.067,2727,3893,3968
$GC,969,-1.65,-243.3,168.7,-16.4,89,977,0.00,2.15,0.00,0.000,6,0.000,0.028,2727,2623,3968
$GC,1039,-1.65,-243.3,179.1,-14.8,96,1040,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2623,3969
$GC,1104,-1.65,-243.3,188.0,-14.5,102,1105,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2623,3968
$GC,1169,-1.65,-243.3,198.0,-15.9,108,1171,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2623,3969
$GC,1232,-1.65,-243.3,207.7,-15.2,114,1233,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2623,3969
$GC,1296,-1.65,-243.3,217.0,-14.4,120,1300,0.00,2.35,0.00,0.000,4,0.000,0.067,2727,3889,3969
$GC,1337,-1.65,-243.3,223.2,-14.9,123,1340,0.00,2.12,0.00,0.000,6,0.000,0.030,2727,2626,3969
$GC,1412,-1.65,-243.3,234.1,-14.2,130,1413,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2626,3970
$GC,1477,-1.65,-243.3,242.4,-12.9,136,1481,0.00,2.40,0.00,0.000,4,0.000,0.036,2727,1228,3969
$GC,1539,-1.65,-243.3,250.0,-11.2,141,1543,0.00,2.45,0.00,0.000,6,0.000,0.038,2727,2632,3970
$GC,1610,-1.65,-243.3,258.3,-11.8,147,1611,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2632,3970
$GC,1674,-1.65,-243.3,266.1,-12.2,153,1675,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2632,3970
$GC,1736,-1.65,-243.3,274.3,-13.0,159,1738,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2633,3970
$GC,1801,-1.65,-243.3,282.4,-12.6,165,1805,0.00,2.35,0.00,0.000,4,0.000,0.071,2727,3894,3970
$GC,1862,-1.65,-243.3,290.9,-14.1,170,1866,0.00,2.15,0.00,0.000,6,0.000,0.032,2726,2625,3970
$GC,1938,-1.65,-243.3,300.7,-12.7,177,1939,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2625,3971
$GC,2130,-1.65,-243.3,324.4,-11.8,195,2131,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2625,3970
$GC,2320,-1.65,-243.3,345.6,-11.3,213,2324,0.00,2.38,0.00,0.000,4,0.000,0.074,2727,3889,3975
$GC,2376,-1.65,-243.3,352.7,-12.9,217,2383,0.00,2.15,0.00,0.000,6,0.000,0.034,2726,2630,3974
$GC,2574,-1.65,-243.3,376.5,-11.6,236,2579,0.00,2.45,0.00,0.000,4,0.000,0.043,2727,1230,3972
$GC,2615,-1.65,-243.3,381.1,-10.9,239,2619,0.00,2.47,0.00,0.000,6,0.000,0.044,2727,2625,3971
$GC,2812,-1.65,-243.3,403.7,-12.0,257,2816,0.00,2.40,0.00,0.000,4,0.000,0.077,2727,3897,3965
$GC,2873,-1.65,-243.3,411.3,-12.9,262,2878,0.00,2.20,0.00,0.000,6,0.000,0.036,2727,2619,3965
$GC,3071,-1.65,-243.3,434.5,-11.7,280,3072,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2619,3969
$STATE,3208,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3208,begin apogee
$GC,3213,-0.42,0.0,451.4,12.5,293,3553,1.30,0.00,330.80,0.754,6,0.080,0.000,3005,2533,2936
$STATE,3554,end apogee,CONTROL_FINISHED_OK
$STATE,3554,begin climb
$GC,3556,1.65,243.3,475.0,0.0,327,3884,2.00,2.67,315.15,0.736,4,0.048,0.080,3455,3890,1944
$GC,3956,1.65,243.3,445.6,13.5,361,3964,0.00,2.42,0.00,0.000,6,0.000,0.038,3455,2536,1941
$GC,4155,1.65,243.3,420.4,12.7,380,4159,0.00,2.55,0.00,0.000,4,0.000,0.051,3455,1119,1939
$GC,4198,1.65,243.3,414.3,13.5,383,4206,0.00,2.58,0.00,0.000,6,0.000,0.044,3455,2532,1938
$GC,4397,1.65,243.3,388.5,12.6,402,4398,0.00,0.00,0.00,0.000,6,0.000,0.000,3455,2532,1937
$GC,4587,1.68,268.8,365.8,11.6,420,4621,0.00,0.00,31.90,0.720,6,0.000,0.000,3455,2532,1840
$GC,4808,1.68,268.8,338.3,13.4,441,4812,0.00,2.58,0.00,0.000,4,0.000,0.076,3455,3890,1836
$GC,4859,1.68,268.8,330.8,15.5,445,4863,0.00,2.40,0.00,0.000,6,0.000,0.038,3455,2520,1836
$GC,5056,1.68,268.8,303.7,13.1,463,5057,0.00,0.00,0.00,0.000,6,0.000,0.000,3455,2520,1834
$GC,5248,1.74,311.6,281.1,11.0,481,5312,0.00,2.70,55.42,0.711,4,0.000,0.072,3455,3888,1665
$GC,5345,1.74,311.6,268.6,13.7,489,5353,0.00,2.40,0.00,0.000,6,0.000,0.038,3455,2521,1663
