version: 66.04
glider: 116
mission: 22
dive: 90
start: 8 6 109 3 13 10
data:
$ID,116
$MISSION,22
$DIVE,90
$D_SURF,4
$D_FLARE,3
$D_TGT,270
$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,90
$T_MISSION,125
$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,51716
$NAV_MODE,1
$FERRY_MAX,0
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-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,30
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-59362.695
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,132
$PITCH_MAX,3449
$C_PITCH,3095
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,12
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,140
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,155
$ROLL_MAX,3900
$ROLL_DEG,40
$C_ROLL_DIVE,2628
$C_ROLL_CLIMB,2530
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,43
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,770
$VBD_MAX,3955
$C_VBD,2936
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,3
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,150
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-0.46644667
$PRESSURE_SLOPE,0.0001158926
$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,90
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,12
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,2
$XPDR_VALID,0
$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,0.0043738699
$SEABIRD_T_H,0.00063649943
$SEABIRD_T_I,2.5189185e-05
$SEABIRD_T_J,2.7386873e-06
$SEABIRD_C_G,-9.8703537
$SEABIRD_C_H,1.1242318
$SEABIRD_C_I,-0.0015997718
$SEABIRD_C_J,0.00020779716
$GPS1,030050,2154.787,-15943.810,11,1.2,12,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-67.1
$GPS2,031214,2154.969,-15944.091,15,1.2,15,9.8
$SPEED_LIMITS,0.100,0.324
$TGT_NAME,BobSW
$TGT_LATLONG,2153.790,-15942.207
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.273,-0.176
$KALMAN_X,-140958.6,-1909.6,-217.9,139453.0,-981.3
$KALMAN_Y,39893.0,810.5,57.1,-42785.4,616.7
$MHEAD_RNG_PITCHd_Wd,113.0,3905,-13.1,-10.000
$D_GRID,270
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.39,-243.3,0.0,0.0,0,100,0.00,0.00,-80.97,0.000,2,0.000,0.000,122,2643,3327
$GC,103,-1.39,-243.3,3.2,-6.6,12,132,15.95,0.00,-9.43,0.000,6,0.179,0.000,2787,2643,3932
$GC,198,-1.39,-243.3,28.5,-19.0,24,199,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2643,3932
$GC,263,-1.39,-243.3,39.7,-17.7,30,267,0.00,2.28,0.00,0.000,4,0.000,0.061,2787,3889,3932
$GC,304,-1.39,-243.3,47.0,-17.2,33,308,0.00,2.12,0.00,0.000,6,0.000,0.029,2787,2619,3932
$GC,379,-1.39,-243.3,59.5,-15.6,40,383,0.00,2.35,0.00,0.000,4,0.000,0.031,2786,1235,3933
$GC,430,-1.39,-243.3,65.8,-11.6,44,434,0.00,2.40,0.00,0.000,6,0.000,0.035,2787,2625,3932
$GC,500,-1.39,-243.3,74.5,-13.3,50,502,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2625,3933
$GC,565,-1.39,-243.3,82.4,-11.9,56,569,0.00,2.30,0.00,0.000,4,0.000,0.064,2787,3889,3933
$GC,627,-1.39,-243.3,90.8,-14.5,61,631,0.00,2.10,0.00,0.000,6,0.000,0.028,2787,2622,3933
$GC,702,-1.39,-243.3,100.1,-11.9,68,704,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2622,3933
$GC,768,-1.39,-243.3,107.4,-11.4,74,772,0.00,2.33,0.00,0.000,4,0.000,0.064,2787,3889,3933
$GC,807,-1.39,-243.3,112.8,-13.6,77,811,0.00,2.10,0.00,0.000,6,0.000,0.028,2787,2623,3933
$GC,883,-1.39,-243.3,123.0,-13.2,84,885,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2620,3933
