version: 66.04
glider: 116
mission: 22
dive: 115
start: 8 8 109 10 44 57
data:
$ID,116
$MISSION,22
$DIVE,115
$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,-59884.836
$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,46
$R_STBD_OVSHOOT,33
$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
$GPS1,103537,2157.083,-15948.791,39,1.3,39,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-66.4
$GPS2,104401,2157.187,-15949.010,11,1.3,16,9.8
$SPEED_LIMITS,0.122,0.349
$TGT_NAME,10N
$TGT_LATLONG,2154.033,-15942.617
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.306,-0.168
$KALMAN_X,-204139.0,-319.6,-473.5,192820.6,-3036.5
$KALMAN_Y,70301.9,408.6,312.7,-68923.0,1668.1
$MHEAD_RNG_PITCHd_Wd,108.9,12442,-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,16,-1.63,-243.3,0.0,0.0,0,115,0.00,0.00,-94.03,0.000,2,0.000,0.000,124,2645,3353
$GC,117,-1.63,-243.3,3.5,-8.1,14,148,15.68,2.50,-8.70,0.000,4,0.179,0.044,2734,1228,3931
$GC,176,-1.63,-243.3,24.7,-22.4,21,184,0.00,2.45,0.00,0.000,6,0.000,0.036,2734,2614,3930
$GC,246,-1.63,-243.3,40.0,-22.6,28,250,0.00,2.38,0.00,0.000,4,0.000,0.031,2734,1229,3929
$GC,274,-1.63,-243.3,46.1,-22.2,30,279,0.00,2.45,0.00,0.000,6,0.000,0.036,2734,2639,3927
$GC,345,-1.63,-243.3,58.9,-18.0,36,349,0.00,2.30,0.00,0.000,4,0.000,0.063,2734,3894,3928
$GC,401,-1.63,-243.3,70.3,-20.3,40,408,0.00,2.15,0.00,0.000,6,0.000,0.030,2734,2613,3927
$GC,470,-1.63,-243.3,82.5,-17.5,47,471,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2613,3930
$GC,535,-1.63,-243.3,93.5,-17.1,53,537,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2613,3930
$GC,599,-1.63,-243.3,104.7,-17.5,59,603,0.00,2.35,0.00,0.000,4,0.000,0.033,2734,1235,3930
$GC,642,-1.63,-243.3,112.3,-16.1,62,649,0.00,2.42,0.00,0.000,6,0.000,0.035,2734,2633,3931
$GC,713,-1.63,-243.3,123.3,-16.1,69,714,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2633,3931
$GC,777,-1.63,-243.3,133.0,-15.0,75,778,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2633,3931
$GC,841,-1.63,-243.3,143.1,-16.0,81,845,0.00,2.33,0.00,0.000,4,0.000,0.066,2734,3896,3931
$GC,893,-1.63,-243.3,152.1,-17.8,85,896,0.00,2.12,0.00,0.000,6,0.000,0.028,2734,2620,3931
$GC,968,-1.63,-243.3,164.7,-16.3,92,969,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2619,3931
$GC,1032,-1.63,-243.3,174.9,-15.7,98,1034,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2619,3931
$GC,1097,-1.63,-243.3,184.7,-15.1,104,1098,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2618,3931
$GC,1160,-1.63,-243.3,194.4,-15.3,110,1164,0.00,2.35,0.00,0.000,4,0.000,0.035,2734,1245,3931
$GC,1203,-1.63,-243.3,201.1,-14.9,113,1211,0.00,2.40,0.00,0.000,6,0.000,0.036,2734,2629,3931
$GC,1273,-1.63,-243.3,211.3,-15.2,120,1274,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2629,3931
