version: 66.04
glider: 118
mission: 21
dive: 62
start: 8 3 109 13 20 41
data:
$ID,118
$MISSION,21
$DIVE,62
$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,220
$T_MISSION,275
$T_ABORT,1440
$T_TURN,300
$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,175
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51726
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-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,400
$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,-87222.188
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,428
$PITCH_MAX,3730
$C_PITCH,2946
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,10
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,311
$ROLL_MAX,3943
$ROLL_DEG,10
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,3050
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,17
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,45
$ROLL_AD_RATE,325
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,582
$VBD_MAX,3956
$C_VBD,2937
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-8.3219604
$PRESSURE_SLOPE,0.000115925
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,150
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.4
$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,0.0043077655
$SEABIRD_T_H,0.00063814409
$SEABIRD_T_I,2.4031482e-05
$SEABIRD_T_J,2.4698193e-06
$SEABIRD_C_G,-9.9826059
$SEABIRD_C_H,1.1260695
$SEABIRD_C_I,-0.0021108589
$SEABIRD_C_J,0.00021799213
$GPS1,130057,2154.039,-15943.303,27,99.0,47,9.8
$_CALLS,1
$_XMS_NAKs,21
$_XMS_TOUTs,0
$_SM_DEPTHo,0.26
$_SM_ANGLEo,-59.1
$GPS2,131952,2154.132,-15943.629,12,2.8,31,9.8
$SPEED_LIMITS,0.100,0.279
$TGT_NAME,BobSW
$TGT_LATLONG,2153.790,-15942.207
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.266,-0.085
$KALMAN_X,-104769.7,906.8,31.0,100959.8,-3378.9
$KALMAN_Y,46247.1,-275.0,-125.5,-49469.9,1086.8
$MHEAD_RNG_PITCHd_Wd,97.9,2524,-16.8,-10.000
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,25,-1.89,-170.3,0.0,0.0,0,104,0.00,0.00,-76.45,0.000,2,0.000,0.000,418,2525,3548
$GC,110,-1.89,-170.3,4.5,-11.5,11,126,11.02,0.00,-1.17,0.000,6,0.127,0.000,2528,2525,3635
$GC,199,-1.89,-170.3,34.9,-20.9,20,206,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2525,3636
$GC,278,-1.89,-170.3,48.9,-17.8,27,284,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2525,3636
$GC,356,-1.89,-170.3,61.6,-16.0,34,360,0.00,0.57,0.00,0.000,4,0.000,0.038,2528,2132,3637
$GC,394,-1.89,-170.3,68.4,-16.3,37,397,0.00,0.52,0.00,0.000,6,0.000,0.025,2528,2531,3637
$GC,473,-1.89,-170.3,80.3,-14.6,44,476,0.00,0.38,0.00,0.000,4,0.000,0.033,2528,2830,3637
$GC,560,-1.89,-170.3,94.7,-15.2,51,567,0.00,0.50,0.00,0.000,6,0.000,0.034,2528,2482,3638
$GC,638,-1.89,-170.3,105.5,-15.0,58,645,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2482,3638
$GC,717,-1.89,-170.3,116.3,-13.2,65,723,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2482,3639
$GC,796,-1.89,-170.3,125.8,-11.7,72,800,0.00,0.47,0.00,0.000,4,0.000,0.032,2528,2824,3638
$GC,1092,-1.89,-170.3,167.3,-14.4,97,1096,0.00,0.47,0.00,0.000,6,0.000,0.035,2528,2495,3638
$GC,1171,-1.89,-170.3,179.6,-14.3,104,1178,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2496,3638
$GC,1250,-1.89,-170.3,190.1,-14.2,111,1256,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2495,3638
