version: 66.04
glider: 116
mission: 22
dive: 112
start: 8 8 109 3 1 24
data:
$ID,116
$MISSION,22
$DIVE,112
$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,-59840.293
$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,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
$GPS1,025103,2156.749,-15948.085,40,1.3,41,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-67.5
$GPS2,030032,2156.909,-15948.365,13,1.2,13,9.8
$SPEED_LIMITS,0.150,0.374
$TGT_NAME,BobNE
$TGT_LATLONG,2154.185,-15941.805
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.306,-0.215
$KALMAN_X,-191966.0,-1562.7,-581.1,183103.1,-1168.2
$KALMAN_Y,62827.6,589.0,202.8,-62041.3,992.6
$MHEAD_RNG_PITCHd_Wd,115.3,12351,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.89,-243.3,0.0,0.0,0,122,0.00,0.00,-99.90,0.000,2,0.000,0.000,124,2644,3549
$GC,125,-1.89,-243.3,4.5,-11.1,15,148,15.30,0.00,-5.22,0.000,6,0.180,0.000,2673,2644,3930
$GC,218,-1.89,-243.3,40.1,-27.9,25,219,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2645,3932
$GC,282,-1.89,-243.3,53.8,-19.1,31,286,0.00,2.42,0.00,0.000,4,0.000,0.031,2674,1228,3934
$GC,314,-1.89,-243.3,60.7,-20.0,33,322,0.00,2.42,0.00,0.000,6,0.000,0.035,2674,2627,3934
$GC,384,-1.89,-243.3,74.4,-20.0,40,385,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2627,3933
$GC,449,-1.89,-243.3,86.8,-19.0,46,450,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2627,3933
$GC,513,-1.89,-243.3,97.9,-17.5,52,517,0.00,2.30,0.00,0.000,4,0.000,0.063,2674,3889,3933
$GC,544,-1.89,-243.3,104.7,-20.1,54,552,0.00,2.17,0.00,0.000,6,0.000,0.028,2674,2613,3933
$GC,615,-1.89,-243.3,118.4,-20.1,61,616,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2613,3933
$GC,680,-1.89,-243.3,131.1,-19.3,67,681,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2613,3933
$GC,744,-1.89,-243.3,143.3,-18.7,73,748,0.00,2.35,0.00,0.000,4,0.000,0.034,2674,1237,3933
$GC,843,-1.89,-243.3,162.8,-19.3,81,851,0.00,2.42,0.00,0.000,6,0.000,0.038,2674,2629,3933
$GC,914,-1.89,-243.3,176.4,-19.6,88,915,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2629,3933
$GC,978,-1.89,-243.3,188.3,-18.6,94,979,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2629,3933
$GC,1042,-1.89,-243.3,199.5,-17.4,100,1046,0.00,2.33,0.00,0.000,4,0.000,0.068,2674,3889,3933
$GC,1085,-1.89,-243.3,207.5,-17.4,103,1093,0.00,2.15,0.00,0.000,6,0.000,0.029,2674,2632,3933
$GC,1156,-1.89,-243.3,219.2,-17.4,110,1157,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2632,3933
$GC,1220,-1.89,-243.3,230.7,-17.7,116,1221,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2631,3933
$GC,1284,-1.89,-243.3,240.6,-15.0,122,1286,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2632,3933
$GC,1348,-1.89,-243.3,250.6,-16.2,128,1349,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2631,3933
