version: 66.04
glider: 116
mission: 22
dive: 39
start: 8 1 109 12 19 55
data:
$ID,116
$MISSION,22
$DIVE,39
$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,175
$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,450
$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,-58262.93
$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,2555
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,41
$R_STBD_OVSHOOT,28
$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
$GPS1,120625,2153.146,-15940.499,40,1.2,40,9.8
$_CALLS,2
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-68.7
$GPS2,121901,2153.215,-15940.676,11,1.0,16,9.8
$SPEED_LIMITS,0.100,0.278
$TGT_NAME,T2
$TGT_LATLONG,2150.420,-15941.560
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.028,-0.277
$KALMAN_X,-56051.9,556.9,5.4,57710.1,-1362.3
$KALMAN_Y,10749.5,-186.0,16.9,-15844.4,288.3
$MHEAD_RNG_PITCHd_Wd,164.4,5395,-16.1,-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,17,-1.55,-170.3,0.0,0.0,0,100,0.00,0.00,-80.43,0.000,2,0.000,0.000,125,2635,3336
$GC,103,-1.55,-170.3,3.0,-6.1,12,132,15.93,2.42,-4.70,0.000,4,0.183,0.044,2752,1231,3633
$GC,212,-1.55,-170.3,32.2,-16.3,24,217,0.00,2.42,0.00,0.000,6,0.000,0.035,2752,2627,3634
$GC,409,-1.55,-170.3,67.3,-15.8,42,413,0.00,2.40,0.00,0.000,4,0.000,0.031,2752,1223,3635
$GC,504,-1.55,-170.3,80.4,-12.9,50,509,0.00,2.45,0.00,0.000,6,0.000,0.035,2752,2640,3635
$GC,829,-1.55,-170.3,127.3,-13.9,80,833,0.00,2.30,0.00,0.000,4,0.000,0.067,2752,3890,3637
$GC,901,-1.55,-170.3,137.3,-13.2,86,905,0.00,2.12,0.00,0.000,6,0.000,0.029,2752,2619,3638
$GC,1230,-1.55,-170.3,176.0,-12.4,117,1235,0.00,2.35,0.00,0.000,4,0.000,0.066,2752,3891,3639
$GC,1386,-1.55,-170.3,194.7,-11.4,130,1393,0.00,2.15,0.00,0.000,6,0.000,0.029,2752,2627,3639
$GC,1711,-1.55,-170.3,226.9,-9.9,161,1715,0.00,2.40,0.00,0.000,4,0.000,0.038,2752,1233,3639
$GC,1767,-1.55,-170.3,232.8,-10.3,165,1774,0.00,2.45,0.00,0.000,6,0.000,0.038,2752,2638,3639
$GC,2091,-1.55,-170.3,267.6,-11.2,196,2093,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2638,3638
$GC,2410,-1.55,-170.3,302.8,-10.9,226,2411,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2638,3636
$GC,2729,-1.55,-170.3,336.6,-10.1,256,2730,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2638,3635
$GC,3047,-1.55,-170.3,368.4,-10.6,286,3051,0.00,2.45,0.00,0.000,4,0.000,0.042,2752,1239,3632
$GC,3135,-1.55,-170.3,377.9,-10.5,293,3143,0.00,2.50,0.00,0.000,6,0.000,0.044,2752,2629,3632
$GC,3461,-1.55,-170.3,408.0,-8.1,324,3462,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2629,3630
$GC,3779,-1.55,-170.3,433.9,-8.8,354,3781,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2629,3628
$GC,4098,-1.55,-170.3,462.3,-8.9,384,4102,0.00,2.47,0.00,0.000,4,0.000,0.047,2752,1236,3625
$GC,4193,-1.55,-170.3,471.2,-9.5,392,4198,0.00,2.50,0.00,0.000,6,0.000,0.048,2752,2634,3625
$GC,4518,-1.55,-170.3,500.2,-8.3,422,4519,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2634,3623
$GC,4837,-1.55,-170.3,526.3,-7.6,452,4838,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2634,3619
$GC,5155,-1.55,-170.3,551.0,-8.0,482,5159,0.00,2.42,0.00,0.000,4,0.000,0.090,2752,3890,3617
$GC,5266,-1.55,-170.3,560.2,-8.3,491,5273,0.00,2.20,0.00,0.000,6,0.000,0.040,2752,2647,3617
$GC,5591,-1.55,-170.3,582.7,-7.3,522,5595,0.00,2.58,0.00,0.000,4,0.000,0.057,2752,1219,3614
$GC,5675,-1.55,-170.3,588.8,-7.7,529,5680,0.00,2.55,0.00,0.000,6,0.000,0.054,2752,2626,3614
$GC,6000,-1.55,-170.3,613.3,-8.1,559,6001,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2626,3612
$GC,6319,-1.55,-170.3,639.3,-8.7,589,6323,0.00,2.47,0.00,0.000,4,0.000,0.097,2752,3890,3610
$GC,6371,-1.55,-170.3,644.2,-9.7,593,6375,0.00,2.22,0.00,0.000,6,0.000,0.042,2752,2629,3609