$GC,1329,-1.89,-170.3,201.5,-14.6,118,1335,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2495,3638
$GC,1407,-1.89,-170.3,212.9,-14.5,125,1414,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2495,3638
$GC,1486,-1.89,-170.3,224.1,-14.7,132,1489,0.00,0.47,0.00,0.000,4,0.000,0.033,2528,2831,3637
$GC,1844,-1.89,-170.3,271.9,-13.7,162,1851,0.00,0.47,0.00,0.000,6,0.000,0.036,2528,2506,3636
$GC,1918,-1.89,-170.3,283.0,-14.7,169,1924,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2506,3636
$GC,1996,-1.89,-170.3,293.7,-14.6,176,2000,0.00,0.45,0.00,0.000,4,0.000,0.037,2528,2817,3636
$GC,2354,-1.89,-170.3,345.8,-13.5,206,2361,0.00,0.47,0.00,0.000,6,0.000,0.039,2528,2501,3634
$GC,2559,-1.89,-170.3,374.6,-14.3,225,2563,0.00,0.47,0.00,0.000,4,0.000,0.038,2528,2823,3633
$GC,2797,-1.89,-170.3,405.1,-12.3,245,2804,0.00,0.50,0.00,0.000,6,0.000,0.040,2528,2495,3632
$GC,3002,-1.89,-170.3,427.7,-11.5,264,3006,0.00,0.47,0.00,0.000,4,0.000,0.040,2528,2817,3630
$GC,3361,-1.89,-170.3,471.3,-12.5,294,3368,0.00,0.50,0.00,0.000,6,0.000,0.044,2528,2495,3627
$GC,3567,-1.89,-170.3,496.3,-11.8,313,3570,0.00,0.47,0.00,0.000,4,0.000,0.041,2528,2813,3625
$GC,3924,-1.89,-170.3,537.3,-12.1,343,3931,0.00,0.47,0.00,0.000,6,0.000,0.046,2528,2503,3622
$GC,4125,-1.89,-170.3,561.4,-11.4,362,4129,0.00,0.47,0.00,0.000,4,0.000,0.044,2528,2817,3621
$GC,4483,-1.89,-170.3,599.9,-10.4,392,4490,0.00,0.50,0.00,0.000,6,0.000,0.050,2528,2503,3618
$GC,4690,-1.89,-170.3,620.2,-9.6,411,4693,0.00,0.47,0.00,0.000,4,0.000,0.049,2528,2808,3616
$GC,5048,-1.89,-170.3,653.7,-9.1,441,5055,0.00,0.50,0.00,0.000,6,0.000,0.054,2528,2503,3613
$STATE,5116,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5116,begin apogee
$GC,5129,-0.50,0.0,660.8,9.4,448,5274,1.42,0.00,132.23,0.953,6,0.069,0.000,2833,3004,2938
$STATE,5275,end apogee,CONTROL_FINISHED_OK
$STATE,5275,begin climb
$GC,5281,1.89,170.3,665.2,0.0,462,5431,2.33,0.52,136.15,0.930,4,0.043,0.050,3365,2697,2242
$GC,5680,1.95,213.1,637.9,8.3,495,5723,0.00,0.57,35.58,0.891,6,0.000,0.051,3365,3053,2067
$GC,5919,1.95,213.1,613.7,11.0,517,5922,0.00,0.55,0.00,0.000,4,0.000,0.058,3365,3382,2064
$GC,6272,1.95,213.1,577.3,10.4,547,6276,0.00,0.55,0.00,0.000,6,0.000,0.038,3365,3042,2062
$GC,6485,1.95,213.1,556.1,10.4,566,6491,0.00,0.00,0.00,0.000,6,0.000,0.000,3365,3042,2061
$GC,6686,1.95,213.1,534.5,11.5,585,6689,0.00,0.60,0.00,0.000,4,0.000,0.052,3365,3385,2060
$GC,7043,1.95,213.1,492.3,11.1,615,7050,0.00,0.55,0.00,0.000,6,0.000,0.036,3365,3050,2059
$GC,7250,1.95,213.1,470.3,11.1,634,7254,0.00,0.50,0.00,0.000,4,0.000,0.042,3365,2706,2058
$GC,7496,1.95,213.1,441.8,10.5,655,7500,0.00,0.55,0.00,0.000,6,0.000,0.044,3365,3059,2058
$GC,7708,1.95,213.1,420.4,10.5,674,7711,0.00,0.52,0.00,0.000,4,0.000,0.051,3365,3381,2057
$GC,7923,1.95,213.8,399.5,10.0,692,7927,0.00,0.52,0.00,0.000,6,0.000,0.035,3365,3044,2057
$GC,8136,1.98,237.3,378.7,9.1,711,8162,0.00,0.00,18.98,0.762,6,0.000,0.000,3365,3044,1968
$GC,8361,2.01,263.9,356.6,9.0,732,8388,0.00,0.00,23.12,0.751,6,0.000,0.000,3364,3044,1860
$GC,8586,2.01,263.9,333.4,10.3,753,8590,0.00,0.57,0.00,0.000,4,0.000,0.047,3365,3383,1857
$GC,8945,2.01,263.9,294.2,12.6,783,8952,0.00,0.52,0.00,0.000,6,0.000,0.031,3365,3042,1856
$GC,9018,2.01,263.9,285.2,11.7,790,9022,0.00,0.57,0.00,0.000,4,0.000,0.044,3365,3384,1856
