version: 66.04
glider: 116
mission: 22
dive: 29
start: 7 31 109 3 45 48
data:
$ID,116
$MISSION,22
$DIVE,29
$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,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,30
$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,350
$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,-58093.207
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,132
$PITCH_MAX,3449
$C_PITCH,3100
$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,2550
$C_ROLL_CLIMB,2520
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,43
$R_STBD_OVSHOOT,34
$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
$GPS1,033306,2150.186,-15944.010,30,1.2,30,9.8
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-68.8
$GPS2,034456,2150.159,-15944.236,27,1.4,27,9.8
$SPEED_LIMITS,0.173,0.324
$TGT_NAME,T2
$TGT_LATLONG,2150.420,-15941.560
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.323,0.034
$KALMAN_X,-39709.7,-811.0,-196.2,36827.0,-1741.8
$KALMAN_Y,6302.3,429.4,-150.7,-17500.9,-189.4
$MHEAD_RNG_PITCHd_Wd,74.1,4627,-13.1,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.39,-243.3,0.0,0.0,0,99,0.00,0.00,-80.20,0.000,2,0.000,0.000,124,2574,3450
$GC,102,-1.39,-243.3,4.0,-9.3,12,130,16.15,0.00,-6.95,0.000,6,0.182,0.000,2794,2574,3931
$GC,200,-1.39,-243.3,32.4,-17.3,23,204,0.00,2.38,0.00,0.000,4,0.000,0.060,2794,3876,3933
$GC,261,-1.39,-243.3,43.1,-17.6,28,269,0.00,2.25,0.00,0.000,6,0.000,0.029,2794,2534,3933
$GC,459,-1.39,-243.3,72.6,-14.5,47,460,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2534,3936
$GC,778,-1.39,-243.3,115.6,-13.2,77,779,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2534,3936
$GC,1095,-1.39,-243.3,155.1,-12.7,107,1100,0.00,2.47,0.00,0.000,4,0.000,0.067,2794,3873,3936
$GC,1262,-1.39,-243.3,175.6,-12.2,121,1270,0.00,2.25,0.00,0.000,6,0.000,0.029,2794,2547,3936
$GC,1587,-1.39,-243.3,211.4,-10.6,152,1591,0.00,2.45,0.00,0.000,4,0.000,0.067,2794,3873,3936
$GC,1627,-1.39,-243.3,215.7,-11.1,155,1631,0.00,2.22,0.00,0.000,6,0.000,0.030,2794,2548,3935
$GC,1952,-1.39,-243.3,248.6,-8.9,185,1953,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2547,3936
$GC,2271,-1.39,-243.3,279.0,-9.4,215,2276,0.00,2.47,0.00,0.000,4,0.000,0.071,2794,3873,3935
$GC,2334,-1.39,-243.3,285.3,-10.2,220,2339,0.00,2.25,0.00,0.000,6,0.000,0.033,2794,2548,3936
$GC,2659,-1.39,-243.3,314.8,-9.5,250,2663,0.00,2.47,0.00,0.000,4,0.000,0.072,2794,3871,3935
$GC,2721,-1.39,-243.3,321.0,-9.5,255,2728,0.00,2.25,0.00,0.000,6,0.000,0.035,2794,2554,3936
$GC,3046,-1.39,-243.3,353.7,-9.7,286,3047,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2554,3931
$GC,3364,-1.39,-243.3,383.9,-9.9,316,3368,0.00,2.50,0.00,0.000,4,0.000,0.076,2794,3876,3930
