version: 66.04
glider: 117
mission: 24
dive: 111
start: 8 8 109 2 26 36
data:
$ID,117
$MISSION,24
$DIVE,111
$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,100
$T_MISSION,150
$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,250
$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,375
$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,-108650.12
$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,41
$R_STBD_OVSHOOT,46
$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
$GPS1,021307,2156.960,-15947.228,9,1.6,10,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-54.7
$GPS2,022544,2157.164,-15947.550,16,1.8,16,9.8
$SPEED_LIMITS,0.150,0.374
$TGT_NAME,BobNE
$TGT_LATLONG,2154.185,-15941.805
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.303,-0.219
$KALMAN_X,-166481.2,-696.2,-685.3,162287.8,-1499.8
$KALMAN_Y,72957.5,164.1,315.9,-70744.6,1136.6
$MHEAD_RNG_PITCHd_Wd,116.1,11309,-19.7,-15.000
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.81,-243.3,0.0,0.0,0,119,0.00,0.00,-98.03,0.000,2,0.000,0.000,403,1952,3365
$GC,122,-1.81,-243.3,3.9,-8.6,16,149,10.27,2.50,-9.00,0.000,4,0.177,0.058,2141,3362,3910
$GC,195,-1.81,-243.3,26.4,-23.4,26,199,0.00,2.38,0.00,0.000,6,0.000,0.033,2141,1976,3912
$GC,265,-1.81,-243.3,42.8,-23.8,32,266,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,1976,3912
$GC,328,-1.81,-243.3,55.2,-18.3,38,333,0.00,2.55,0.00,0.000,4,0.000,0.058,2141,562,3913
$GC,368,-1.81,-243.3,62.7,-18.5,41,372,0.00,2.35,0.00,0.000,6,0.000,0.028,2141,1962,3912
$GC,438,-1.81,-243.3,74.8,-17.4,47,442,0.00,2.47,0.00,0.000,4,0.000,0.049,2141,3364,3913
$GC,470,-1.81,-243.3,81.1,-19.2,49,477,0.00,2.40,0.00,0.000,6,0.000,0.034,2141,1964,3913
$GC,540,-1.81,-243.3,93.5,-17.4,56,541,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,1964,3913
$GC,604,-1.81,-243.3,104.6,-18.0,62,608,0.00,2.50,0.00,0.000,4,0.000,0.050,2141,3368,3914
$GC,654,-1.81,-243.3,114.0,-19.0,66,658,0.00,2.40,0.00,0.000,6,0.000,0.035,2141,1969,3915
$GC,724,-1.81,-243.3,126.8,-18.5,72,726,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,1969,3915
$GC,788,-1.81,-243.3,138.5,-18.5,78,792,0.00,2.53,0.00,0.000,4,0.000,0.060,2141,570,3915
$GC,866,-1.81,-243.3,154.0,-19.1,84,873,0.00,2.38,0.00,0.000,6,0.000,0.030,2140,1977,3916
$GC,936,-1.81,-243.3,167.1,-18.7,91,937,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,1982,3916
$GC,1001,-1.81,-243.3,179.3,-18.9,97,1005,0.00,2.55,0.00,0.000,4,0.000,0.058,2141,569,3916
$GC,1022,-1.81,-243.3,183.7,-18.5,98,1029,0.00,2.38,0.00,0.000,6,0.000,0.031,2141,1967,3916
$GC,1092,-1.81,-243.3,196.6,-19.4,105,1096,0.00,2.50,0.00,0.000,4,0.000,0.053,2141,3374,3916
$GC,1125,-1.81,-243.3,203.3,-19.5,107,1132,0.00,2.42,0.00,0.000,6,0.000,0.036,2140,1962,3916
$GC,1195,-1.81,-243.3,216.4,-19.2,114,1196,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,1962,3916
$GC,1259,-1.81,-243.3,227.8,-18.4,120,1260,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,1961,3916