$GC,5415,1.74,311.6,259.4,13.4,496,5419,0.00,2.50,0.00,0.000,4,0.000,0.048,3455,1125,1662
$GC,5458,1.74,311.6,253.3,13.9,499,5466,0.00,2.53,0.00,0.000,6,0.000,0.041,3455,2536,1662
$GC,5528,1.74,311.6,243.7,14.0,506,5530,0.00,0.00,0.00,0.000,6,0.000,0.000,3455,2536,1661
$GC,5593,1.74,311.6,235.2,13.1,512,5598,0.00,2.53,0.00,0.000,4,0.000,0.044,3455,1124,1660
$GC,5622,1.76,328.1,231.9,11.9,514,5650,0.00,2.53,21.75,0.670,6,0.000,0.041,3455,2543,1598
$GC,5721,1.76,333.6,220.0,12.3,523,5732,0.00,0.00,8.57,0.599,6,0.000,0.000,3455,2543,1575
$GC,5796,1.81,372.3,211.5,11.2,530,5857,0.00,2.58,51.67,0.667,4,0.000,0.071,3455,3887,1418
$GC,5906,1.81,372.3,196.8,14.4,539,5915,0.00,2.40,0.00,0.000,6,0.000,0.035,3455,2528,1415
$GC,5977,1.81,372.3,187.4,14.1,546,5978,0.00,0.00,0.00,0.000,6,0.000,0.000,3455,2526,1414
$GC,6043,1.81,372.3,178.6,14.0,552,6045,0.00,0.00,0.00,0.000,6,0.000,0.000,3455,2526,1413
$GC,6107,1.81,372.3,170.3,13.6,558,6111,0.00,2.55,0.00,0.000,4,0.000,0.067,3455,3888,1413
$GC,6146,1.81,372.3,164.2,14.7,561,6151,0.00,2.35,0.00,0.000,6,0.000,0.035,3455,2525,1412
$GC,6217,1.81,372.3,154.3,13.8,567,6218,0.00,0.00,0.00,0.000,6,0.000,0.000,3455,2524,1412
$GC,6282,1.81,372.3,145.5,14.2,573,6287,0.00,2.45,0.00,0.000,4,0.000,0.041,3455,1131,1412
$GC,6315,1.81,372.3,140.1,14.4,575,6323,0.00,2.50,0.00,0.000,6,0.000,0.038,3455,2534,1411
$GC,6386,1.81,372.3,130.7,13.6,582,6390,0.00,2.47,0.00,0.000,4,0.000,0.040,3455,1126,1411
$GC,6437,1.81,372.3,124.0,12.6,586,6441,0.00,2.47,0.00,0.000,6,0.000,0.038,3455,2533,1411
$GC,6508,1.83,386.5,115.5,12.0,592,6529,0.00,0.00,18.05,0.596,6,0.000,0.000,3455,2533,1360
$GC,6591,1.83,386.5,104.2,15.1,600,6592,0.00,0.00,0.00,0.000,6,0.000,0.000,3455,2533,1359
$GC,6655,1.83,386.5,95.0,14.0,606,6656,0.00,0.00,0.00,0.000,6,0.000,0.000,3455,2533,1359
$GC,6719,1.83,386.5,86.5,13.5,612,6723,0.00,2.50,0.00,0.000,4,0.000,0.064,3455,3890,1358
$GC,6740,1.84,392.4,83.5,12.3,613,6754,0.00,2.33,8.93,0.532,6,0.000,0.032,3455,2520,1336
$GC,6818,1.85,405.0,74.5,12.1,620,6843,0.00,2.45,18.08,0.563,4,0.000,0.038,3455,1135,1284
$GC,6935,1.91,452.8,59.2,10.8,630,7007,0.00,2.45,61.15,0.561,6,0.000,0.035,3455,2540,1089
$GC,7069,1.98,509.2,45.0,10.5,642,7150,0.00,0.00,71.32,0.538,6,0.000,0.000,3455,2541,859
$GC,7212,2.01,534.1,29.2,11.6,656,7243,0.00,0.00,28.35,0.512,6,0.000,0.000,3455,2541,770
$GC,7306,2.02,543.3,17.6,12.2,666,7312,0.00,0.00,0.00,0.000,6,0.000,0.000,3455,2541,769
$GC,7380,2.02,543.3,8.1,12.7,679,7387,0.00,0.00,0.00,0.000,6,0.000,0.000,3455,2541,768
$STATE,7415,end climb,SURFACE_DEPTH_REACHED
$STATE,7415,begin surface coast
$FINISH,0.0,1.022990
$STATE,7449,end surface coast,CONTROL_FINISHED_OK
$STATE,7450,begin surface
$SM_CCo,7533,0.00,0.000,0,0,767,532.06
$SM_GC,1.00,14.50,0.00,0.00,0.033,0.000,0.000,125,2635,767,-13.58,0.20,532.06
$IRIDIUM_FIX,2150.42,-15942.95,011198,171744
$TT8_MAMPS,0.070564
$HUMID,1847
$INTERNAL_PRESSURE,11.3676
$TCM_TEMP,23.90
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.6,29.199
$10V_AH,9.9,10.944
$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,33.425,115.950,1021.150,0.000,0.000,30.596,28.846,719.517,0.000,0.000,55.439,10.034,1362.360,3478.549,1004.693,1335.171,1327.458,33.357,1916.044,0.000,1271.263,0.000,0.000,0.000
$DEVICE_MAMPS,177.944,79.768,753.961,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,453.404,0.000,0.000,0.000,0.000,0.000,267.244,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,22128,691
$CAP_FILE_SIZE,295460,0
$CFSIZE,260034560,243806208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070809,223204,2155.651,-15945.609,7,3.2,26,9.8