$GC,1338,-1.63,-243.3,221.0,-14.9,126,1340,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2629,3931
$GC,1402,-1.63,-243.3,230.3,-14.5,132,1406,0.00,2.40,0.00,0.000,4,0.000,0.035,2734,1233,3931
$GC,1434,-1.63,-243.3,235.1,-13.2,134,1441,0.00,2.47,0.00,0.000,6,0.000,0.038,2734,2632,3931
$GC,1504,-1.63,-243.3,243.6,-12.3,141,1505,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2631,3931
$GC,1569,-1.63,-243.3,251.9,-13.2,147,1570,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2632,3931
$GC,1633,-1.63,-243.3,260.1,-13.2,153,1637,0.00,2.35,0.00,0.000,4,0.000,0.072,2734,3891,3931
$GC,1665,-1.63,-243.3,264.7,-13.2,155,1673,0.00,2.15,0.00,0.000,6,0.000,0.031,2734,2637,3931
$GC,1735,-1.63,-243.3,273.0,-11.6,162,1737,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2637,3931
$GC,1800,-1.63,-243.3,279.9,-10.8,168,1802,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2637,3931
$GC,1864,-1.63,-243.3,286.1,-9.6,174,1865,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2637,3931
$GC,1929,-1.63,-243.3,292.0,-9.3,180,1934,0.00,2.42,0.00,0.000,4,0.000,0.038,2734,1235,3932
$GC,1973,-1.63,-243.3,296.4,-9.5,183,1981,0.00,2.45,0.00,0.000,6,0.000,0.041,2734,2626,3932
$GC,2044,-1.63,-243.3,302.6,-8.8,190,2045,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2626,3932
$GC,2235,-1.63,-243.3,321.0,-10.1,208,2236,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2626,3929
$GC,2426,-1.63,-243.3,342.4,-11.7,226,2430,0.00,2.38,0.00,0.000,4,0.000,0.076,2734,3893,3931
$GC,2493,-1.63,-243.3,351.1,-12.2,231,2500,0.00,2.17,0.00,0.000,6,0.000,0.035,2734,2623,3931
$GC,2692,-1.63,-243.3,374.0,-11.2,250,2693,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2623,3934
$GC,2882,-1.63,-243.3,395.3,-11.4,268,2883,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2623,3931
$GC,3073,-1.63,-243.3,419.2,-13.1,286,3074,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2623,3928
$GC,3264,-1.63,-243.3,444.0,-12.8,304,3268,0.00,2.42,0.00,0.000,4,0.000,0.078,2734,3896,3930
$GC,3352,-1.63,-243.3,456.2,-13.8,311,3360,0.00,2.20,0.00,0.000,6,0.000,0.037,2735,2639,3931
$GC,3551,-1.63,-243.3,480.6,-12.4,330,3555,0.00,2.40,0.00,0.000,4,0.000,0.081,2734,3891,3931
$GC,3594,-1.63,-243.3,486.5,-12.8,333,3602,0.00,2.22,0.00,0.000,6,0.000,0.038,2734,2629,3929
$GC,3794,-1.63,-243.3,509.6,-12.0,352,3795,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2628,3927
$GC,3985,-1.63,-243.3,531.2,-11.1,370,3986,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2629,3925
$GC,4175,-1.63,-243.3,551.1,-9.9,388,4179,0.00,2.53,0.00,0.000,4,0.000,0.054,2734,1223,3924
$GC,4207,-1.63,-243.3,554.4,-9.9,390,4214,0.00,2.53,0.00,0.000,6,0.000,0.051,2734,2627,3924
$GC,4406,-1.63,-243.3,576.0,-10.5,409,4410,0.00,2.45,0.00,0.000,4,0.000,0.090,2734,3895,3923