$GC,1323,-1.81,-243.3,239.0,-17.5,126,1324,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,1962,3916
$GC,1386,-1.81,-243.3,250.1,-17.7,132,1390,0.00,2.53,0.00,0.000,4,0.000,0.055,2141,3367,3916
$GC,1419,-1.81,-243.3,256.3,-18.1,134,1426,0.00,2.42,0.00,0.000,6,0.000,0.038,2141,1962,3917
$GC,1489,-1.81,-243.3,268.8,-18.5,141,1494,0.00,2.55,0.00,0.000,4,0.000,0.064,2143,566,3917
$GC,1529,-1.81,-243.3,275.7,-17.8,144,1534,0.00,2.40,0.00,0.000,6,0.000,0.033,2141,1976,3917
$GC,1599,-1.81,-243.3,287.9,-17.4,150,1600,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,1976,3917
$GC,1663,-1.81,-243.3,299.3,-18.1,156,1664,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,1979,3916
$GC,1727,-1.81,-243.3,309.6,-15.9,162,1731,0.00,2.58,0.00,0.000,4,0.000,0.063,2140,565,3916
$GC,1761,-1.81,-243.3,315.7,-18.3,165,1765,0.00,2.40,0.00,0.000,6,0.000,0.033,2141,1974,3916
$GC,1958,-1.81,-243.3,348.2,-17.0,183,1959,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,1978,3916
$GC,2150,-1.81,-243.3,377.2,-14.8,201,2151,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,1978,3914
$GC,2341,-1.81,-243.3,402.0,-13.0,219,2342,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,1978,3913
$GC,2532,-1.81,-243.3,427.1,-13.0,237,2533,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,1978,3912
$STATE,2720,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2720,begin apogee
$GC,2726,-0.38,0.0,450.6,11.5,255,2944,1.58,0.00,207.48,0.871,6,0.107,0.000,2451,1977,2916
$STATE,2945,end apogee,CONTROL_FINISHED_OK
$STATE,2945,begin climb
$GC,2948,1.81,243.3,448.9,0.0,277,3168,2.20,2.70,207.25,0.834,4,0.060,0.064,2938,3388,1923
$GC,3276,1.81,243.3,403.4,16.6,306,3280,0.00,2.47,0.00,0.000,6,0.000,0.043,2938,1993,1918
$GC,3474,1.82,249.5,372.4,14.7,324,3484,0.00,0.00,5.12,0.581,6,0.000,0.000,2937,1992,1900
$GC,3675,1.88,298.3,345.3,13.0,343,3724,0.00,2.62,43.70,0.794,4,0.000,0.061,2937,3388,1701
$GC,3787,1.89,311.0,330.1,14.5,353,3805,0.00,2.50,12.10,0.716,6,0.000,0.043,2938,1984,1649
$GC,3997,1.96,365.1,303.3,12.8,372,4048,0.15,0.00,48.33,0.775,6,0.048,0.000,2979,1984,1428
$GC,4110,1.96,365.1,286.9,15.6,383,4111,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,1984,1423
$GC,4174,1.97,374.3,277.5,14.6,389,4185,0.00,0.00,8.43,0.663,6,0.000,0.000,2979,1984,1391
$GC,4248,2.00,399.0,267.1,14.0,396,4276,0.00,2.65,23.15,0.744,4,0.000,0.070,2979,588,1289
$GC,4311,2.00,399.0,257.5,16.6,401,4315,0.00,2.47,0.00,0.000,6,0.000,0.037,2979,2002,1286
$GC,4381,2.00,399.0,246.0,16.7,407,4385,0.00,2.55,0.00,0.000,4,0.000,0.061,2979,3392,1284
$GC,4443,2.00,399.0,236.1,15.3,412,4447,0.00,2.50,0.00,0.000,6,0.000,0.041,2979,1983,1283
$GC,4512,2.00,399.0,224.9,16.2,418,4517,0.00,2.60,0.00,0.000,4,0.000,0.071,2979,588,1283
$GC,4556,2.00,399.0,216.3,18.8,421,4563,0.00,2.45,0.00,0.000,6,0.000,0.036,2979,1998,1282
