version: 66.04
glider: 116
mission: 22
dive: 114
start: 8 8 109 8 3 40
data:
$ID,116
$MISSION,22
$DIVE,114
$D_SURF,4
$D_FLARE,3
$D_TGT,660
$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,180
$T_MISSION,220
$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,-59867.746
$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,45
$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
$GPS1,075306,2157.427,-15948.764,30,1.4,30,9.8
$_CALLS,1
$_XMS_NAKs,14
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-65.6
$GPS2,080244,2157.505,-15948.929,14,1.4,14,9.8
$SPEED_LIMITS,0.122,0.349
$TGT_NAME,10N
$TGT_LATLONG,2154.033,-15942.617
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.278,-0.211
$KALMAN_X,-200661.0,-921.3,-233.0,189862.1,-4696.6
$KALMAN_Y,68575.1,541.8,240.7,-66682.1,3288.8
$MHEAD_RNG_PITCHd_Wd,117.5,12609,-15.9,-12.222
$D_GRID,660
$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,17,-1.63,-243.3,0.0,0.0,0,115,0.00,0.00,-93.40,0.000,2,0.000,0.000,124,2631,3275
$GC,117,-1.63,-243.3,3.8,-9.1,14,146,15.75,0.00,-7.53,0.000,6,0.181,0.000,2733,2631,3932
$GC,216,-1.63,-243.3,35.0,-22.7,25,217,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2631,3931
$GC,280,-1.63,-243.3,49.0,-21.4,31,282,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2631,3932
$GC,344,-1.63,-243.3,61.9,-18.4,37,346,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2631,3932
$GC,408,-1.63,-243.3,72.5,-16.6,43,409,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2631,3931
$GC,472,-1.63,-243.3,82.9,-16.6,49,476,0.00,2.40,0.00,0.000,4,0.000,0.032,2734,1229,3932
$GC,546,-1.63,-243.3,95.6,-16.2,55,550,0.00,2.42,0.00,0.000,6,0.000,0.036,2734,2627,3933
$GC,616,-1.63,-243.3,107.2,-16.5,61,618,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2627,3933
$GC,681,-1.63,-243.3,117.8,-16.4,67,682,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2627,3932
$GC,745,-1.63,-243.3,127.9,-16.0,73,746,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2627,3932
$GC,808,-1.63,-243.3,137.7,-15.0,79,812,0.00,2.33,0.00,0.000,4,0.000,0.067,2733,3893,3932
$GC,863,-1.63,-243.3,147.9,-18.0,83,871,0.00,2.15,0.00,0.000,6,0.000,0.029,2734,2614,3932
$GC,933,-1.63,-243.3,159.4,-16.8,90,934,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2615,3933
$GC,998,-1.63,-243.3,169.3,-15.9,96,999,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2613,3933
$GC,1062,-1.63,-243.3,179.4,-16.1,102,1063,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2613,3932
$GC,1125,-1.63,-243.3,189.3,-15.1,108,1126,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2613,3933
$GC,1189,-1.63,-243.3,198.0,-13.1,114,1193,0.00,2.38,0.00,0.000,4,0.000,0.036,2733,1226,3932
$GC,1277,-1.63,-243.3,209.7,-13.3,121,1285,0.00,2.45,0.00,0.000,6,0.000,0.037,2733,2635,3932
$GC,1347,-1.63,-243.3,218.6,-12.9,128,1351,0.00,2.33,0.00,0.000,4,0.000,0.069,2734,3892,3929
$GC,1391,-1.63,-243.3,224.9,-14.6,131,1399,0.00,2.15,0.00,0.000,6,0.000,0.030,2734,2627,3928
$GC,1461,-1.63,-243.3,233.6,-12.7,138,1462,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2627,3927
$GC,1527,-1.63,-243.3,240.7,-11.0,144,1528,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2627,3926
$GC,1590,-1.63,-243.3,247.8,-11.0,150,1592,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2627,3925
$GC,1654,-1.63,-243.3,254.9,-10.9,156,1655,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2627,3926
$GC,1718,-1.63,-243.3,262.1,-11.4,162,1719,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2627,3926
$GC,1781,-1.63,-243.3,269.9,-12.4,168,1785,0.00,2.35,0.00,0.000,4,0.000,0.069,2733,3889,3926
