version: 66.04
glider: 117
mission: 24
dive: 27
start: 8 1 109 9 6 11
data:
$ID,117
$MISSION,24
$DIVE,27
$D_SURF,2
$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,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,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,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-106893.28
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,409
$PITCH_MAX,3715
$C_PITCH,2542
$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,1970
$C_ROLL_CLIMB,1994
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,28
$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
$GPS1,085537,2153.539,-15940.270,43,1.8,43,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-54.3
$GPS2,090520,2153.610,-15940.413,12,2.0,12,9.8
$SPEED_LIMITS,0.100,0.279
$TGT_NAME,T2
$TGT_LATLONG,2150.420,-15941.560
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.068,-0.270
$KALMAN_X,-29810.7,108.5,-17.0,36416.2,-313.3
$KALMAN_Y,8059.8,149.7,150.1,-12249.4,-60.2
$MHEAD_RNG_PITCHd_Wd,184.3,6228,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.50,-170.3,0.0,0.0,0,98,0.00,0.00,-78.97,0.000,2,0.000,0.000,409,1987,3145
$GC,101,-1.50,-170.3,3.1,-5.4,13,129,11.12,2.53,-9.00,0.000,4,0.190,0.067,2210,561,3614
$GC,224,-1.50,-170.3,30.3,-18.7,29,231,0.00,2.42,0.00,0.000,6,0.000,0.030,2208,1988,3616
$GC,422,-1.50,-170.3,60.2,-13.4,48,426,0.00,2.58,0.00,0.000,4,0.000,0.057,2208,568,3616
$GC,477,-1.50,-170.3,69.6,-16.8,52,484,0.00,2.38,0.00,0.000,6,0.000,0.030,2208,1970,3617
$GC,802,-1.50,-170.3,114.6,-13.5,83,806,0.00,2.47,0.00,0.000,4,0.000,0.051,2208,3361,3619
$GC,931,-1.50,-170.3,133.3,-14.4,94,935,0.00,2.40,0.00,0.000,6,0.000,0.035,2210,1966,3620
$GC,1262,-1.50,-170.3,180.2,-13.7,125,1263,0.00,0.00,0.00,0.000,6,0.000,0.000,2208,1966,3620
$GC,1579,-1.50,-170.3,218.0,-11.1,155,1581,0.00,0.00,0.00,0.000,6,0.000,0.000,2208,1966,3620
$GC,1898,-1.50,-170.3,254.3,-10.7,185,1902,0.00,2.58,0.00,0.000,4,0.000,0.069,2208,571,3621
$GC,1960,-1.50,-170.3,261.0,-10.7,190,1964,0.00,2.40,0.00,0.000,6,0.000,0.036,2208,1968,3620
$GC,2286,-1.50,-170.3,298.2,-11.4,220,2290,0.00,2.53,0.00,0.000,4,0.000,0.061,2208,3365,3621
$GC,2306,-1.50,-170.3,300.9,-11.2,221,2314,0.00,2.45,0.00,0.000,6,0.000,0.040,2208,1964,3620
$GC,2633,-1.50,-170.3,336.3,-11.8,252,2634,0.00,0.00,0.00,0.000,6,0.000,0.000,2208,1964,3619
$GC,2950,-1.50,-170.3,375.5,-12.5,282,2951,0.00,0.00,0.00,0.000,6,0.000,0.000,2208,1964,3617
$GC,3269,-1.50,-170.3,410.6,-10.5,312,3270,0.00,0.00,0.00,0.000,6,0.000,0.000,2208,1962,3615
$GC,3588,-1.50,-170.3,442.9,-9.9,342,3589,0.00,0.00,0.00,0.000,6,0.000,0.000,2209,1961,3612
$GC,3906,-1.50,-170.3,476.3,-10.4,372,3907,0.00,0.00,0.00,0.000,6,0.000,0.000,2208,1960,3610
$GC,4224,-1.50,-170.3,509.6,-10.7,402,4226,0.00,0.00,0.00,0.000,6,0.000,0.000,2208,1960,3608
$GC,4543,-1.50,-170.3,543.6,-10.1,432,4544,0.00,0.00,0.00,0.000,6,0.000,0.000,2208,1959,3604
$GC,4862,-1.50,-170.3,576.6,-10.5,462,4863,0.00,0.00,0.00,0.000,6,0.000,0.000,2208,1959,3602
$GC,5180,-1.50,-170.3,608.4,-10.5,492,5185,0.00,2.60,0.00,0.000,4,0.000,0.069,2208,3364,3600
$GC,5254,-1.50,-170.3,615.9,-10.2,498,5258,0.00,2.50,0.00,0.000,6,0.000,0.048,2208,1965,3599
$GC,5580,-1.50,-170.3,644.2,-9.6,528,5585,0.00,2.65,0.00,0.000,4,0.000,0.079,2209,562,3597
$GC,5632,-1.50,-170.3,649.4,-10.0,532,5636,0.00,2.47,0.00,0.000,6,0.000,0.045,2208,1965,3597
$STATE,5742,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5742,begin apogee
$GC,5747,-0.38,0.0,661.0,10.4,542,5906,1.23,0.00,152.82,1.068,6,0.110,0.000,2449,1968,2917
$STATE,5907,end apogee,CONTROL_FINISHED_OK
$STATE,5907,begin climb
$GC,5910,1.50,170.3,667.0,0.0,558,6082,1.98,2.75,158.25,1.029,4,0.069,0.071,2871,3394,2222
$GC,6128,1.52,182.2,654.3,9.5,577,6144,0.00,2.55,11.60,0.896,6,0.000,0.048,2871,1990,2174