$STATE,6555,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6556,begin apogee
$GC,6560,-0.42,0.0,660.8,8.5,610,6789,1.23,0.00,219.48,0.933,6,0.087,0.000,3004,2555,2936
$STATE,6790,end apogee,CONTROL_FINISHED_OK
$STATE,6791,begin climb
$GC,6792,1.55,170.3,667.2,0.0,633,7031,1.95,2.60,227.73,0.892,4,0.055,0.053,3435,1143,2241
$GC,7211,1.55,170.3,628.8,11.7,669,7216,0.00,2.58,0.00,0.000,6,0.000,0.049,3435,2558,2237
$GC,7536,1.55,170.3,592.2,11.2,699,7540,0.00,2.55,0.00,0.000,4,0.000,0.080,3435,3890,2235
$GC,7635,1.55,170.3,579.7,12.6,707,7643,0.00,2.40,0.00,0.000,6,0.000,0.043,3435,2553,2233
$GC,7960,1.59,200.5,548.0,8.8,738,8008,0.00,2.60,38.92,0.873,4,0.000,0.054,3435,1148,2119
$GC,8071,1.61,219.6,537.9,9.2,747,8103,0.00,2.58,26.60,0.848,6,0.000,0.048,3435,2563,2040
$GC,8420,1.61,219.6,500.4,11.6,780,8424,0.00,2.53,0.00,0.000,4,0.000,0.079,3435,3888,2036
$GC,8539,1.61,219.6,485.2,13.5,790,8544,0.00,2.35,0.00,0.000,6,0.000,0.042,3435,2555,2035
$GC,8864,1.61,219.6,448.8,10.9,820,8868,0.00,2.53,0.00,0.000,4,0.000,0.054,3435,1157,2034
$GC,8959,1.61,219.6,437.5,12.5,828,8963,0.00,2.53,0.00,0.000,6,0.000,0.048,3435,2556,2034
$GC,9283,1.61,219.6,399.6,10.3,858,9287,0.00,2.53,0.00,0.000,4,0.000,0.077,3435,3888,2033
$GC,9368,1.61,219.6,390.3,10.8,865,9372,0.00,2.35,0.00,0.000,6,0.000,0.041,3435,2552,2032
$GC,9692,1.61,219.6,357.7,10.4,895,9696,0.00,2.50,0.00,0.000,4,0.000,0.052,3435,1154,2032
$GC,9797,1.61,219.6,346.4,11.2,904,9805,0.00,2.53,0.00,0.000,6,0.000,0.044,3435,2563,2032
$GC,10123,1.62,226.1,314.3,9.7,935,10134,0.00,0.00,7.35,0.696,6,0.000,0.000,3435,2563,2014
$GC,10452,1.67,271.3,282.1,8.2,966,10520,0.05,0.00,59.25,0.766,6,0.097,0.000,3455,2563,1830
$GC,10835,1.67,271.3,239.0,11.1,1002,10839,0.00,2.53,0.00,0.000,4,0.000,0.044,3456,1148,1825
$GC,10886,1.67,271.3,233.3,12.0,1006,10890,0.00,2.53,0.00,0.000,6,0.000,0.041,3456,2566,1824
$GC,11210,1.67,271.3,198.6,11.4,1036,11215,0.00,2.47,0.00,0.000,4,0.000,0.070,3456,3890,1824
$GC,11266,1.67,271.3,192.2,12.0,1040,11273,0.00,2.33,0.00,0.000,6,0.000,0.035,3456,2539,1823
$GC,11590,1.67,271.3,159.8,10.1,1071,11595,0.00,2.42,0.00,0.000,4,0.000,0.041,3456,1155,1823
$GC,11630,1.68,277.7,156.0,9.7,1074,11644,0.00,2.47,7.90,0.594,6,0.000,0.039,3456,2559,1804
$GC,11960,1.68,277.7,120.9,10.8,1105,11961,0.00,0.00,0.00,0.000,6,0.000,0.000,3456,2560,1803
$GC,12279,1.71,300.6,87.3,9.1,1135,12313,0.00,0.00,31.23,0.604,6,0.000,0.000,3456,2560,1710
$GC,12631,1.73,320.7,52.6,9.2,1168,12662,0.00,0.00,26.70,0.565,6,0.000,0.000,3456,2560,1628
$GC,12980,1.77,348.2,22.3,8.9,1201,13023,0.00,2.47,34.28,0.537,4,0.000,0.035,3456,1159,1516
$GC,13098,1.81,380.4,10.9,8.7,1218,13141,0.00,2.45,36.53,0.522,6,0.000,0.033,3456,2570,1385
$STATE,13175,end climb,SURFACE_DEPTH_REACHED
$STATE,13175,begin surface coast
$FINISH,-0.2,1.010830
$STATE,13215,end surface coast,CONTROL_FINISHED_OK
$STATE,13215,begin surface
$SM_CCo,13239,33.47,0.502,0,0,1100,450.13
$SM_GC,0.96,0.00,0.00,33.47,0.000,0.000,0.502,125,2636,1100,-13.66,0.23,450.13
$IRIDIUM_FIX,2148.09,-15942.95,261098,121237
$TT8_MAMPS,0.055991
$HUMID,1799
$INTERNAL_PRESSURE,11.3579
$TCM_TEMP,23.90
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.6,15.144
$10V_AH,9.9,4.813
$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,33.850,102.875,715.950,33.475,0.000,49.803,68.835,437.982,0.000,0.000,90.691,16.217,2396.677,7384.397,770.077,2165.384,1298.427,33.358,1943.788,0.000,2109.608,0.000,0.000,0.000
$DEVICE_MAMPS,182.546,97.409,933.439,502.385,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,831.668,0.000,0.000,0.000,0.000,0.000,170.040,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,37836,1237
$CAP_FILE_SIZE,443249,0
$CFSIZE,260034560,252620800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010809,160224,2151.485,-15941.874,40,0.9,40,9.8