version: 66.04
glider: 116
mission: 22
dive: 67
start: 8 3 109 19 47 52
data:
$ID,116
$MISSION,22
$DIVE,67
$D_SURF,4
$D_FLARE,3
$D_TGT,270
$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,90
$T_MISSION,120
$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,225
$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,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,-58849.02
$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,49
$R_STBD_OVSHOOT,25
$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
$GPS1,193949,2154.462,-15943.213,10,1.7,28,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-68.6
$GPS2,194701,2154.483,-15943.330,13,2.0,30,9.8
$SPEED_LIMITS,0.100,0.310
$TGT_NAME,BobNE
$TGT_LATLONG,2154.185,-15941.805
$TGT_RADIUS,400.000
$KALMAN_CONTROL,0.302,-0.071
$KALMAN_X,-93901.1,326.1,-439.7,91680.4,-1015.8
$KALMAN_Y,20264.3,-314.3,290.7,-23158.9,253.6
$MHEAD_RNG_PITCHd_Wd,93.4,2679,-13.9,-10.000
$D_GRID,270
$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,-1.43,-219.0,0.0,0.0,0,94,0.00,0.00,-74.07,0.000,2,0.000,0.000,122,2640,3425
$GC,96,-1.43,-219.0,4.2,-10.0,11,124,15.85,0.00,-5.95,0.000,6,0.179,0.000,2778,2640,3831
$GC,194,-1.43,-219.0,33.5,-19.7,22,195,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2640,3833
$GC,258,-1.43,-219.0,45.5,-18.6,28,260,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2640,3833
$GC,322,-1.43,-219.0,56.7,-17.5,34,324,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2640,3833
$GC,386,-1.43,-219.0,67.4,-16.4,40,387,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2640,3834
$GC,450,-1.43,-219.0,76.7,-14.0,46,451,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2640,3834
$GC,514,-1.43,-219.0,85.3,-13.9,52,515,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2640,3835
$GC,577,-1.43,-219.0,94.5,-14.0,58,578,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2640,3835
$GC,642,-1.43,-219.0,103.5,-13.8,64,643,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2640,3835
$GC,705,-1.43,-219.0,112.3,-14.1,70,706,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2640,3835
$GC,769,-1.43,-219.0,121.0,-13.6,76,773,0.00,2.38,0.00,0.000,4,0.000,0.031,2778,1236,3835
$GC,825,-1.43,-219.0,128.4,-11.9,80,832,0.00,2.40,0.00,0.000,6,0.000,0.035,2778,2630,3836
$GC,894,-1.43,-219.0,137.0,-12.4,87,895,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2630,3836
$GC,959,-1.43,-219.0,145.3,-13.1,93,960,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2630,3836
$GC,1023,-1.43,-219.0,154.2,-13.6,99,1024,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2630,3837
$GC,1087,-1.43,-219.0,162.1,-12.8,105,1091,0.00,2.33,0.00,0.000,4,0.000,0.067,2778,3896,3836
$GC,1126,-1.43,-219.0,167.5,-13.1,108,1130,0.00,2.12,0.00,0.000,6,0.000,0.028,2778,2609,3837
$GC,1201,-1.43,-219.0,176.7,-11.9,115,1202,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2608,3837
$GC,1266,-1.43,-219.0,183.6,-10.7,121,1270,0.00,2.35,0.00,0.000,4,0.000,0.064,2778,3890,3836
