version: 66.04
glider: 116
mission: 22
dive: 111
start: 8 8 109 1 1 12
data:
$ID,116
$MISSION,22
$DIVE,111
$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,100
$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,-59825.82
$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,54
$R_STBD_OVSHOOT,24
$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
$GPS1,005326,2156.672,-15948.285,31,1.8,31,9.8
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-67.6
$GPS2,010020,2156.783,-15948.504,12,1.7,24,9.8
$SPEED_LIMITS,0.150,0.374
$TGT_NAME,BobNE
$TGT_LATLONG,2154.185,-15941.805
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.336,-0.164
$KALMAN_X,-191156.8,-694.8,-536.6,181185.5,-3076.9
$KALMAN_Y,61951.2,210.0,236.5,-61073.5,1425.7
$MHEAD_RNG_PITCHd_Wd,106.2,12476,-19.1,-15.000
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.89,-243.3,0.0,0.0,0,107,0.00,0.00,-87.55,0.000,2,0.000,0.000,124,2633,3393
$GC,111,-1.89,-243.3,4.0,-9.3,13,139,15.10,0.00,-8.07,0.000,6,0.175,0.000,2674,2633,3930
$GC,204,-1.89,-243.3,34.8,-25.0,24,206,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2633,3932
$GC,269,-1.89,-243.3,50.2,-24.2,30,270,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2633,3932
$GC,332,-1.89,-243.3,62.2,-18.8,36,337,0.00,2.38,0.00,0.000,4,0.000,0.030,2674,1236,3932
$GC,384,-1.89,-243.3,72.6,-19.1,40,389,0.00,2.40,0.00,0.000,6,0.000,0.035,2674,2627,3933
$GC,455,-1.89,-243.3,85.8,-19.4,46,456,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2627,3933
$GC,519,-1.89,-243.3,97.4,-17.5,52,520,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2627,3933
$GC,582,-1.89,-243.3,108.3,-16.9,58,583,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2627,3933
$GC,646,-1.89,-243.3,119.2,-17.1,64,650,0.00,2.33,0.00,0.000,4,0.000,0.065,2674,3894,3933
$GC,690,-1.89,-243.3,127.5,-17.7,67,697,0.00,2.12,0.00,0.000,6,0.000,0.028,2674,2628,3933
$GC,761,-1.89,-243.3,138.5,-15.6,74,763,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2626,3933
$GC,825,-1.89,-243.3,148.3,-15.7,80,829,0.00,2.35,0.00,0.000,4,0.000,0.034,2674,1243,3933
$GC,857,-1.89,-243.3,153.5,-14.9,82,865,0.00,2.40,0.00,0.000,6,0.000,0.036,2674,2630,3933
$GC,928,-1.89,-243.3,164.0,-15.2,89,930,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2630,3933
$GC,992,-1.89,-243.3,174.2,-16.2,95,993,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2630,3934
$GC,1056,-1.89,-243.3,183.6,-14.7,101,1057,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2629,3933
$GC,1119,-1.89,-243.3,193.2,-15.4,107,1120,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2630,3933
$GC,1185,-1.89,-243.3,202.1,-13.7,113,1191,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2630,3934
$GC,1256,-1.89,-243.3,212.5,-13.9,120,1260,0.00,2.33,0.00,0.000,4,0.000,0.070,2674,3887,3933
$GC,1319,-1.89,-243.3,221.9,-14.5,125,1322,0.00,2.10,0.00,0.000,6,0.000,0.029,2674,2630,3934