$GC,3488,-1.39,-243.3,396.2,-10.3,327,3493,0.00,2.30,0.00,0.000,6,0.000,0.038,2794,2545,3928
$GC,3813,-1.39,-243.3,426.4,-8.6,357,3817,0.00,2.53,0.00,0.000,4,0.000,0.077,2794,3876,3926
$GC,3920,-1.39,-243.3,435.6,-8.8,366,3924,0.00,2.30,0.00,0.000,6,0.000,0.038,2794,2548,3925
$GC,4245,-1.39,-243.3,461.3,-7.9,396,4246,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2548,3922
$GC,4564,-1.39,-243.3,487.3,-8.0,426,4565,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2548,3920
$GC,4882,-1.39,-243.3,513.2,-8.3,456,4886,0.00,2.55,0.00,0.000,4,0.000,0.084,2794,3876,3918
$GC,4934,-1.39,-243.3,517.4,-8.6,460,4938,0.00,2.33,0.00,0.000,6,0.000,0.040,2794,2544,3918
$GC,5258,-1.39,-243.3,543.3,-7.8,490,5263,0.00,2.55,0.00,0.000,4,0.000,0.085,2794,3870,3916
$GC,5370,-1.39,-243.3,553.1,-8.8,499,5377,0.00,2.33,0.00,0.000,6,0.000,0.040,2794,2543,3914
$GC,5695,-1.39,-243.3,580.4,-8.4,530,5699,0.00,2.58,0.00,0.000,4,0.000,0.087,2794,3870,3913
$GC,5802,-1.39,-243.3,589.7,-8.7,539,5806,0.00,2.33,0.00,0.000,6,0.000,0.041,2794,2549,3912
$GC,6126,-1.39,-243.3,616.4,-8.1,569,6128,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2549,3910
$GC,6445,-1.39,-243.3,641.7,-8.3,599,6449,0.00,2.60,0.00,0.000,4,0.000,0.096,2794,3868,3909
$GC,6568,-1.39,-243.3,652.9,-9.3,609,6575,0.00,2.35,0.00,0.000,6,0.000,0.042,2793,2545,3908
$STATE,6646,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6646,begin apogee
$GC,6651,-0.42,0.0,660.0,9.2,617,6972,1.02,0.00,314.20,0.923,6,0.081,0.000,3009,2545,2936
$STATE,6973,end apogee,CONTROL_FINISHED_OK
$STATE,6974,begin climb
$GC,6976,1.39,243.3,681.2,0.0,649,7315,1.77,0.00,326.62,0.884,6,0.055,0.000,3402,2545,1944
$GC,7632,1.39,243.3,633.3,10.7,712,7637,0.00,2.62,0.00,0.000,4,0.000,0.090,3402,3873,1938
$GC,7709,1.39,243.3,624.3,11.9,718,7717,0.00,2.45,0.00,0.000,6,0.000,0.042,3401,2519,1938
$GC,8034,1.39,243.3,585.7,12.6,749,8036,0.00,0.00,0.00,0.000,6,0.000,0.000,3402,2517,1936
$GC,8353,1.39,243.3,545.1,13.2,779,8354,0.00,0.00,0.00,0.000,6,0.000,0.000,3402,2516,1935
$GC,8671,1.39,243.3,503.3,12.4,809,8676,0.00,2.60,0.00,0.000,4,0.000,0.077,3402,3877,1934
$GC,8733,1.39,243.3,495.3,13.2,814,8738,0.00,2.42,0.00,0.000,6,0.000,0.042,3402,2505,1933
$GC,9058,1.39,243.3,457.0,11.8,844,9062,0.00,2.53,0.00,0.000,4,0.000,0.056,3402,1112,1933
$GC,9100,1.39,243.3,451.7,11.8,847,9108,0.00,2.50,0.00,0.000,6,0.000,0.046,3402,2502,1933
$GC,9426,1.39,243.3,412.7,12.0,878,9430,0.00,2.53,0.00,0.000,4,0.000,0.051,3402,1111,1933
$GC,9477,1.39,243.3,406.7,12.0,882,9481,0.00,2.55,0.00,0.000,6,0.000,0.046,3402,2530,1933
$GC,9801,1.39,243.3,372.2,10.4,912,9806,0.00,2.60,0.00,0.000,4,0.000,0.079,3402,3897,1932