$GC,4628,2.00,399.0,205.0,16.2,428,4632,0.00,2.55,0.00,0.000,4,0.000,0.060,2979,3396,1282
$GC,4679,2.00,399.0,196.7,16.2,432,4683,0.00,2.47,0.00,0.000,6,0.000,0.040,2979,1991,1281
$GC,4748,2.00,399.0,184.9,16.8,438,4753,0.00,2.60,0.00,0.000,4,0.000,0.067,2979,588,1280
$GC,4788,2.00,399.0,177.9,17.9,441,4792,0.00,2.42,0.00,0.000,6,0.000,0.034,2979,1996,1280
$GC,4858,2.00,399.0,164.7,18.8,447,4859,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2002,1279
$GC,4922,2.00,399.0,154.1,16.0,453,4923,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2002,1279
$GC,4985,2.00,399.0,142.3,18.5,459,4990,0.00,2.60,0.00,0.000,4,0.000,0.063,2979,590,1278
$GC,5007,2.00,399.0,138.3,18.3,460,5014,0.00,2.42,0.00,0.000,6,0.000,0.033,2979,1997,1278
$GC,5077,2.00,399.0,126.8,16.5,467,5081,0.00,2.60,0.00,0.000,4,0.000,0.063,2979,588,1278
$GC,5139,2.00,399.0,116.7,16.8,472,5143,0.00,2.42,0.00,0.000,6,0.000,0.033,2979,1996,1278
$GC,5216,2.00,399.0,104.3,16.2,479,5217,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,1996,1277
$GC,5278,2.00,399.0,93.5,17.0,485,5282,0.00,2.53,0.00,0.000,4,0.000,0.059,2979,3395,1277
$GC,5306,2.00,399.0,88.9,16.4,487,5310,0.00,2.45,0.00,0.000,6,0.000,0.036,2979,1990,1277
$GC,5376,2.00,399.0,77.2,16.3,493,5377,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,1990,1277
$GC,5440,2.00,399.4,67.4,15.0,499,5441,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,1990,1277
$GC,5503,2.00,399.4,57.3,16.0,505,5504,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,1990,1277
$GC,5567,2.07,449.9,48.9,12.9,511,5616,0.00,2.62,42.60,0.619,4,0.000,0.062,2979,597,1081
$GC,5702,2.18,546.7,33.0,11.0,523,5782,0.17,2.40,69.53,0.591,6,0.042,0.031,3031,2006,744
$GC,5849,2.18,546.7,11.1,17.4,540,5855,0.00,2.47,0.00,0.000,4,0.000,0.051,3030,3382,741
$GC,5884,2.18,546.7,4.8,16.9,546,5891,0.00,2.42,0.00,0.000,6,0.000,0.034,3031,1988,740
$STATE,5901,end climb,SURFACE_DEPTH_REACHED
$STATE,5901,begin surface coast
$FINISH,0.5,1.022985
$STATE,5913,end surface coast,CONTROL_FINISHED_OK
$STATE,5913,begin surface
$SM_CCo,5995,0.00,0.000,0,0,738,534.51
$SM_GC,0.99,11.52,0.00,0.00,0.030,0.000,0.000,403,1986,738,-9.77,0.45,534.51
$IRIDIUM_FIX,2145.77,-15937.79,021198,020220
$TT8_MAMPS,0.063661
$HUMID,2089
$INTERNAL_PRESSURE,7.48076
$TCM_TEMP,23.40
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.9,25.019
$10V_AH,10.1,11.024
$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,25.900,109.700,667.675,0.000,0.000,51.145,69.044,410.545,0.000,0.000,141.069,16.517,1081.703,3069.000,728.328,1077.081,801.673,33.349,1435.524,0.000,1030.628,0.000,0.000,0.000
$DEVICE_MAMPS,177.177,70.564,870.545,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,378.930,0.000,0.000,0.000,0.000,0.000,159.677,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,18952,551
$CAP_FILE_SIZE,97145,0
$CFSIZE,260165632,246927360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080809,040736,2157.168,-15947.335,30,1.4,31,9.8