$GC,947,-1.39,-243.3,130.4,-11.5,90,948,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2620,3933
$GC,1011,-1.39,-243.3,137.4,-11.2,96,1012,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2620,3932
$GC,1074,-1.39,-243.3,144.6,-11.2,102,1075,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2620,3932
$GC,1138,-1.39,-243.3,152.1,-11.4,108,1139,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2620,3932
$GC,1202,-1.39,-243.3,159.1,-10.9,114,1206,0.00,2.35,0.00,0.000,4,0.000,0.067,2787,3891,3932
$GC,1233,-1.39,-243.3,162.7,-11.0,116,1241,0.00,2.12,0.00,0.000,6,0.000,0.028,2787,2632,3932
$GC,1305,-1.39,-243.3,169.8,-10.2,123,1307,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2630,3933
$GC,1369,-1.39,-243.3,176.9,-11.4,129,1370,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2630,3932
$GC,1433,-1.39,-243.3,184.2,-11.0,135,1434,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2630,3933
$GC,1498,-1.39,-243.3,191.3,-11.3,141,1499,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2630,3932
$GC,1562,-1.39,-243.3,198.5,-11.3,147,1563,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2630,3932
$GC,1625,-1.39,-243.3,204.9,-10.1,153,1626,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2630,3932
$GC,1689,-1.39,-243.3,211.0,-9.4,159,1693,0.00,2.35,0.00,0.000,4,0.000,0.071,2787,3892,3932
$GC,1745,-1.39,-243.3,216.5,-9.5,163,1752,0.00,2.12,0.00,0.000,6,0.000,0.030,2786,2623,3932
$GC,1815,-1.39,-243.3,223.0,-9.3,170,1816,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2623,3932
$GC,1880,-1.39,-243.3,229.1,-9.4,176,1884,0.00,2.38,0.00,0.000,4,0.000,0.038,2787,1240,3932
$GC,1965,-1.39,-243.3,237.2,-9.5,183,1969,0.00,2.42,0.00,0.000,6,0.000,0.039,2787,2629,3932
$GC,2036,-1.39,-243.3,243.5,-9.0,189,2037,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2629,3932
$GC,2100,-1.39,-243.3,249.3,-9.0,195,2101,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2629,3932
$GC,2163,-1.39,-243.3,255.1,-9.1,201,2167,0.00,2.35,0.00,0.000,4,0.000,0.073,2787,3891,3933
$GC,2207,-1.39,-243.3,259.3,-9.2,204,2215,0.00,2.15,0.00,0.000,6,0.000,0.032,2787,2633,3932
$GC,2278,-1.39,-243.3,265.3,-8.5,211,2279,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2633,3932
$STATE,2340,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2341,begin apogee
$GC,2346,-0.42,0.0,270.8,8.5,217,2655,0.98,0.00,302.88,0.633,6,0.071,0.000,3001,2529,2936
$STATE,2656,end apogee,CONTROL_FINISHED_OK
$STATE,2656,begin climb
$GC,2658,1.39,243.3,283.9,0.0,248,2978,1.77,2.58,303.52,0.619,4,0.047,0.044,3399,1130,1944
$GC,3118,1.39,243.3,250.7,11.6,287,3126,0.00,2.50,0.00,0.000,6,0.000,0.040,3399,2540,1941
$GC,3189,1.39,243.3,243.3,10.5,294,3190,0.00,0.00,0.00,0.000,6,0.000,0.000,3399,2540,1940
$GC,3253,1.40,252.5,236.9,9.7,300,3270,0.00,2.58,11.82,0.557,4,0.000,0.073,3398,3892,1906
$GC,3306,1.40,252.5,231.4,10.9,304,3310,0.00,2.35,0.00,0.000,6,0.000,0.034,3398,2528,1905
$GC,3376,1.45,298.2,224.8,8.7,310,3446,0.00,2.50,59.55,0.609,4,0.000,0.044,3399,1134,1719
$GC,3496,1.51,341.0,214.4,8.8,320,3565,0.12,2.50,56.00,0.604,6,0.048,0.040,3437,2543,1545
$GC,3624,1.51,341.0,199.8,11.6,332,3628,0.00,2.53,0.00,0.000,4,0.000,0.071,3437,3888,1542
$GC,3687,1.51,341.0,191.8,13.3,337,3691,0.00,2.35,0.00,0.000,6,0.000,0.034,3437,2525,1541
$GC,3758,1.51,341.0,183.2,11.7,343,3759,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2522,1540