$GC,1412,-1.89,-243.3,260.9,-16.4,134,1413,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2632,3933
$GC,1477,-1.89,-243.3,271.1,-16.0,140,1481,0.00,2.35,0.00,0.000,4,0.000,0.070,2674,3892,3933
$GC,1521,-1.89,-243.3,279.4,-18.1,143,1528,0.00,2.12,0.00,0.000,6,0.000,0.031,2673,2633,3933
$GC,1591,-1.89,-243.3,291.5,-17.9,150,1592,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2631,3933
$GC,1655,-1.89,-243.3,302.5,-16.8,156,1656,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2632,3933
$GC,1846,-1.89,-243.3,332.5,-14.9,174,1850,0.00,2.42,0.00,0.000,4,0.000,0.041,2674,1233,3933
$GC,1909,-1.89,-243.3,341.0,-14.2,179,1914,0.00,2.45,0.00,0.000,6,0.000,0.043,2674,2624,3933
$GC,2107,-1.89,-243.3,369.1,-13.7,197,2111,0.00,2.38,0.00,0.000,4,0.000,0.074,2674,3896,3934
$GC,2146,-1.89,-243.3,374.9,-15.6,200,2150,0.00,2.17,0.00,0.000,6,0.000,0.035,2674,2622,3934
$GC,2344,-1.89,-243.3,403.0,-13.7,218,2345,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2620,3935
$GC,2534,-1.89,-243.3,428.9,-13.6,236,2536,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2620,3933
$STATE,2713,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2713,begin apogee
$GC,2718,-0.42,0.0,451.1,12.0,253,3038,1.58,0.00,311.12,0.749,6,0.088,0.000,3001,2535,2937
$STATE,3039,end apogee,CONTROL_FINISHED_OK
$STATE,3040,begin climb
$GC,3042,1.89,243.3,461.9,0.0,285,3368,2.00,2.70,314.27,0.725,4,0.047,0.079,3454,3889,1944
$GC,3429,1.97,306.4,432.5,12.4,319,3520,0.00,2.40,83.88,0.706,6,0.000,0.038,3454,2528,1687
$GC,3710,1.97,306.4,392.9,15.8,345,3714,0.00,2.60,0.00,0.000,4,0.000,0.078,3454,3890,1681
$GC,3742,1.97,306.4,387.3,15.7,347,3749,0.00,2.42,0.00,0.000,6,0.000,0.038,3454,2529,1680
$GC,3941,1.98,315.9,358.3,14.6,366,3958,0.00,2.55,11.48,0.650,4,0.000,0.050,3454,1124,1648
$GC,4019,1.98,315.9,345.5,16.2,372,4027,0.00,2.53,0.00,0.000,6,0.000,0.044,3455,2532,1647
$GC,4219,1.98,315.9,314.2,15.6,391,4223,0.00,2.58,0.00,0.000,4,0.000,0.076,3454,3890,1646
$GC,4258,1.98,315.9,307.6,15.8,394,4262,0.00,2.40,0.00,0.000,6,0.000,0.038,3454,2517,1646
$GC,4456,2.02,347.9,279.6,13.7,412,4505,0.00,0.00,42.20,0.700,6,0.000,0.000,3454,2516,1517
$GC,4569,2.03,360.9,263.9,14.5,423,4590,0.00,0.00,18.27,0.662,6,0.000,0.000,3454,2515,1464
$GC,4652,2.06,381.7,251.9,14.1,431,4684,0.00,0.00,28.23,0.670,6,0.000,0.000,3454,2515,1380
$GC,4746,2.06,381.7,238.4,15.2,440,4747,0.00,0.00,0.00,0.000,6,0.000,0.000,3454,2516,1378
$GC,4811,2.06,384.9,228.7,14.9,446,4821,0.00,0.00,5.05,0.509,6,0.000,0.000,3454,2515,1367
$GC,4883,2.07,394.8,217.8,14.6,453,4906,0.00,2.62,14.75,0.635,4,0.000,0.071,3454,3886,1326
$GC,4941,2.09,410.7,209.5,14.3,458,4969,0.00,2.38,22.23,0.644,6,0.000,0.037,3454,2522,1261
$GC,5040,2.11,422.6,195.0,14.5,467,5064,0.00,2.55,16.67,0.626,4,0.000,0.069,3454,3888,1213
