version: 66.04
glider: 117
mission: 24
dive: 52
start: 8 3 109 10 7 59
data:
$ID,117
$MISSION,24
$DIVE,52
$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,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,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-107420.98
$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,28
$R_STBD_OVSHOOT,41
$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
$GPS1,095401,2153.880,-15941.271,40,1.2,40,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-53.5
$GPS2,100708,2153.921,-15941.426,14,1.2,14,9.8
$SPEED_LIMITS,0.100,0.279
$TGT_NAME,TB
$TGT_LATLONG,2153.300,-15940.300
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.171,-0.120
$KALMAN_X,-57070.3,-499.7,-62.2,62587.2,-320.7
$KALMAN_Y,18085.4,324.1,-157.6,-21561.6,431.4
$MHEAD_RNG_PITCHd_Wd,115.2,2251,-23.2,-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,-1.89,-91.2,0.0,0.0,0,98,0.00,0.00,-79.22,0.000,2,0.000,0.000,406,1959,3095
$GC,101,-1.97,-153.5,3.1,-5.4,13,127,10.23,0.00,-8.90,0.000,6,0.183,0.000,2106,1960,3544
$GC,199,-1.97,-153.5,28.1,-24.4,27,200,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,1960,3546
$GC,390,-1.97,-153.5,69.2,-20.1,45,395,0.00,2.53,0.00,0.000,4,0.000,0.060,2105,569,3547
$GC,441,-1.97,-153.5,79.7,-19.9,49,446,0.00,2.38,0.00,0.000,6,0.000,0.030,2105,1976,3547
$GC,766,-1.97,-153.5,140.0,-17.5,79,770,0.00,2.55,0.00,0.000,4,0.000,0.059,2105,569,3549
$GC,805,-1.97,-153.5,147.1,-18.8,82,809,0.00,2.38,0.00,0.000,6,0.000,0.031,2105,1972,3549
$GC,1131,-1.97,-153.5,199.6,-14.7,112,1132,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,1976,3550
$GC,1448,-1.97,-153.5,253.8,-16.4,142,1449,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,1977,3551
$GC,1767,-1.97,-153.5,304.4,-14.6,172,1768,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,1977,3551
$GC,2085,-1.97,-153.5,349.5,-13.7,202,2087,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,1977,3550
$GC,2404,-1.97,-153.5,394.0,-13.1,232,2408,0.00,2.60,0.00,0.000,4,0.000,0.071,2105,574,3549
$GC,2443,-1.97,-153.5,399.4,-13.5,235,2448,0.00,2.42,0.00,0.000,6,0.000,0.040,2105,1970,3548
$GC,2770,-1.97,-153.5,439.0,-12.4,265,2774,0.00,2.58,0.00,0.000,4,0.000,0.065,2105,3372,3546
$GC,2820,-1.97,-153.5,445.8,-13.1,269,2824,0.00,2.47,0.00,0.000,6,0.000,0.044,2105,1970,3546
$GC,3146,-1.97,-153.5,488.7,-12.8,299,3147,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,1970,3542
$GC,3463,-1.97,-153.5,530.6,-12.9,329,3464,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,1970,3540
$GC,3782,-1.97,-153.5,570.9,-12.4,359,3786,0.00,2.58,0.00,0.000,4,0.000,0.067,2105,3366,3536
$GC,3848,-1.97,-153.5,579.7,-12.8,364,3855,0.00,2.50,0.00,0.000,6,0.000,0.046,2105,1964,3536
$GC,4174,-1.97,-153.5,621.9,-13.4,395,4175,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,1963,3533
$STATE,4468,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4468,begin apogee
$GC,4474,-0.38,0.0,660.1,13.0,423,4621,1.80,0.00,138.35,1.066,6,0.120,0.000,2451,1963,2917
$STATE,4622,end apogee,CONTROL_FINISHED_OK
$STATE,4623,begin climb
$GC,4625,1.97,153.5,666.2,0.0,438,4777,2.42,2.75,142.52,1.026,4,0.067,0.072,2971,3388,2291
$GC,4836,1.97,153.5,650.5,12.9,456,4840,0.00,2.53,0.00,0.000,6,0.000,0.048,2971,1990,2286
$GC,5164,1.97,153.5,612.8,11.0,486,5168,0.00,2.65,0.00,0.000,4,0.000,0.069,2971,3397,2280
$GC,5218,1.97,153.5,605.8,12.0,490,5225,0.00,2.55,0.00,0.000,6,0.000,0.048,2971,1984,2279
