version: 66.04
glider: 117
mission: 24
dive: 10
start: 7 30 109 12 28 48
data:
$ID,117
$MISSION,24
$DIVE,10
$D_SURF,2
$D_FLARE,3
$D_TGT,450
$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,150
$T_MISSION,175
$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,500
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,250
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51956
$NAV_MODE,1
$FERRY_MAX,0
$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,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,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-106551.45
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,409
$PITCH_MAX,3715
$C_PITCH,2600
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,13
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,150
$ROLL_MAX,3825
$ROLL_DEG,40
$C_ROLL_DIVE,1987
$C_ROLL_CLIMB,1987
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,37
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,746
$VBD_MAX,3936
$C_VBD,2917
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-7.1530929
$PRESSURE_SLOPE,0.0001163939
$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,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$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,0.00439469
$SEABIRD_T_H,0.00064900791
$SEABIRD_T_I,2.5454905e-05
$SEABIRD_T_J,2.5957725e-06
$SEABIRD_C_G,-9.918622
$SEABIRD_C_H,1.1128848
$SEABIRD_C_I,-0.0018190074
$SEABIRD_C_J,0.00019276177
$GPS1,121925,2152.069,-15941.378,42,1.5,42,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-55.9
$GPS2,122758,2152.080,-15941.493,11,2.5,30,9.8
$SPEED_LIMITS,0.173,0.326
$TGT_NAME,T2
$TGT_LATLONG,2150.420,-15941.560
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.051,-0.322
$KALMAN_X,-2067.0,-297.8,33.2,7175.4,-565.0
$KALMAN_Y,520.7,169.3,-81.0,-7330.1,205.3
$MHEAD_RNG_PITCHd_Wd,161.1,3076,-13.9,-10.000
$D_GRID,450
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.37,-243.3,0.0,0.0,0,104,0.00,0.00,-85.18,0.000,2,0.000,0.000,406,1977,3186
$GC,107,-1.37,-243.3,3.0,-5.2,14,141,11.82,2.55,-13.20,0.000,4,0.196,0.072,2294,581,3912
$GC,315,-1.37,-243.3,36.1,-12.5,39,320,0.00,2.40,0.00,0.000,6,0.000,0.032,2294,1996,3914
$GC,513,-1.37,-243.3,63.3,-13.5,57,517,0.00,2.55,0.00,0.000,4,0.000,0.057,2295,584,3914
$GC,608,-1.37,-243.3,76.7,-13.8,65,613,0.00,2.38,0.00,0.000,6,0.000,0.031,2295,1989,3915
$GC,933,-1.37,-243.3,113.8,-11.4,95,934,0.00,0.00,0.00,0.000,6,0.000,0.000,2295,1993,3916
$GC,1252,-1.37,-243.3,149.4,-10.0,125,1253,0.00,0.00,0.00,0.000,6,0.000,0.000,2294,1993,3918
$GC,1570,-1.37,-243.3,184.8,-11.0,155,1571,0.00,0.00,0.00,0.000,6,0.000,0.000,2294,1993,3919
$GC,1889,-1.37,-243.3,219.8,-10.3,185,1890,0.00,0.00,0.00,0.000,6,0.000,0.000,2295,1993,3919
$GC,2208,-1.37,-243.3,249.0,-8.4,215,2212,0.00,2.58,0.00,0.000,4,0.000,0.065,2294,578,3919
$GC,2240,-1.37,-243.3,251.8,-8.3,217,2247,0.00,2.42,0.00,0.000,6,0.000,0.037,2294,1996,3919
$GC,2567,-1.37,-243.3,279.1,-9.3,248,2568,0.00,0.00,0.00,0.000,6,0.000,0.000,2294,1996,3919
$GC,2884,-1.37,-243.3,306.4,-8.4,278,2885,0.00,0.00,0.00,0.000,6,0.000,0.000,2294,1996,3918
$GC,3203,-1.37,-243.3,333.4,-8.3,308,3204,0.00,0.00,0.00,0.000,6,0.000,0.000,2295,1996,3916
$GC,3521,-1.37,-243.3,359.6,-8.3,338,3525,0.00,2.62,0.00,0.000,4,0.000,0.071,2295,580,3913
$GC,3565,-1.37,-243.3,363.8,-9.0,341,3572,0.00,2.45,0.00,0.000,6,0.000,0.041,2294,1994,3913
$GC,3891,-1.37,-243.3,393.7,-9.3,372,3892,0.00,0.00,0.00,0.000,6,0.000,0.000,2294,1993,3911