$GC,1294,-1.43,-219.0,186.8,-11.5,123,1298,0.00,2.08,0.00,0.000,6,0.000,0.028,2778,2624,3836
$GC,1370,-1.43,-219.0,194.2,-9.5,130,1374,0.00,2.35,0.00,0.000,4,0.000,0.035,2778,1241,3836
$GC,1432,-1.43,-219.0,199.5,-8.9,135,1436,0.00,2.40,0.00,0.000,6,0.000,0.035,2778,2636,3835
$GC,1503,-1.43,-219.0,205.7,-9.0,141,1504,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2636,3834
$GC,1566,-1.43,-219.0,211.7,-9.6,147,1568,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2636,3834
$GC,1630,-1.43,-219.0,217.5,-9.3,153,1634,0.00,2.30,0.00,0.000,4,0.000,0.068,2778,3889,3834
$GC,1695,-1.43,-219.0,224.6,-11.1,158,1703,0.00,2.12,0.00,0.000,6,0.000,0.029,2778,2627,3834
$GC,1767,-1.43,-219.0,231.4,-10.1,165,1768,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2627,3835
$GC,1831,-1.43,-219.0,237.8,-9.9,171,1832,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2627,3835
$GC,1894,-1.43,-219.0,244.3,-10.2,177,1896,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2627,3834
$GC,1958,-1.43,-219.0,250.3,-9.4,183,1962,0.00,2.33,0.00,0.000,4,0.000,0.068,2779,3884,3834
$GC,2010,-1.43,-219.0,255.4,-9.7,187,2014,0.00,2.10,0.00,0.000,6,0.000,0.031,2778,2632,3834
$GC,2086,-1.43,-219.0,262.3,-8.7,194,2087,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2631,3834
$GC,2150,-1.43,-219.0,267.8,-9.0,200,2151,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2631,3834
$STATE,2179,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2179,begin apogee
$GC,2184,-0.42,0.0,270.6,8.8,203,2465,1.02,0.00,270.67,0.629,6,0.072,0.000,3001,2537,2936
$STATE,2466,end apogee,CONTROL_FINISHED_OK
$STATE,2466,begin climb
$GC,2468,1.43,219.0,281.9,0.0,231,2753,1.80,2.53,270.02,0.617,4,0.047,0.044,3408,1132,2042
$GC,2927,1.44,226.9,254.2,9.8,270,2947,0.00,2.47,10.65,0.544,6,0.000,0.038,3407,2535,2011
$GC,3009,1.48,258.0,246.6,9.0,278,3057,0.00,2.55,39.60,0.601,4,0.000,0.070,3407,3883,1884
$GC,3096,1.48,258.0,237.3,11.5,285,3104,0.00,2.38,0.00,0.000,6,0.000,0.033,3407,2523,1883
$GC,3168,1.48,258.0,229.9,10.4,292,3169,0.00,0.00,0.00,0.000,6,0.000,0.000,3407,2523,1882
$GC,3232,1.48,258.0,223.2,10.7,298,3236,0.00,2.55,0.00,0.000,4,0.000,0.067,3407,3888,1882
$GC,3275,1.48,258.0,217.9,11.6,301,3283,0.00,2.33,0.00,0.000,6,0.000,0.034,3407,2527,1882
$GC,3345,1.48,258.0,210.5,10.6,308,3346,0.00,0.00,0.00,0.000,6,0.000,0.000,3407,2526,1881
$GC,3410,1.48,258.0,203.8,10.5,314,3411,0.00,0.00,0.00,0.000,6,0.000,0.000,3407,2526,1881
$GC,3474,1.48,258.0,197.3,10.3,320,3475,0.00,0.00,0.00,0.000,6,0.000,0.000,3407,2526,1880
$GC,3537,1.49,268.4,190.8,9.7,326,3561,0.00,2.62,13.35,0.574,4,0.000,0.066,3407,3891,1842
$GC,3585,1.49,268.4,186.0,10.1,330,3589,0.00,2.35,0.00,0.000,6,0.000,0.034,3407,2521,1841
$GC,3656,1.55,316.2,179.7,8.5,336,3727,0.12,0.00,61.28,0.608,6,0.051,0.000,3447,2519,1645
$GC,3789,1.55,316.2,165.7,11.1,348,3793,0.00,2.45,0.00,0.000,4,0.000,0.042,3447,1129,1644
$GC,3821,1.55,316.2,161.9,11.1,350,3829,0.00,2.50,0.00,0.000,6,0.000,0.038,3447,2528,1643