$GC,4505,-1.63,-243.3,588.2,-13.5,417,4513,0.00,2.22,0.00,0.000,6,0.000,0.040,2734,2624,3922
$GC,4704,-1.63,-243.3,613.1,-14.3,436,4708,0.00,2.47,0.00,0.000,4,0.000,0.091,2734,3891,3921
$GC,4799,-1.63,-243.3,622.4,-8.6,444,4804,0.00,2.22,0.00,0.000,6,0.000,0.040,2734,2626,3921
$STATE,4995,end dive,NO_VERTICAL_VELOCITY
$STATE,4995,begin apogee
$GC,5001,-0.42,0.0,625.1,0.0,462,5330,1.17,0.00,318.67,0.877,6,0.044,0.000,3008,2516,2936
$STATE,5332,end apogee,CONTROL_FINISHED_OK
$STATE,5332,begin climb
$GC,5334,1.63,243.3,625.2,0.0,495,5670,1.95,2.75,323.60,0.833,4,0.043,0.089,3453,3895,1944
$GC,5875,1.63,243.3,567.0,12.9,541,5879,0.00,2.42,0.00,0.000,6,0.000,0.041,3454,2535,1939
$GC,6072,1.71,314.5,547.1,9.8,559,6173,0.00,0.00,95.97,0.821,6,0.000,0.000,3454,2535,1653
$GC,6364,1.79,380.7,517.5,10.0,587,6458,0.00,0.00,90.50,0.808,6,0.000,0.000,3454,2534,1383
$GC,6646,1.79,380.7,484.7,12.4,614,6647,0.00,0.00,0.00,0.000,6,0.000,0.000,3454,2535,1378
$GC,6836,1.79,380.7,460.8,12.8,632,6837,0.00,0.00,0.00,0.000,6,0.000,0.000,3454,2535,1377
$GC,7027,1.79,380.7,433.7,15.6,650,7031,0.00,2.62,0.00,0.000,4,0.000,0.082,3454,3890,1376
$GC,7055,1.79,380.7,429.5,16.4,652,7059,0.00,2.42,0.00,0.000,6,0.000,0.041,3454,2516,1375
$GC,7252,1.79,380.7,397.6,17.1,670,7256,0.00,2.53,0.00,0.000,4,0.000,0.051,3454,1118,1375
$GC,7291,1.79,380.7,390.7,17.9,673,7295,0.00,2.55,0.00,0.000,6,0.000,0.045,3454,2534,1373
$GC,7488,1.79,380.7,357.2,16.5,691,7492,0.00,2.58,0.00,0.000,4,0.000,0.077,3454,3894,1373
$GC,7532,1.79,380.7,349.7,17.5,694,7540,0.00,2.40,0.00,0.000,6,0.000,0.041,3454,2526,1373
$GC,7732,1.79,380.7,318.0,15.3,713,7733,0.00,0.00,0.00,0.000,6,0.000,0.000,3454,2526,1373
$GC,7920,1.79,380.7,287.7,16.2,731,7921,0.00,0.00,0.00,0.000,6,0.000,0.000,3454,2525,1373
$GC,7985,1.79,380.7,277.5,16.4,737,7989,0.00,2.53,0.00,0.000,4,0.000,0.050,3454,1122,1373
$GC,8050,1.79,380.7,266.5,15.6,742,8058,0.00,2.53,0.00,0.000,6,0.000,0.042,3454,2537,1372
$GC,8120,1.79,380.7,255.5,16.6,749,8122,0.00,0.00,0.00,0.000,6,0.000,0.000,3454,2537,1372
$GC,8185,1.79,380.7,244.7,17.3,755,8189,0.00,2.55,0.00,0.000,4,0.000,0.074,3454,3887,1372
$GC,8217,1.79,380.7,238.8,17.9,757,8225,0.00,2.38,0.00,0.000,6,0.000,0.039,3454,2530,1372
$GC,8288,1.79,380.7,227.8,16.2,764,8289,0.00,0.00,0.00,0.000,6,0.000,0.000,3454,2528,1371
$GC,8352,1.79,380.7,218.2,14.7,770,8353,0.00,0.00,0.00,0.000,6,0.000,0.000,3454,2528,1371
$GC,8416,1.79,380.7,209.3,14.0,776,8420,0.00,2.50,0.00,0.000,4,0.000,0.047,3454,1126,1371
$GC,8477,1.79,380.7,200.1,14.2,781,8481,0.00,2.50,0.00,0.000,6,0.000,0.042,3454,2532,1371
$GC,8548,1.79,380.7,190.9,13.1,787,8549,0.00,0.00,0.00,0.000,6,0.000,0.000,3454,2532,1371
$GC,8612,1.80,382.3,183.0,12.2,793,8613,0.00,0.00,0.00,0.000,6,0.000,0.000,3454,2532,1371