$GC,5545,1.97,153.5,570.6,10.8,521,5549,0.00,2.65,0.00,0.000,4,0.000,0.069,2971,3392,2276
$GC,5633,1.97,153.5,560.0,11.5,528,5640,0.00,2.53,0.00,0.000,6,0.000,0.048,2972,1991,2276
$GC,5960,1.99,166.9,530.2,9.0,559,5976,0.00,2.67,10.52,0.913,4,0.000,0.069,2971,3396,2236
$GC,6178,1.99,166.9,506.8,11.2,578,6185,0.00,2.53,0.00,0.000,6,0.000,0.048,2971,1993,2233
$GC,6505,1.99,166.9,471.6,10.2,609,6506,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,1992,2231
$GC,6822,1.99,172.1,440.5,9.6,639,6835,0.00,2.62,5.30,0.745,4,0.000,0.067,2971,3389,2214
$GC,6941,1.99,172.2,428.8,10.0,649,6948,0.00,2.53,0.00,0.000,6,0.000,0.047,2972,1984,2213
$GC,7268,2.00,173.6,397.6,9.9,680,7272,0.00,2.62,0.00,0.000,4,0.000,0.067,2971,3389,2212
$GC,7479,2.00,173.6,373.6,11.5,698,7487,0.00,2.50,0.00,0.000,6,0.000,0.047,2971,1992,2212
$GC,7806,2.00,173.6,339.5,10.4,729,7811,0.00,2.60,0.00,0.000,4,0.000,0.066,2972,3392,2211
$GC,7947,2.00,173.6,324.4,11.0,741,7951,0.00,2.50,0.00,0.000,6,0.000,0.045,2971,1990,2210
$GC,8274,2.03,202.1,296.6,7.9,771,8306,0.00,2.65,26.73,0.852,4,0.000,0.064,2971,3396,2092
$GC,8356,2.04,211.3,288.6,9.3,778,8375,0.00,2.53,9.52,0.762,6,0.000,0.044,2972,1989,2054
$GC,8692,2.04,211.3,254.3,10.2,810,8697,0.00,2.60,0.00,0.000,4,0.000,0.064,2971,3389,2051
$GC,8766,2.06,225.1,247.5,9.0,816,8789,0.00,2.50,12.93,0.769,6,0.000,0.044,2971,1986,1999
$GC,9106,2.06,225.1,215.4,11.0,848,9111,0.00,2.60,0.00,0.000,4,0.000,0.061,2971,3400,1995
$GC,9235,2.06,225.1,199.2,14.0,859,9240,0.00,2.50,0.00,0.000,6,0.000,0.041,2971,1986,1994
$GC,9562,2.06,225.1,159.3,11.8,889,9563,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,1986,1994
$GC,9879,2.07,233.0,125.1,9.4,919,9892,0.00,2.58,7.55,0.617,4,0.000,0.057,2971,3392,1967
$GC,9976,2.07,233.0,114.6,10.5,927,9983,0.00,2.47,0.00,0.000,6,0.000,0.038,2971,1981,1966
$GC,10302,2.07,233.0,81.0,10.1,958,10303,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,1982,1966
$GC,10620,2.07,234.3,49.9,9.9,988,10624,0.00,2.55,0.00,0.000,4,0.000,0.054,2971,3396,1965
$GC,10738,2.10,254.5,38.9,8.5,998,10765,0.12,2.45,19.90,0.590,6,0.050,0.035,3011,1981,1878
$GC,10964,2.13,280.7,20.2,8.1,1019,10996,0.00,2.62,22.35,0.565,4,0.000,0.064,3011,594,1771
$GC,11070,2.13,280.7,9.3,11.8,1036,11077,0.00,2.42,0.00,0.000,6,0.000,0.031,3011,2013,1768
$STATE,11137,end climb,SURFACE_DEPTH_REACHED
$STATE,11137,begin surface coast
$FINISH,0.6,1.023397
$STATE,11155,end surface coast,CONTROL_FINISHED_OK
$STATE,11155,begin surface
$SM_CCo,11178,59.28,0.548,0,0,1286,400.08
$SM_GC,1.26,0.00,0.00,59.28,0.000,0.000,0.548,404,1959,1286,-9.83,-0.31,400.08
$IRIDIUM_FIX,2145.77,-15940.77,281098,060632
$TT8_MAMPS,0.082836
$HUMID,1970
$INTERNAL_PRESSURE,7.50029
$TCM_TEMP,24.10
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.7,14.677
$10V_AH,10.1,6.340
$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,26.025,91.750,395.675,59.275,0.000,24.328,28.311,540.199,0.000,0.000,360.960,14.138,1963.864,6738.998,556.780,1853.636,911.534,33.334,1507.334,0.000,1793.327,0.000,0.000,0.000
$DEVICE_MAMPS,182.546,81.302,1066.130,547.638,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,741.219,0.000,0.000,0.000,0.000,0.000,180.910,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,34688,1051
$CAP_FILE_SIZE,113265,0
$CFSIZE,260165632,252366848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030809,131637,2153.539,-15940.308,43,1.4,43,9.8