$GC,1394,-1.89,-243.3,232.9,-14.9,132,1395,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2628,3934
$GC,1459,-1.89,-243.3,242.4,-15.3,138,1460,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2627,3934
$GC,1522,-1.89,-243.3,252.2,-15.1,144,1523,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2627,3934
$GC,1587,-1.89,-243.3,261.1,-14.1,150,1588,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2627,3934
$GC,1650,-1.89,-243.3,270.9,-15.5,156,1651,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2627,3934
$GC,1714,-1.89,-243.3,280.8,-15.4,162,1715,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2627,3933
$GC,1777,-1.89,-243.3,291.1,-16.4,168,1782,0.00,2.40,0.00,0.000,4,0.000,0.040,2674,1240,3932
$GC,1843,-1.89,-243.3,302.9,-17.0,173,1851,0.00,2.47,0.00,0.000,6,0.000,0.041,2674,2629,3932
$GC,2042,-1.89,-243.3,335.1,-16.3,192,2043,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2629,3933
$GC,2233,-1.89,-243.3,366.3,-16.4,210,2237,0.00,2.38,0.00,0.000,4,0.000,0.075,2674,3896,3932
$GC,2272,-1.89,-243.3,372.7,-15.8,213,2276,0.00,2.15,0.00,0.000,6,0.000,0.035,2674,2635,3931
$GC,2477,-1.89,-243.3,405.7,-16.6,232,2479,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2633,3927
$GC,2666,-1.89,-243.3,434.7,-14.1,250,2667,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2633,3926
$STATE,2781,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2781,begin apogee
$GC,2786,-0.42,0.0,450.4,13.2,261,3106,1.58,0.00,311.73,0.743,6,0.089,0.000,3002,2534,2936
$STATE,3107,end apogee,CONTROL_FINISHED_OK
$STATE,3108,begin climb
$GC,3110,1.89,243.3,462.1,0.0,293,3441,1.98,2.58,316.38,0.714,4,0.048,0.051,3453,1127,1944
$GC,3533,1.91,258.3,420.4,14.4,329,3559,0.00,2.53,20.15,0.666,6,0.000,0.044,3454,2533,1883
$GC,3748,2.00,332.2,391.7,11.9,349,3852,0.00,0.00,98.35,0.698,6,0.000,0.000,3453,2533,1581
$GC,4044,2.07,393.8,354.1,12.4,377,4133,0.00,0.00,81.68,0.690,6,0.000,0.000,3453,2532,1330
$GC,4325,2.07,393.8,312.8,15.3,404,4329,0.00,2.58,0.00,0.000,4,0.000,0.078,3453,3888,1325
$GC,4352,2.07,393.8,308.4,15.5,406,4357,0.00,2.38,0.00,0.000,6,0.000,0.038,3453,2528,1325
$GC,4550,2.08,399.2,279.5,14.8,424,4561,0.00,0.00,6.88,0.568,6,0.000,0.000,3453,2526,1308
$GC,4623,2.08,399.2,268.3,15.4,431,4624,0.00,0.00,0.00,0.000,6,0.000,0.000,3453,2526,1307
$GC,4688,2.08,399.2,257.6,16.6,437,4689,0.00,0.00,0.00,0.000,6,0.000,0.000,3453,2526,1307
$GC,4752,2.08,399.2,247.2,16.2,443,4753,0.00,0.00,0.00,0.000,6,0.000,0.000,3453,2526,1307
$GC,4815,2.08,399.2,236.7,16.4,449,4816,0.00,0.00,0.00,0.000,6,0.000,0.000,3453,2526,1307
$GC,4879,2.08,399.2,226.0,17.2,455,4880,0.00,0.00,0.00,0.000,6,0.000,0.000,3453,2526,1306
$GC,4943,2.08,399.2,216.2,15.1,461,4947,0.00,2.58,0.00,0.000,4,0.000,0.074,3453,3888,1306
$GC,4986,2.08,399.2,209.3,15.1,464,4994,0.00,2.38,0.00,0.000,6,0.000,0.037,3453,2520,1305
