version: 66.04
glider: 117
mission: 24
dive: 26
start: 8 1 109 5 31 0
data:
$ID,117
$MISSION,24
$DIVE,26
$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,-106880.44
$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,29
$R_STBD_OVSHOOT,32
$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
$GPS1,052152,2153.991,-15941.742,11,2.4,30,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-51.9
$GPS2,053010,2153.987,-15941.854,12,2.1,31,9.8
$SPEED_LIMITS,0.100,0.279
$TGT_NAME,TB
$TGT_LATLONG,2153.300,-15940.300
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.210,-0.095
$KALMAN_X,-28352.6,-1085.4,3.8,33653.4,-94.4
$KALMAN_Y,7193.0,674.7,-54.8,-11001.3,-14.6
$MHEAD_RNG_PITCHd_Wd,104.6,2957,-20.9,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.75,-111.9,0.0,0.0,0,117,0.00,0.00,-96.18,0.000,2,0.000,0.000,401,1897,3300
$GC,120,-1.77,-135.4,3.8,-8.6,16,141,10.73,2.42,-2.97,0.000,4,0.189,0.071,2148,565,3470
$GC,215,-1.77,-135.4,29.5,-21.3,29,219,0.00,2.40,0.00,0.000,6,0.000,0.030,2148,1982,3472
$GC,412,-1.77,-135.4,66.3,-16.7,47,416,0.00,2.55,0.00,0.000,4,0.000,0.057,2148,572,3472
$GC,455,-1.77,-135.4,73.9,-16.2,50,462,0.00,2.38,0.00,0.000,6,0.000,0.029,2149,1982,3472
$GC,780,-1.77,-135.4,124.9,-16.5,81,785,0.00,2.55,0.00,0.000,4,0.000,0.058,2148,570,3474
$GC,835,-1.77,-135.4,133.7,-15.1,85,843,0.00,2.38,0.00,0.000,6,0.000,0.031,2148,1977,3475
$GC,1162,-1.77,-135.4,177.7,-13.1,116,1163,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,1978,3476
$GC,1479,-1.77,-135.4,218.5,-13.7,146,1480,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,1978,3477
$GC,1798,-1.77,-135.4,260.6,-11.9,176,1802,0.00,2.58,0.00,0.000,4,0.000,0.064,2148,567,3477
$GC,1825,-1.77,-135.4,264.0,-12.2,178,1830,0.00,2.40,0.00,0.000,6,0.000,0.035,2148,1973,3476
$GC,2152,-1.77,-135.4,305.6,-14.3,208,2153,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,1973,3476
$GC,2469,-1.77,-135.4,349.5,-12.9,238,2473,0.00,2.53,0.00,0.000,4,0.000,0.062,2148,3363,3476
$GC,2542,-1.77,-135.4,359.1,-13.5,244,2546,0.00,2.42,0.00,0.000,6,0.000,0.041,2148,1976,3475
$GC,2868,-1.77,-135.4,398.6,-11.8,274,2872,0.00,2.53,0.00,0.000,4,0.000,0.063,2148,3360,3473
$GC,2896,-1.77,-135.4,402.2,-12.2,276,2900,0.00,2.45,0.00,0.000,6,0.000,0.043,2148,1961,3473
$GC,3229,-1.77,-135.4,438.8,-11.2,307,3235,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,1959,3470
$GC,3554,-1.77,-135.4,472.8,-10.4,338,3555,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,1957,3467
$GC,3873,-1.77,-135.4,506.8,-10.7,368,3877,0.00,2.62,0.00,0.000,4,0.000,0.077,2148,565,3465