$GC,8675,1.80,382.3,174.2,14.4,799,8676,0.00,0.00,0.00,0.000,6,0.000,0.000,3454,2532,1371
$GC,8739,1.80,382.3,164.5,15.3,805,8740,0.00,0.00,0.00,0.000,6,0.000,0.000,3454,2532,1371
$GC,8803,1.80,382.3,155.6,13.5,811,8807,0.00,2.53,0.00,0.000,4,0.000,0.069,3454,3889,1370
$GC,8842,1.80,382.3,150.5,13.0,814,8846,0.00,2.35,0.00,0.000,6,0.000,0.035,3454,2525,1370
$GC,8913,1.80,385.5,142.0,12.1,820,8914,0.00,0.00,0.00,0.000,6,0.000,0.000,3454,2525,1370
$GC,8977,1.83,409.4,134.6,11.4,826,9017,0.00,0.00,35.15,0.655,6,0.000,0.000,3454,2525,1266
$GC,9079,1.83,409.4,121.3,14.1,836,9081,0.00,0.00,0.00,0.000,6,0.000,0.000,3454,2525,1265
$GC,9144,1.83,409.4,111.7,15.2,842,9145,0.00,0.00,0.00,0.000,6,0.000,0.000,3454,2525,1264
$GC,9208,1.83,409.4,102.2,14.6,848,9212,0.00,2.55,0.00,0.000,4,0.000,0.065,3454,3892,1264
$GC,9247,1.83,409.4,96.3,16.1,851,9251,0.00,2.35,0.00,0.000,6,0.000,0.034,3454,2524,1264
$GC,9318,1.83,409.4,86.4,14.2,857,9322,0.00,2.45,0.00,0.000,4,0.000,0.041,3454,1126,1264
$GC,9391,1.83,409.4,75.4,15.7,863,9395,0.00,2.47,0.00,0.000,6,0.000,0.038,3454,2534,1263
$GC,9461,1.83,409.4,64.8,15.5,869,9466,0.00,2.50,0.00,0.000,4,0.000,0.066,3453,3889,1263
$GC,9545,1.83,409.4,52.0,14.9,876,9549,0.00,2.33,0.00,0.000,6,0.000,0.032,3454,2530,1263
$GC,9616,1.83,409.4,42.3,13.2,882,9617,0.00,0.00,0.00,0.000,6,0.000,0.000,3454,2528,1263
$GC,9680,1.86,433.3,34.6,11.4,888,9717,0.00,2.47,30.52,0.576,4,0.000,0.039,3454,1134,1169
$GC,9744,1.88,446.6,26.7,11.8,893,9767,0.00,2.47,18.40,0.543,6,0.000,0.035,3454,2543,1115
$GC,9835,1.88,446.6,16.2,13.4,904,9841,0.00,0.00,0.00,0.000,6,0.000,0.000,3454,2543,1113
$GC,9910,1.99,538.2,8.4,9.1,917,9953,0.00,0.00,39.25,0.533,2,0.000,0.000,3454,2543,960
$STATE,9954,end climb,SURFACE_DEPTH_REACHED
$STATE,9954,begin surface coast
$FINISH,-0.2,1.023310
$STATE,9994,end surface coast,CONTROL_FINISHED_OK
$STATE,9994,begin surface
$SM_CCo,10079,0.00,0.000,0,0,957,485.20
$SM_GC,1.03,14.75,0.00,0.00,0.040,0.000,0.000,122,2635,957,-13.59,0.20,485.20
$IRIDIUM_FIX,2150.42,-15950.30,021198,080815
$TT8_MAMPS,0.064428
$HUMID,1929
$INTERNAL_PRESSURE,11.3286
$TCM_TEMP,23.10
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.6,30.965
$10V_AH,9.8,11.565
$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,33.550,130.725,952.075,0.000,0.000,27.830,26.423,297.641,0.000,0.000,68.561,16.463,1852.335,5035.667,982.960,1696.866,1008.426,33.341,2062.720,0.000,1646.500,0.000,0.000,0.000
$DEVICE_MAMPS,178.711,90.506,876.681,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,618.631,0.000,0.000,0.000,0.000,0.000,147.739,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,31499,930
$CAP_FILE_SIZE,369123,0
$CFSIZE,260034560,242876416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080809,133358,2156.382,-15948.173,8,3.4,27,9.8