$GC,3822,1.51,341.0,175.6,11.8,349,3824,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2522,1540
$GC,3886,1.51,341.0,167.9,12.3,355,3888,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2522,1539
$GC,3949,1.51,341.0,160.2,12.3,361,3951,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2522,1539
$GC,4013,1.51,341.0,152.7,11.9,367,4017,0.00,2.55,0.00,0.000,4,0.000,0.067,3437,3891,1538
$GC,4044,1.51,341.0,148.0,13.3,369,4053,0.00,2.38,0.00,0.000,6,0.000,0.033,3437,2522,1538
$GC,4115,1.51,341.0,139.6,12.5,376,4119,0.00,2.42,0.00,0.000,4,0.000,0.041,3437,1137,1538
$GC,4156,1.51,341.0,135.0,11.4,379,4160,0.00,2.45,0.00,0.000,6,0.000,0.038,3437,2532,1537
$GC,4226,1.51,341.0,126.2,12.2,385,4230,0.00,2.50,0.00,0.000,4,0.000,0.067,3437,3887,1537
$GC,4269,1.51,341.0,120.7,12.4,388,4277,0.00,2.33,0.00,0.000,6,0.000,0.032,3437,2525,1536
$GC,4340,1.51,341.0,113.2,10.8,395,4342,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2525,1536
$GC,4404,1.51,341.0,106.1,11.2,401,4406,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2525,1535
$GC,4468,1.51,341.0,98.7,11.8,407,4469,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2525,1535
$GC,4532,1.51,341.0,91.7,10.9,413,4536,0.00,2.53,0.00,0.000,4,0.000,0.064,3437,3894,1535
$GC,4594,1.51,341.0,84.4,11.3,418,4599,0.00,2.33,0.00,0.000,6,0.000,0.031,3437,2520,1534
$GC,4665,1.52,349.9,77.4,9.8,424,4677,0.00,0.00,9.62,0.521,6,0.000,0.000,3437,2518,1509
$GC,4739,1.55,378.6,70.8,9.2,431,4787,0.00,2.47,37.88,0.560,4,0.000,0.038,3437,1135,1392
$GC,4849,1.55,378.6,59.3,10.0,440,4857,0.00,2.45,0.00,0.000,6,0.000,0.034,3437,2544,1390
$GC,4920,1.59,409.6,52.3,9.1,447,4965,0.00,2.47,39.97,0.541,4,0.000,0.062,3437,3882,1266
$GC,5011,1.59,409.6,41.2,10.8,455,5015,0.00,2.30,0.00,0.000,6,0.000,0.030,3437,2523,1264
$GC,5082,1.59,409.6,34.0,10.2,461,5083,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2520,1264
$GC,5145,1.59,409.6,27.4,10.2,467,5147,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2520,1263
$GC,5209,1.59,409.6,20.7,10.4,473,5210,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2520,1263
$GC,5274,1.59,410.3,14.1,10.0,484,5281,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2520,1263
$GC,5349,1.59,410.3,6.9,10.1,497,5355,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2520,1263
$STATE,5383,end climb,SURFACE_DEPTH_REACHED
$STATE,5383,begin surface coast
$FINISH,0.1,1.022850
$STATE,5429,end surface coast,CONTROL_FINISHED_OK
$STATE,5429,begin surface
$SM_CCo,5513,0.00,0.000,0,0,1259,411.61
$SM_GC,0.97,14.65,0.00,0.00,0.043,0.000,0.000,122,2634,1259,-13.60,0.17,411.61
$IRIDIUM_FIX,2145.77,-15945.93,311098,010107
$TT8_MAMPS,0.072865
$HUMID,1900
$INTERNAL_PRESSURE,11.4555
$TCM_TEMP,23.90
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.8,25.284
$10V_AH,9.9,9.138
$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,33.475,85.625,821.250,0.000,0.000,26.820,27.296,461.144,0.000,0.000,89.621,15.299,1050.869,2362.488,814.119,1031.623,941.077,33.340,1547.290,0.000,974.128,0.000,0.000,0.000
$DEVICE_MAMPS,178.711,72.865,632.775,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,332.310,0.000,0.000,0.000,0.000,0.000,156.305,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,15869,511
$CAP_FILE_SIZE,227121,0
$CFSIZE,260034560,246288384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060809,044607,2154.760,-15944.227,31,1.6,32,9.8