$GC,1836,-1.63,-243.3,277.5,-13.9,172,1844,0.00,2.12,0.00,0.000,6,0.000,0.031,2733,2629,3925
$GC,1906,-1.63,-243.3,286.6,-13.1,179,1907,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2628,3926
$GC,1971,-1.63,-243.3,294.6,-12.8,185,1972,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2629,3926
$GC,2035,-1.63,-243.3,302.6,-12.7,191,2036,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2628,3927
$GC,2225,-1.63,-243.3,329.0,-13.3,209,2226,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2628,3929
$GC,2416,-1.63,-243.3,354.8,-13.2,227,2417,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2629,3931
$GC,2607,-1.63,-243.3,378.9,-12.6,245,2611,0.00,2.40,0.00,0.000,4,0.000,0.076,2733,3896,3933
$GC,2638,-1.63,-243.3,383.5,-14.0,247,2646,0.00,2.20,0.00,0.000,6,0.000,0.036,2733,2633,3933
$GC,2837,-1.63,-243.3,409.1,-12.6,266,2841,0.00,2.38,0.00,0.000,4,0.000,0.077,2733,3888,3932
$GC,2912,-1.63,-243.3,418.5,-12.7,272,2916,0.00,2.17,0.00,0.000,6,0.000,0.037,2733,2628,3930
$GC,3109,-1.63,-243.3,442.4,-12.4,290,3113,0.00,2.47,0.00,0.000,4,0.000,0.048,2733,1225,3933
$GC,3148,-1.63,-243.3,447.4,-13.3,293,3153,0.00,2.50,0.00,0.000,6,0.000,0.046,2733,2631,3933
$GC,3346,-1.63,-243.3,472.2,-12.1,311,3347,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2631,3929
$GC,3537,-1.63,-243.3,498.0,-13.4,329,3541,0.00,2.40,0.00,0.000,4,0.000,0.083,2734,3890,3927
$GC,3598,-1.63,-243.3,506.1,-13.3,334,3602,0.00,2.20,0.00,0.000,6,0.000,0.039,2733,2623,3925
$GC,3796,-1.63,-243.3,529.7,-12.0,352,3797,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2623,3924
$GC,3986,-1.63,-243.3,554.9,-12.6,370,3990,0.00,2.45,0.00,0.000,4,0.000,0.087,2734,3892,3923
$GC,4035,-1.63,-243.3,559.0,-5.6,374,4039,0.00,2.20,0.00,0.000,6,0.000,0.040,2734,2633,3923
$STATE,4178,end dive,NO_VERTICAL_VELOCITY
$STATE,4178,begin apogee
$GC,4183,-0.42,0.0,558.9,0.0,387,4503,1.17,0.00,313.30,0.837,6,0.050,0.000,3005,2521,2936
$STATE,4506,end apogee,CONTROL_FINISHED_OK
$STATE,4506,begin climb
$GC,4508,1.63,243.3,558.7,0.0,419,4840,2.00,2.70,319.55,0.798,4,0.054,0.084,3449,3888,1945
$GC,5067,1.63,243.3,503.6,15.4,467,5071,0.00,2.40,0.00,0.000,6,0.000,0.041,3449,2536,1938
$GC,5264,1.63,243.3,474.0,13.4,485,5265,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2536,1936
$GC,5455,1.63,243.3,447.1,14.2,503,5456,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2536,1936
$GC,5646,1.63,243.3,420.5,13.3,521,5650,0.00,2.55,0.00,0.000,4,0.000,0.054,3449,1124,1934
$GC,5702,1.65,265.3,414.0,11.5,525,5734,0.00,2.55,27.15,0.775,6,0.000,0.048,3449,2534,1854
$GC,5923,1.76,349.1,392.0,9.4,546,6042,0.00,2.65,112.12,0.775,4,0.000,0.081,3449,3891,1511
$GC,6102,1.78,373.0,374.1,11.4,561,6145,0.00,2.42,32.45,0.738,6,0.000,0.041,3449,2522,1414
$GC,6335,1.78,373.0,348.2,12.7,583,6339,0.00,2.53,0.00,0.000,4,0.000,0.050,3449,1121,1411
$GC,6378,1.78,373.0,342.4,13.3,586,6386,0.00,2.55,0.00,0.000,6,0.000,0.045,3449,2536,1410
$GC,6577,1.80,386.7,318.2,11.8,605,6602,0.00,2.62,18.25,0.719,4,0.000,0.077,3449,3891,1359
$GC,6647,1.80,386.7,309.0,12.8,611,6652,0.00,2.40,0.00,0.000,6,0.000,0.039,3449,2529,1358
$GC,6845,1.85,426.5,286.5,10.9,629,6905,0.00,0.00,53.58,0.727,6,0.000,0.000,3449,2528,1197
$GC,6967,1.85,426.5,272.3,12.4,640,6969,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2528,1195
$GC,7031,1.85,426.5,263.8,13.4,646,7033,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2528,1194
$GC,7095,1.85,426.5,255.4,13.5,652,7096,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2527,1194
$GC,7159,1.85,426.5,246.1,15.0,658,7160,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2527,1193