$GC,6464,1.54,199.6,622.4,9.3,608,6488,0.00,2.67,16.83,0.955,4,0.000,0.077,2871,585,2102
$GC,6526,1.54,199.6,615.8,11.5,613,6533,0.00,2.53,0.00,0.000,6,0.000,0.044,2871,1995,2100
$GC,6853,1.58,227.5,586.1,8.9,644,6888,0.00,2.70,26.77,0.989,4,0.000,0.073,2871,3397,1989
$GC,7007,1.58,227.5,570.1,10.8,657,7014,0.00,2.55,0.00,0.000,6,0.000,0.048,2871,1989,1985
$GC,7334,1.58,228.6,537.9,10.0,688,7338,0.00,2.62,0.00,0.000,4,0.000,0.068,2871,3391,1982
$GC,7373,1.58,228.6,533.6,10.8,691,7377,0.00,2.53,0.00,0.000,6,0.000,0.048,2871,1990,1982
$GC,7699,1.58,228.9,499.3,10.0,721,7700,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,1990,1979
$GC,8016,1.60,250.8,469.2,9.1,751,8043,0.00,2.72,21.10,0.946,4,0.000,0.068,2871,3393,1894
$GC,8073,1.64,284.0,464.5,8.7,756,8111,0.12,2.55,32.03,0.946,6,0.056,0.048,2904,1986,1759
$GC,8436,1.64,284.0,427.6,10.6,790,8437,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,1986,1750
$GC,8755,1.64,284.0,389.1,12.5,820,8756,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,1986,1748
$GC,9073,1.64,284.0,351.3,11.0,850,9078,0.00,2.62,0.00,0.000,4,0.000,0.067,2904,3392,1747
$GC,9113,1.64,284.0,346.8,11.9,853,9118,0.00,2.50,0.00,0.000,6,0.000,0.046,2904,1992,1747
$GC,9439,1.64,284.0,312.7,10.6,883,9444,0.00,2.65,0.00,0.000,4,0.000,0.076,2904,589,1746
$GC,9479,1.64,284.0,308.1,11.7,886,9483,0.00,2.50,0.00,0.000,6,0.000,0.041,2904,2006,1745
$GC,9805,1.64,284.0,271.8,11.7,916,9809,0.00,2.58,0.00,0.000,4,0.000,0.067,2904,3397,1745
$GC,9894,1.64,284.0,261.1,11.0,923,9901,0.00,2.50,0.00,0.000,6,0.000,0.044,2904,1993,1745
$GC,10221,1.65,286.6,227.9,9.9,954,10222,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,1993,1744
$GC,10539,1.67,301.9,196.7,9.4,984,10562,0.00,2.70,14.52,0.744,4,0.000,0.071,2904,588,1685
$GC,10601,1.67,301.9,190.4,10.1,989,10608,0.00,2.47,0.00,0.000,6,0.000,0.038,2904,2002,1684
$GC,10928,1.70,328.7,162.4,8.9,1020,10962,0.00,2.65,24.48,0.725,4,0.000,0.060,2904,3394,1576
$GC,11057,1.70,328.7,148.8,10.9,1031,11064,0.00,2.50,0.00,0.000,6,0.000,0.039,2904,1979,1573
$GC,11382,1.70,328.7,117.3,10.0,1062,11383,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,1979,1572
$GC,11703,1.72,348.7,89.2,9.2,1092,11727,0.00,2.58,18.00,0.628,4,0.000,0.053,2904,3389,1495
$GC,11772,1.72,348.7,82.4,10.4,1098,11777,0.00,2.45,0.00,0.000,6,0.000,0.036,2904,1988,1493
$GC,12099,1.77,385.3,53.1,8.6,1128,12138,0.10,2.62,32.40,0.594,4,0.051,0.062,2945,584,1346
$GC,12251,1.77,385.3,36.7,11.2,1141,12258,0.00,2.42,0.00,0.000,6,0.000,0.031,2945,2001,1342
$GC,12449,1.77,385.3,16.3,11.1,1162,12455,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2001,1341
$GC,12524,1.84,443.0,9.2,7.7,1175,12580,0.00,0.00,49.62,0.548,6,0.000,0.000,2945,2001,1109
$STATE,12600,end climb,SURFACE_DEPTH_REACHED
$STATE,12601,begin surface coast
$FINISH,0.5,1.022513
$STATE,12619,end surface coast,CONTROL_FINISHED_OK
$STATE,12619,begin surface
$SM_CCo,12641,3.28,0.311,0,0,1082,450.13
$SM_GC,1.31,0.00,0.00,3.28,0.000,0.000,0.311,404,1958,1082,-9.83,-0.34,450.13
$IRIDIUM_FIX,2145.77,-15940.77,261098,050552
$TT8_MAMPS,0.059826
$HUMID,1932
$INTERNAL_PRESSURE,7.49052
$TCM_TEMP,24.50
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.6,10.785
$10V_AH,10.1,4.679
$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,25.750,96.925,558.425,3.275,0.000,29.481,32.242,359.305,0.000,0.000,85.894,12.209,2189.156,7649.341,630.135,2009.958,750.589,33.354,1692.815,0.000,1963.039,0.000,0.000,0.000
$DEVICE_MAMPS,190.216,111.215,1067.664,310.635,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,840.275,0.000,0.000,0.000,0.000,0.000,161.050,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,37772,1191
$CAP_FILE_SIZE,120807,0
$CFSIZE,260165632,254406656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010809,123807,2151.722,-15941.075,34,1.5,34,9.8