$GC,5092,2.11,424.8,187.1,14.9,471,5099,0.00,2.38,0.00,0.000,6,0.000,0.036,3454,2525,1212
$GC,5162,2.14,446.0,177.1,14.1,478,5195,0.00,0.00,31.17,0.637,6,0.000,0.000,3454,2523,1117
$GC,5257,2.17,472.8,163.5,13.9,487,5298,0.00,2.50,35.55,0.624,4,0.000,0.043,3454,1131,1008
$GC,5325,2.17,472.8,153.3,15.1,492,5333,0.00,2.53,0.00,0.000,6,0.000,0.040,3454,2529,1007
$GC,5395,2.17,472.8,142.4,15.9,499,5400,0.00,2.47,0.00,0.000,4,0.000,0.041,3454,1134,1006
$GC,5435,2.17,472.8,136.3,15.6,502,5439,0.00,2.50,0.00,0.000,6,0.000,0.041,3454,2540,1005
$GC,5506,2.17,472.8,125.7,15.3,508,5507,0.00,0.00,0.00,0.000,6,0.000,0.000,3454,2540,1004
$GC,5569,2.17,472.8,116.0,15.4,514,5571,0.00,0.00,0.00,0.000,6,0.000,0.000,3454,2540,1004
$GC,5633,2.17,472.8,106.4,15.1,520,5634,0.00,0.00,0.00,0.000,6,0.000,0.000,3454,2540,1004
$GC,5697,2.17,472.8,96.4,15.9,526,5698,0.00,0.00,0.00,0.000,6,0.000,0.000,3454,2540,1004
$GC,5760,2.17,472.8,86.3,15.9,532,5764,0.00,2.50,0.00,0.000,4,0.000,0.067,3454,3891,1004
$GC,5799,2.17,472.8,79.5,17.2,535,5804,0.00,2.35,0.00,0.000,6,0.000,0.032,3454,2516,1003
$GC,5870,2.17,472.8,68.1,16.7,541,5871,0.00,0.00,0.00,0.000,6,0.000,0.000,3454,2515,1004
$GC,5934,2.18,483.4,58.6,14.6,547,5954,0.00,0.00,13.55,0.554,6,0.000,0.000,3454,2515,964
$GC,6017,2.18,483.4,45.6,15.4,555,6018,0.00,0.00,0.00,0.000,6,0.000,0.000,3454,2515,964
$GC,6081,2.28,564.3,37.6,11.6,561,6146,0.00,0.00,60.70,0.558,6,0.000,0.000,3454,2515,770
$GC,6206,2.38,647.6,22.9,11.5,573,6207,0.00,0.00,0.00,0.000,6,0.000,0.000,3454,2515,769
$GC,6270,2.44,689.8,14.9,13.3,582,6277,0.00,0.00,0.00,0.000,6,0.000,0.000,3454,2515,768
$GC,6345,2.45,701.3,4.7,14.5,595,6352,0.00,2.55,0.00,0.000,4,0.000,0.061,3454,3895,767
$STATE,6357,end climb,SURFACE_DEPTH_REACHED
$STATE,6357,begin surface coast
$FINISH,0.5,1.023006
$STATE,6376,end surface coast,CONTROL_FINISHED_OK
$STATE,6376,begin surface
$SM_CCo,6462,0.00,0.000,0,0,766,532.30
$SM_GC,0.84,14.68,0.00,0.00,0.039,0.000,0.000,124,2614,766,-13.58,-0.40,532.30
$IRIDIUM_FIX,2150.42,-15947.31,021198,010159
$TT8_MAMPS,0.059059
$HUMID,1972
$INTERNAL_PRESSURE,11.3481
$TCM_TEMP,23.00
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.7,30.193
$10V_AH,9.9,11.264
$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,33.550,82.325,1009.125,0.000,0.000,26.485,26.692,360.514,0.000,0.000,148.216,13.843,1143.738,2920.489,993.004,1099.933,871.346,33.349,1775.656,0.000,1054.670,0.000,0.000,0.000
$DEVICE_MAMPS,180.245,79.001,749.359,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,392.108,0.000,0.000,0.000,0.000,0.000,137.737,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,18984,600
$CAP_FILE_SIZE,248920,0
$CFSIZE,260034560,243392512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080809,045006,2156.920,-15948.298,27,1.6,28,9.8