version: 66.04
glider: 118
mission: 21
dive: 38
start: 8 1 109 3 44 58
data:
$ID,118
$MISSION,21
$DIVE,38
$D_SURF,4
$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,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,51726
$NAV_MODE,1
$FERRY_MAX,45
$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,30
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-86583.031
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,428
$PITCH_MAX,3730
$C_PITCH,2950
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,10
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,311
$ROLL_MAX,3943
$ROLL_DEG,40
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2700
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,17
$R_PORT_OVSHOOT,52
$R_STBD_OVSHOOT,38
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,582
$VBD_MAX,3956
$C_VBD,2937
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-8.3219604
$PRESSURE_SLOPE,0.000115925
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,150
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.4
$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,0.0043077655
$SEABIRD_T_H,0.00063814409
$SEABIRD_T_I,2.4031482e-05
$SEABIRD_T_J,2.4698193e-06
$SEABIRD_C_G,-9.9826059
$SEABIRD_C_H,1.1260695
$SEABIRD_C_I,-0.0021108589
$SEABIRD_C_J,0.00021799213
$GPS1,033202,2153.429,-15940.628,11,1.5,11,9.8
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,0.25
$_SM_ANGLEo,-59.4
$GPS2,034407,2153.460,-15940.782,11,1.6,16,9.8
$SPEED_LIMITS,0.100,0.326
$TGT_NAME,T2
$TGT_LATLONG,2150.420,-15941.560
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.067,-0.319
$KALMAN_X,-56961.5,-974.5,65.4,59882.0,-1149.0
$KALMAN_Y,25963.0,417.4,-89.5,-31157.4,569.9
$MHEAD_RNG_PITCHd_Wd,158.3,5786,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,24,-1.69,-243.3,0.0,0.0,0,110,0.00,0.00,-82.90,0.000,2,0.000,0.000,419,2485,3493
$GC,116,-1.69,-243.3,4.5,-11.4,12,139,11.18,2.33,-5.97,0.000,4,0.125,0.052,2577,1116,3928
$GC,245,-1.69,-243.3,40.7,-19.2,24,252,0.00,2.25,0.00,0.000,6,0.000,0.022,2577,2503,3929
$GC,446,-1.69,-243.3,76.7,-17.8,43,450,0.00,2.38,0.00,0.000,4,0.000,0.041,2577,1114,3930
$GC,510,-1.69,-243.3,86.5,-15.1,47,517,0.00,2.25,0.00,0.000,6,0.000,0.022,2577,2503,3930
$GC,838,-1.69,-243.3,137.9,-16.6,78,843,0.00,2.53,0.00,0.000,4,0.000,0.045,2577,3895,3931
$GC,929,-1.69,-243.3,151.9,-14.9,85,934,0.00,2.40,0.00,0.000,6,0.000,0.022,2577,2505,3931
$GC,1258,-1.69,-243.3,197.7,-13.5,115,1262,0.00,2.55,0.00,0.000,4,0.000,0.044,2577,3897,3931
$GC,1293,-1.69,-243.3,202.9,-14.2,117,1300,0.00,2.42,0.00,0.000,6,0.000,0.024,2577,2502,3931
$GC,1621,-1.69,-243.3,245.9,-12.8,148,1627,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2503,3931
$GC,1949,-1.69,-243.3,284.4,-12.3,179,1956,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2503,3930
$GC,2278,-1.69,-243.3,320.9,-10.8,210,2282,0.00,2.60,0.00,0.000,4,0.000,0.051,2577,3892,3929
$GC,2337,-1.69,-243.3,326.9,-11.2,214,2341,0.00,2.45,0.00,0.000,6,0.000,0.028,2578,2505,3929
$GC,2665,-1.69,-243.3,364.6,-11.2,244,2671,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2505,3927
$GC,2993,-1.69,-243.3,401.3,-10.6,275,2998,0.00,2.60,0.00,0.000,4,0.000,0.054,2577,3888,3924