$GC,9085,2.01,263.9,278.1,12.2,795,9088,0.00,0.52,0.00,0.000,6,0.000,0.032,3365,3042,1855
$GC,9164,2.01,263.9,267.8,12.2,802,9167,0.00,0.47,0.00,0.000,4,0.000,0.035,3365,2698,1856
$GC,9281,2.01,263.9,252.5,12.4,812,9285,0.00,0.55,0.00,0.000,6,0.000,0.039,3365,3062,1856
$GC,9360,2.01,263.9,243.2,11.9,819,9363,0.00,0.50,0.00,0.000,4,0.000,0.045,3365,3379,1855
$GC,9525,2.01,263.9,225.5,10.3,833,9528,0.00,0.50,0.00,0.000,6,0.000,0.030,3365,3044,1855
$GC,9604,2.01,266.3,217.7,9.9,840,9610,0.00,0.00,0.00,0.000,6,0.000,0.000,3365,3044,1855
$GC,9684,2.03,277.7,210.8,9.6,847,9701,0.00,0.00,12.05,0.609,6,0.000,0.000,3365,3042,1804
$GC,9767,2.03,277.7,201.5,10.7,855,9774,0.00,0.00,0.00,0.000,6,0.000,0.000,3365,3039,1802
$GC,9847,2.03,277.7,193.8,10.1,862,9853,0.00,0.00,0.00,0.000,6,0.000,0.000,3365,3039,1801
$GC,9925,2.03,277.7,185.4,10.7,869,9929,0.00,0.45,0.00,0.000,4,0.000,0.033,3367,2711,1801
$GC,10048,2.03,277.7,172.8,10.2,879,10055,0.00,0.52,0.00,0.000,6,0.000,0.037,3366,3062,1801
$GC,10122,2.04,291.4,165.8,9.5,886,10138,0.10,0.50,12.40,0.571,4,0.051,0.039,3399,3379,1749
$GC,10411,2.04,291.4,133.6,10.5,911,10414,0.00,0.47,0.00,0.000,6,0.000,0.028,3400,3041,1747
$GC,10490,2.04,291.4,125.3,10.6,918,10496,0.00,0.00,0.00,0.000,6,0.000,0.000,3400,3041,1746
$GC,10569,2.04,291.4,117.8,10.1,925,10573,0.00,0.55,0.00,0.000,4,0.000,0.039,3399,3383,1746
$GC,10925,2.04,291.4,78.9,10.4,955,10932,0.00,0.47,0.00,0.000,6,0.000,0.027,3400,3053,1747
$GC,10999,2.10,340.7,72.0,8.1,962,11047,0.00,0.57,41.88,0.521,4,0.000,0.036,3402,3385,1547
$GC,11147,2.10,340.7,57.7,10.5,974,11151,0.00,0.50,0.00,0.000,6,0.000,0.026,3400,3039,1543
$GC,11226,2.11,347.0,49.9,9.8,981,11234,0.00,0.00,6.12,0.401,6,0.000,0.000,3400,3038,1522
$GC,11300,2.13,362.5,42.9,9.4,988,11317,0.00,0.00,14.15,0.458,6,0.000,0.000,3400,3038,1458
$GC,11384,2.17,395.5,35.5,8.7,996,11420,0.00,0.43,28.85,0.471,4,0.000,0.026,3399,2720,1323
$GC,11481,2.17,395.5,25.5,10.8,1004,11485,0.00,0.47,0.00,0.000,6,0.000,0.032,3400,3051,1320
$GC,11559,2.17,395.5,17.0,10.4,1012,11565,0.00,0.00,0.00,0.000,6,0.000,0.000,3399,3051,1319
$GC,11644,2.17,395.5,7.1,11.5,1025,11651,0.00,0.00,0.00,0.000,6,0.000,0.000,3400,3051,1318
$STATE,11666,end climb,SURFACE_DEPTH_REACHED
$STATE,11666,begin surface coast
$FINISH,0.2,1.022856
$STATE,11709,end surface coast,CONTROL_FINISHED_OK
$STATE,11709,begin surface
$SM_CCo,11748,1.15,0.075,0,0,1306,400.08
$SM_GC,1.20,0.00,0.00,1.15,0.000,0.000,0.075,416,2519,1306,-11.64,0.54,400.08
$IRIDIUM_FIX,2148.09,-15942.95,281098,090946
$TT8_MAMPS,0.075933
$HUMID,1792
$INTERNAL_PRESSURE,10.0038
$TCM_TEMP,24.10
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.8,25.993
$10V_AH,10.1,28.088
$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,27.650,25.900,461.500,1.150,0.000,31.178,24.503,699.325,0.000,0.000,360.142,32.647,2184.982,5245.788,567.861,2377.688,2484.714,33.357,1835.436,0.000,2281.789,0.000,0.000,0.000
$DEVICE_MAMPS,127.322,57.525,953.381,75.166,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,719.294,0.000,0.000,0.000,0.000,0.000,196.360,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,34650,1036
$CAP_FILE_SIZE,403597,0
$CFSIZE,-70647808,-96403456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030809,163821,2153.779,-15942.980,39,5.7,59,9.8