$GC,3892,1.55,316.2,154.1,11.0,357,3893,0.00,0.00,0.00,0.000,6,0.000,0.000,3447,2527,1642
$GC,3956,1.55,316.2,147.5,10.5,363,3957,0.00,0.00,0.00,0.000,6,0.000,0.000,3447,2527,1642
$GC,4020,1.55,316.2,141.1,10.6,369,4022,0.00,0.00,0.00,0.000,6,0.000,0.000,3447,2528,1641
$GC,4083,1.55,316.2,134.0,11.2,375,4088,0.00,2.50,0.00,0.000,4,0.000,0.064,3447,3887,1641
$GC,4123,1.55,316.2,128.8,13.5,378,4127,0.00,2.33,0.00,0.000,6,0.000,0.032,3447,2521,1640
$GC,4193,1.55,316.2,121.0,11.0,384,4198,0.00,2.40,0.00,0.000,4,0.000,0.038,3447,1137,1640
$GC,4233,1.55,316.2,116.5,11.2,387,4237,0.00,2.42,0.00,0.000,6,0.000,0.035,3447,2531,1639
$GC,4304,1.55,316.2,108.8,11.9,393,4308,0.00,2.50,0.00,0.000,4,0.000,0.064,3447,3894,1639
$GC,4369,1.55,316.2,100.5,12.3,398,4377,0.00,2.35,0.00,0.000,6,0.000,0.031,3447,2520,1639
$GC,4440,1.58,339.5,93.6,9.3,405,4476,0.00,2.42,28.60,0.568,4,0.000,0.038,3447,1140,1551
$GC,4526,1.58,344.5,84.6,9.8,412,4538,0.00,2.42,7.60,0.486,6,0.000,0.034,3447,2534,1531
$GC,4603,1.58,344.5,77.0,10.1,419,4604,0.00,0.00,0.00,0.000,6,0.000,0.000,3447,2535,1530
$GC,4668,1.62,379.9,71.1,8.9,425,4718,0.00,0.00,45.50,0.553,6,0.000,0.000,3447,2534,1387
$GC,4781,1.66,410.5,60.5,9.1,436,4827,0.00,0.00,39.58,0.535,6,0.000,0.000,3447,2534,1262
$GC,4890,1.66,410.5,48.9,10.8,446,4892,0.00,0.00,0.00,0.000,6,0.000,0.000,3447,2534,1260
$GC,4955,1.66,410.5,41.6,11.6,452,4956,0.00,0.00,0.00,0.000,6,0.000,0.000,3447,2534,1260
$GC,5019,1.66,410.5,34.0,12.2,458,5020,0.00,0.00,0.00,0.000,6,0.000,0.000,3447,2534,1259
$GC,5083,1.66,410.5,26.3,11.7,464,5084,0.00,0.00,0.00,0.000,6,0.000,0.000,3447,2534,1259
$GC,5146,1.66,410.5,19.5,11.0,470,5153,0.00,2.45,0.00,0.000,4,0.000,0.060,3447,3888,1259
$GC,5183,1.66,410.5,15.1,11.8,476,5190,0.00,2.28,0.00,0.000,6,0.000,0.028,3447,2525,1259
$GC,5259,1.66,410.5,6.6,10.5,489,5265,0.00,0.00,0.00,0.000,6,0.000,0.000,3447,2522,1259
$STATE,5286,end climb,SURFACE_DEPTH_REACHED
$STATE,5286,begin surface coast
$FINISH,0.1,1.012721
$STATE,5328,end surface coast,CONTROL_FINISHED_OK
$STATE,5328,begin surface
$SM_CCo,5412,0.00,0.000,0,0,1256,412.10
$SM_GC,1.02,14.38,0.00,0.00,0.033,0.000,0.000,123,2633,1256,-13.59,0.14,412.10
$IRIDIUM_FIX,2145.77,-15945.93,281098,181830
$TT8_MAMPS,0.055991
$HUMID,1855
$INTERNAL_PRESSURE,11.475
$TCM_TEMP,24.00
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.9,20.188
$10V_AH,10.1,6.738
$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,33.175,76.375,786.850,0.000,0.000,27.397,27.498,239.510,0.000,0.000,37.847,31.290,1010.037,2382.704,793.163,983.516,677.287,33.334,1495.211,0.000,932.052,0.000,0.000,0.000
$DEVICE_MAMPS,178.711,69.797,628.940,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,325.301,0.000,0.000,0.000,0.000,0.000,71.554,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,15833,501
$CAP_FILE_SIZE,216623,0
$CFSIZE,260034560,249761792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030809,211907,2154.584,-15943.179,13,2.0,31,9.8