$GC,5056,2.13,441.6,200.0,13.2,471,5119,0.00,0.00,55.75,0.657,6,0.000,0.000,3453,2518,1135
$GC,5181,2.16,461.7,182.6,14.2,483,5217,0.00,2.65,26.92,0.629,4,0.000,0.070,3453,3887,1054
$GC,5266,2.16,461.7,169.3,15.5,490,5274,0.00,2.40,0.00,0.000,6,0.000,0.035,3453,2523,1052
$GC,5337,2.16,461.7,158.2,16.0,497,5341,0.00,2.47,0.00,0.000,4,0.000,0.044,3453,1125,1051
$GC,5369,2.16,461.7,152.8,16.3,499,5376,0.00,2.53,0.00,0.000,6,0.000,0.040,3454,2531,1050
$GC,5441,2.16,467.0,142.5,14.8,506,5451,0.00,0.00,7.30,0.536,6,0.000,0.000,3454,2531,1032
$GC,5513,2.16,467.0,131.1,15.5,513,5517,0.00,2.47,0.00,0.000,4,0.000,0.041,3453,1132,1032
$GC,5564,2.18,482.1,123.7,14.4,517,5592,0.00,2.47,21.02,0.601,6,0.000,0.039,3453,2533,969
$GC,5662,2.18,482.1,108.7,15.2,526,5663,0.00,0.00,0.00,0.000,6,0.000,0.000,3453,2533,968
$GC,5727,2.18,482.1,98.4,16.4,532,5732,0.00,2.53,0.00,0.000,4,0.000,0.068,3453,3891,968
$GC,5756,2.18,482.1,93.4,16.9,534,5760,0.00,2.35,0.00,0.000,6,0.000,0.034,3453,2520,968
$GC,5826,2.18,482.1,81.2,17.5,540,5828,0.00,0.00,0.00,0.000,6,0.000,0.000,3453,2518,967
$GC,5890,2.18,482.1,71.1,15.8,546,5891,0.00,0.00,0.00,0.000,6,0.000,0.000,3453,2518,967
$GC,5954,2.18,483.5,61.5,14.9,552,5958,0.00,2.55,0.00,0.000,4,0.000,0.064,3453,3894,966
$GC,5986,2.19,486.4,56.2,14.9,554,5998,0.00,2.35,6.32,0.485,6,0.000,0.032,3454,2530,953
$GC,6069,2.20,495.2,44.5,14.6,562,6092,0.00,2.53,12.90,0.539,4,0.000,0.039,3454,1127,917
$GC,6130,2.27,555.0,35.1,12.5,567,6186,0.00,2.47,46.12,0.555,6,0.000,0.035,3454,2539,770
$GC,6249,2.40,662.2,22.3,10.6,578,6253,0.00,2.50,0.00,0.000,4,0.000,0.064,3453,3895,769
$GC,6278,2.48,724.1,18.8,12.4,580,6285,0.00,2.35,0.00,0.000,6,0.000,0.031,3454,2516,768
$GC,6354,2.55,780.0,9.5,12.7,593,6360,0.00,0.00,0.00,0.000,6,0.000,0.000,3453,2516,768
$STATE,6398,end climb,SURFACE_DEPTH_REACHED
$STATE,6398,begin surface coast
$FINISH,0.1,1.022963
$STATE,6434,end surface coast,CONTROL_FINISHED_OK
$STATE,6434,begin surface
$SM_CCo,6518,0.00,0.000,0,0,766,532.06
$SM_GC,0.86,14.62,0.00,0.00,0.039,0.000,0.000,125,2644,766,-13.58,0.45,532.06
$IRIDIUM_FIX,2150.42,-15947.31,021198,000048
$TT8_MAMPS,0.06136
$HUMID,1981
$INTERNAL_PRESSURE,11.3676
$TCM_TEMP,22.90
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.4,29.929
$10V_AH,9.9,11.179
$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,33.275,77.800,1011.500,0.000,0.000,27.371,31.079,226.483,0.000,0.000,143.818,24.362,1159.799,2946.433,982.722,1121.845,734.069,33.344,1778.192,0.000,1072.724,0.000,0.000,0.000
$DEVICE_MAMPS,174.876,78.234,743.223,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,396.812,0.000,0.000,0.000,0.000,0.000,154.480,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,19031,607
$CAP_FILE_SIZE,247789,0
$CFSIZE,260034560,243515392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080809,025103,2156.749,-15948.085,40,1.3,41,9.8