$GC,7223,1.85,426.5,236.0,16.1,664,7227,0.00,2.58,0.00,0.000,4,0.000,0.072,3449,3888,1192
$GC,7254,1.85,426.5,230.1,17.1,666,7262,0.00,2.40,0.00,0.000,6,0.000,0.038,3449,2532,1192
$GC,7325,1.85,426.5,219.2,15.9,673,7329,0.00,2.50,0.00,0.000,4,0.000,0.047,3449,1127,1192
$GC,7353,1.85,426.5,214.7,16.5,675,7357,0.00,2.50,0.00,0.000,6,0.000,0.041,3449,2533,1191
$GC,7423,1.85,426.5,203.6,15.7,681,7428,0.00,2.55,0.00,0.000,4,0.000,0.071,3449,3894,1191
$GC,7456,1.85,426.5,197.4,17.7,683,7464,0.00,2.40,0.00,0.000,6,0.000,0.037,3449,2529,1191
$GC,7526,1.85,426.5,184.7,18.6,690,7530,0.00,2.47,0.00,0.000,4,0.000,0.044,3449,1133,1191
$GC,7599,1.85,426.5,171.6,17.3,696,7603,0.00,2.47,0.00,0.000,6,0.000,0.041,3449,2531,1190
$GC,7670,1.85,426.5,159.5,17.7,702,7674,0.00,2.53,0.00,0.000,4,0.000,0.068,3449,3888,1190
$GC,7709,1.85,426.5,152.7,17.2,705,7713,0.00,2.35,0.00,0.000,6,0.000,0.035,3449,2527,1190
$GC,7780,1.85,426.5,142.1,15.2,711,7784,0.00,2.45,0.00,0.000,4,0.000,0.042,3449,1131,1190
$GC,7831,1.85,426.5,134.6,14.9,715,7836,0.00,2.47,0.00,0.000,6,0.000,0.039,3449,2536,1190
$GC,7902,1.85,426.5,124.8,14.0,721,7906,0.00,2.50,0.00,0.000,4,0.000,0.041,3449,1126,1189
$GC,7945,1.85,426.5,118.1,14.3,724,7953,0.00,2.50,0.00,0.000,6,0.000,0.038,3449,2528,1190
$GC,8016,1.85,426.5,108.8,13.2,731,8020,0.00,2.47,0.00,0.000,4,0.000,0.041,3449,1125,1189
$GC,8044,1.85,426.5,104.9,14.0,733,8048,0.00,2.47,0.00,0.000,6,0.000,0.038,3449,2531,1190
$GC,8115,1.85,426.5,95.6,13.2,739,8119,0.00,2.47,0.00,0.000,4,0.000,0.040,3449,1131,1189
$GC,8147,1.85,426.5,91.0,12.4,741,8154,0.00,2.47,0.00,0.000,6,0.000,0.036,3449,2526,1189
$GC,8218,1.85,426.5,82.1,13.4,748,8223,0.00,2.47,0.00,0.000,4,0.000,0.038,3449,1122,1189
$GC,8258,1.85,426.5,76.8,12.3,751,8262,0.00,2.47,0.00,0.000,6,0.000,0.036,3449,2534,1189
$GC,8329,1.85,426.5,68.0,12.7,757,8333,0.00,2.50,0.00,0.000,4,0.000,0.064,3449,3888,1189
$GC,8360,1.85,426.5,63.7,12.4,759,8368,0.00,2.35,0.00,0.000,6,0.000,0.032,3449,2528,1189
$GC,8431,1.85,429.6,55.4,12.1,766,8436,0.00,2.53,0.00,0.000,4,0.000,0.063,3449,3894,1188
$GC,8471,1.92,486.3,51.1,10.3,769,8554,0.00,2.33,74.65,0.576,6,0.000,0.032,3449,2525,953
$GC,8617,1.99,542.4,37.5,10.3,782,8680,0.00,2.50,56.75,0.548,4,0.000,0.038,3449,1139,769
$GC,8754,2.03,575.9,22.2,11.1,794,8759,0.00,2.42,0.00,0.000,6,0.000,0.033,3449,2532,764
$GC,8827,2.06,593.7,14.1,11.6,804,8833,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2532,769
$GC,8902,2.14,661.8,5.8,9.9,817,8908,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2532,768
$STATE,8918,end climb,SURFACE_DEPTH_REACHED
$STATE,8918,begin surface coast
$FINISH,-0.2,1.013095
$STATE,8958,end surface coast,CONTROL_FINISHED_OK
$STATE,8958,begin surface
$SM_CCo,9044,0.00,0.000,0,0,766,532.30
$SM_GC,1.05,14.48,0.00,0.00,0.033,0.000,0.000,124,2645,766,-13.58,0.48,532.30
$IRIDIUM_FIX,2148.09,-15945.13,021198,050511
$TT8_MAMPS,0.055991
$HUMID,1897
$INTERNAL_PRESSURE,11.3383
$TCM_TEMP,23.40
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.6,30.709
$10V_AH,9.8,11.462
$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,33.400,136.325,1007.800,0.000,0.000,23.248,25.137,373.873,0.000,0.000,62.332,14.158,1656.460,4339.057,990.051,1599.344,1026.330,33.354,2049.777,0.000,1545.290,0.000,0.000,0.000
$DEVICE_MAMPS,181.012,86.671,836.797,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,548.060,0.000,0.000,0.000,0.000,0.000,129.954,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,25249,827
$CAP_FILE_SIZE,338749,0
$CFSIZE,260034560,243040256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,080809,103537,2157.083,-15948.791,39,1.3,39,9.8