$GC,4208,-1.37,-243.3,422.1,-8.8,402,4210,0.00,0.00,0.00,0.000,6,0.000,0.000,2294,1994,3908
$GC,4527,-1.37,-243.3,449.4,-8.4,432,4528,0.00,0.00,0.00,0.000,6,0.000,0.000,2295,1994,3906
$STATE,4535,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4535,begin apogee
$GC,4540,-0.38,0.0,450.2,8.4,433,4752,1.05,0.00,206.77,0.890,6,0.090,0.000,2512,1994,2917
$STATE,4753,end apogee,CONTROL_FINISHED_OK
$STATE,4753,begin climb
$GC,4756,1.37,243.3,459.5,0.0,454,4977,1.77,2.67,209.82,0.855,4,0.058,0.074,2901,3386,1926
$GC,5084,1.37,243.3,436.2,11.2,483,5091,0.00,2.53,0.00,0.000,6,0.000,0.046,2901,1985,1918
$GC,5410,1.37,243.3,402.7,10.2,514,5415,0.00,2.62,0.00,0.000,4,0.000,0.070,2901,3383,1915
$GC,5465,1.37,243.3,396.7,10.3,518,5472,0.00,2.50,0.00,0.000,6,0.000,0.047,2901,1986,1914
$GC,5792,1.39,260.4,366.7,9.5,549,5813,0.00,0.00,14.62,0.795,6,0.000,0.000,2901,1986,1855
$GC,6133,1.39,260.4,331.3,10.1,581,6138,0.00,2.60,0.00,0.000,4,0.000,0.067,2901,3384,1851
$GC,6195,1.39,260.4,324.8,10.5,586,6200,0.00,2.50,0.00,0.000,6,0.000,0.046,2901,1979,1851
$GC,6523,1.42,283.8,292.7,9.4,616,6550,0.00,2.67,20.92,0.796,4,0.000,0.064,2901,3381,1759
$GC,6628,1.42,283.8,281.2,10.9,625,6635,0.00,2.50,0.00,0.000,6,0.000,0.044,2901,1977,1756
$GC,6955,1.42,283.8,247.1,10.3,656,6959,0.00,2.65,0.00,0.000,4,0.000,0.077,2901,572,1754
$GC,6987,1.42,283.8,243.2,10.9,658,6994,0.00,2.47,0.00,0.000,6,0.000,0.041,2901,1988,1753
$GC,7314,1.42,283.8,209.1,10.5,689,7318,0.00,2.55,0.00,0.000,4,0.000,0.064,2900,3384,1752
$GC,7482,1.42,283.8,191.4,10.2,703,7489,0.00,2.47,0.00,0.000,6,0.000,0.041,2901,1974,1751
$GC,7808,1.42,283.8,159.8,10.3,734,7809,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,1974,1751
$GC,8126,1.48,330.7,132.4,8.7,764,8171,0.00,2.65,40.08,0.677,4,0.000,0.055,2901,3381,1568
$GC,8233,1.48,330.7,122.2,10.3,773,8240,0.00,2.45,0.00,0.000,6,0.000,0.038,2901,1980,1565
$GC,8559,1.48,330.7,87.4,10.7,804,8560,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,1980,1562
$GC,8877,1.56,396.1,55.3,8.2,834,8938,0.17,2.60,55.28,0.594,4,0.039,0.064,2959,585,1302
$GC,9019,1.56,396.1,39.8,12.2,846,9024,0.00,2.42,0.00,0.000,6,0.000,0.035,2959,1995,1299
$GC,9217,1.56,401.5,18.0,9.8,865,9231,0.00,2.53,5.35,0.437,4,0.000,0.057,2960,3385,1280
$GC,9299,1.56,401.5,8.4,12.0,879,9306,0.00,2.42,0.00,0.000,6,0.000,0.035,2959,1985,1280
$STATE,9349,end climb,SURFACE_DEPTH_REACHED
$STATE,9349,begin surface coast
$FINISH,0.4,1.022912
$STATE,9368,end surface coast,CONTROL_FINISHED_OK
$STATE,9368,begin surface
$SM_CCo,9449,0.00,0.000,0,0,1274,402.78
$SM_GC,1.25,11.23,0.00,0.00,0.033,0.000,0.000,408,1981,1274,-10.04,-0.17,402.78
$IRIDIUM_FIX,2145.77,-15955.46,241098,090949
$TT8_MAMPS,0.18408
$HUMID,1952
$INTERNAL_PRESSURE,7.53935
$TCM_TEMP,24.40
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.8,7.568
$10V_AH,10.0,3.272
$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,26.050,65.775,552.850,0.000,0.000,30.642,27.476,295.396,0.000,0.000,64.569,31.067,1615.904,5601.204,607.390,1543.591,596.587,33.336,1425.884,0.000,1480.660,0.000,0.000,0.000
$DEVICE_MAMPS,195.585,77.467,889.720,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,616.375,0.000,0.000,0.000,0.000,0.000,249.300,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,28343,891
$CAP_FILE_SIZE,89523,0
$CFSIZE,260165632,255971328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300709,150722,2150.897,-15942.002,10,2.6,29,9.8