$GC,3071,-1.69,-243.3,410.4,-11.6,281,3076,0.00,2.47,0.00,0.000,6,0.000,0.030,2577,2503,3924
$GC,3399,-1.69,-243.3,445.2,-10.3,311,3406,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2504,3921
$STATE,3446,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3446,begin apogee
$GC,3459,-0.50,0.0,450.8,11.1,316,3651,1.17,0.00,186.02,0.773,6,0.062,0.000,2837,2710,2937
$STATE,3657,end apogee,CONTROL_FINISHED_OK
$STATE,3657,begin climb
$GC,3663,1.69,243.3,458.9,0.0,335,3861,2.10,2.40,188.10,0.759,4,0.041,0.057,3323,3918,1945
$GC,4126,1.69,243.3,416.1,11.1,373,4133,0.00,2.25,0.00,0.000,6,0.000,0.031,3323,2688,1939
$GC,4455,1.71,264.7,384.6,9.4,404,4479,0.00,2.35,17.50,0.692,4,0.000,0.057,3323,3910,1856
$GC,4654,1.71,264.7,362.7,12.0,420,4661,0.00,2.22,0.00,0.000,6,0.000,0.031,3323,2696,1853
$GC,4982,1.73,278.7,329.5,9.6,451,4999,0.00,2.40,12.10,0.652,4,0.000,0.056,3323,3922,1799
$GC,5051,1.73,278.7,322.4,10.4,456,5055,0.00,2.25,0.00,0.000,6,0.000,0.030,3323,2689,1799
$GC,5379,1.73,278.7,290.1,10.1,486,5385,0.00,0.00,0.00,0.000,6,0.000,0.000,3323,2690,1796
$GC,5707,1.73,278.7,255.1,11.4,517,5714,0.00,0.00,0.00,0.000,6,0.000,0.000,3323,2690,1795
$GC,6036,1.73,278.7,220.5,10.7,548,6042,0.00,0.00,0.00,0.000,6,0.000,0.000,3323,2690,1795
$GC,6364,1.76,303.6,188.0,9.3,579,6391,0.00,0.00,20.75,0.608,6,0.000,0.000,3323,2690,1698
$GC,6719,1.76,303.6,155.0,10.0,612,6723,0.00,2.38,0.00,0.000,4,0.000,0.047,3323,1302,1694
$GC,6755,1.83,356.7,151.2,8.5,614,6815,0.10,2.33,45.05,0.586,6,0.054,0.028,3359,2709,1481
$GC,7133,1.83,356.7,105.8,11.7,649,7137,0.00,2.30,0.00,0.000,4,0.000,0.051,3359,3922,1475
$GC,7197,1.83,356.7,98.4,12.8,653,7204,0.00,2.20,0.00,0.000,6,0.000,0.025,3359,2689,1474
$GC,7525,1.84,365.7,64.2,9.8,684,7539,0.00,2.38,7.53,0.432,4,0.000,0.048,3359,3929,1446
$GC,7593,1.89,410.2,57.6,8.8,689,7637,0.00,2.20,38.60,0.493,6,0.000,0.024,3359,2687,1264
$GC,7960,1.89,410.2,21.0,11.3,723,7964,0.00,2.33,0.00,0.000,4,0.000,0.042,3359,1311,1258
$GC,8098,1.89,410.2,6.5,11.7,743,8105,0.00,2.28,0.00,0.000,6,0.000,0.024,3359,2707,1258
$STATE,8109,end climb,SURFACE_DEPTH_REACHED
$STATE,8109,begin surface coast
$FINISH,0.0,1.022913
$STATE,8147,end surface coast,CONTROL_FINISHED_OK
$STATE,8147,begin surface
$SM_CCo,8180,18.35,0.411,0,0,1101,450.13
$SM_GC,0.56,0.00,0.00,18.35,0.000,0.000,0.411,421,2510,1101,-11.63,0.28,450.13
$IRIDIUM_FIX,2145.77,-15942.95,261098,010153
$TT8_MAMPS,0.06136
$HUMID,1805
$INTERNAL_PRESSURE,10.0234
$TCM_TEMP,24.00
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.9,22.096
$10V_AH,10.1,25.594
$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,27.125,62.150,515.650,18.350,0.000,31.789,26.106,389.302,0.000,0.000,57.808,16.628,1443.671,3989.155,568.026,1331.670,1582.596,33.351,1341.193,0.000,1285.987,0.000,0.000,0.000
$DEVICE_MAMPS,125.021,56.758,773.136,411.112,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,513.116,0.000,0.000,0.000,0.000,0.000,108.385,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,25270,751
$CAP_FILE_SIZE,271498,0
$CFSIZE,-70647808,-89128960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,010809,060307,2152.530,-15940.899,40,0.8,40,9.8