$GC,9878,1.39,243.3,362.6,12.6,918,9886,0.00,2.45,0.00,0.000,6,0.000,0.041,3402,2520,1932
$GC,10203,1.39,243.3,325.8,10.7,949,10207,0.00,2.53,0.00,0.000,4,0.000,0.053,3402,1116,1932
$GC,10269,1.39,243.3,318.2,12.2,954,10277,0.00,2.53,0.00,0.000,6,0.000,0.044,3402,2529,1932
$GC,10594,1.39,243.3,284.2,10.2,985,10599,0.00,2.55,0.00,0.000,4,0.000,0.074,3402,3885,1931
$GC,10646,1.39,243.3,278.9,10.2,989,10651,0.00,2.40,0.00,0.000,6,0.000,0.039,3402,2512,1931
$GC,10971,1.39,243.8,246.7,10.0,1019,10975,0.00,2.60,0.00,0.000,4,0.000,0.071,3402,3890,1931
$GC,11036,1.39,243.8,239.1,11.2,1024,11044,0.00,2.42,0.00,0.000,6,0.000,0.038,3402,2515,1931
$GC,11362,1.41,263.7,207.2,9.4,1055,11391,0.00,2.53,23.60,0.721,4,0.000,0.047,3402,1121,1860
$GC,11437,1.45,298.1,200.3,9.0,1061,11488,0.00,2.50,45.25,0.708,6,0.000,0.041,3402,2524,1720
$GC,11814,1.46,300.2,164.2,9.9,1096,11819,0.00,2.55,0.00,0.000,4,0.000,0.068,3402,3894,1716
$GC,11880,1.46,300.2,157.3,10.6,1101,11888,0.00,2.42,0.00,0.000,6,0.000,0.035,3402,2510,1716
$GC,12205,1.46,300.2,126.3,10.1,1132,12210,0.00,2.55,0.00,0.000,4,0.000,0.063,3402,3887,1716
$GC,12257,1.46,300.2,120.8,10.4,1136,12262,0.00,2.35,0.00,0.000,6,0.000,0.033,3402,2516,1716
$GC,12582,1.47,314.0,87.6,9.6,1166,12607,0.00,2.62,20.52,0.598,4,0.000,0.061,3402,3890,1656
$GC,12679,1.47,314.0,77.0,10.3,1174,12687,0.00,2.38,0.00,0.000,6,0.000,0.031,3402,2517,1655
$GC,13005,1.48,316.9,49.4,9.9,1205,13016,0.00,0.00,5.57,0.463,6,0.000,0.000,3402,2517,1643
$GC,13207,1.59,408.8,32.5,7.4,1224,13326,0.20,0.00,114.85,0.549,6,0.041,0.000,3461,2516,1269
$STATE,13480,end climb,SURFACE_DEPTH_REACHED
$STATE,13480,begin surface coast
$FINISH,-0.2,1.023100
$STATE,13521,end surface coast,CONTROL_FINISHED_OK
$STATE,13521,begin surface
$SM_CCo,13607,0.00,0.000,0,0,1262,410.63
$SM_GC,1.06,14.88,0.00,0.00,0.044,0.000,0.000,125,2565,1262,-13.63,0.42,410.63
$IRIDIUM_FIX,2143.45,-15945.93,241098,232341
$TT8_MAMPS,0.079001
$HUMID,1831
$INTERNAL_PRESSURE,11.3676
$TCM_TEMP,23.80
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.6,12.952
$10V_AH,10.0,3.780
$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,34.025,112.950,850.625,0.000,0.000,25.399,34.698,464.996,0.000,0.000,92.356,28.144,2423.194,7496.624,876.179,2199.790,1299.292,33.350,2076.683,0.000,2134.216,0.000,0.000,0.000
$DEVICE_MAMPS,181.779,95.875,922.701,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,852.248,0.000,0.000,0.000,0.000,0.000,184.921,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,40925,1270
$CAP_FILE_SIZE,452730,0
$CFSIZE,260034560,253997056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310709,073336,2150.764,-15942.345,28,1.0,28,9.8