$GC,3923,-1.77,-135.4,512.6,-11.5,372,3927,0.00,2.45,0.00,0.000,6,0.000,0.042,2148,1966,3465
$GC,4249,-1.77,-135.4,549.8,-11.0,402,4253,0.00,2.58,0.00,0.000,4,0.000,0.067,2148,3366,3462
$GC,4292,-1.77,-135.4,555.3,-12.0,405,4299,0.00,2.47,0.00,0.000,6,0.000,0.046,2148,1971,3462
$GC,4619,-1.77,-135.4,591.3,-10.9,436,4623,0.00,2.58,0.00,0.000,4,0.000,0.066,2148,3366,3459
$GC,4707,-1.77,-135.4,601.3,-10.3,443,4714,0.00,2.50,0.00,0.000,6,0.000,0.047,2148,1960,3458
$GC,5034,-1.77,-135.4,633.8,-10.9,474,5038,0.00,2.62,0.00,0.000,4,0.000,0.078,2148,565,3456
$GC,5122,-1.77,-135.4,644.5,-11.6,481,5129,0.00,2.47,0.00,0.000,6,0.000,0.044,2148,1974,3456
$STATE,5254,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5254,begin apogee
$GC,5259,-0.38,0.0,660.3,12.1,494,5388,1.55,0.00,121.05,1.068,6,0.117,0.000,2448,1975,2917
$STATE,5389,end apogee,CONTROL_FINISHED_OK
$STATE,5389,begin climb
$GC,5391,1.77,135.4,665.9,0.0,507,5528,2.25,2.72,126.30,1.033,4,0.069,0.072,2931,3399,2365
$GC,5555,1.78,141.4,656.5,9.6,521,5567,0.00,2.55,6.65,0.791,6,0.000,0.047,2928,1993,2340
$GC,5887,1.79,150.9,625.0,9.4,552,5902,0.00,2.70,9.27,0.881,4,0.000,0.070,2928,3389,2301
$GC,5944,1.79,150.9,619.2,10.3,557,5948,0.00,2.53,0.00,0.000,6,0.000,0.048,2928,1990,2300
$GC,6270,1.79,150.9,583.3,11.2,587,6271,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,1991,2297
$GC,6587,1.79,150.9,547.0,11.4,617,6591,0.00,2.65,0.00,0.000,4,0.000,0.071,2928,3400,2294
$GC,6750,1.79,150.9,526.7,12.6,631,6754,0.00,2.53,0.00,0.000,6,0.000,0.048,2928,1993,2293
$GC,7076,1.79,150.9,490.7,10.4,661,7080,0.00,2.62,0.00,0.000,4,0.000,0.069,2928,3394,2292
$GC,7160,1.79,150.9,481.6,11.0,668,7164,0.00,2.53,0.00,0.000,6,0.000,0.048,2928,1988,2291
$GC,7487,1.81,161.9,451.0,9.3,698,7502,0.00,2.72,9.50,0.877,4,0.000,0.077,2928,587,2256
$GC,7547,1.81,163.7,444.7,9.9,703,7554,0.00,2.53,0.00,0.000,6,0.000,0.044,2928,2003,2255
$GC,7874,1.82,175.3,413.7,9.3,734,7897,0.00,2.70,12.95,0.890,4,0.000,0.072,2928,3392,2202
$GC,8014,1.82,175.3,398.2,11.1,746,8021,0.00,2.53,0.00,0.000,6,0.000,0.048,2928,1990,2199
$GC,8341,1.84,190.3,367.4,9.1,777,8364,0.00,2.72,14.20,0.873,4,0.000,0.076,2928,590,2141
$GC,8399,1.84,190.6,361.6,10.0,782,8403,0.00,2.50,0.00,0.000,6,0.000,0.044,2928,1994,2139
$GC,8725,1.89,225.5,335.9,7.9,812,8763,0.10,2.67,32.47,0.876,4,0.061,0.070,2956,3395,1996
$GC,8938,1.89,225.5,313.1,10.7,831,8943,0.00,2.53,0.00,0.000,6,0.000,0.047,2956,1989,1990
$GC,9265,1.89,225.5,272.7,13.3,861,9269,0.00,2.62,0.00,0.000,4,0.000,0.065,2956,3399,1988
$GC,9360,1.89,225.5,261.0,12.0,869,9364,0.00,2.53,0.00,0.000,6,0.000,0.045,2956,1986,1987
$GC,9686,1.89,225.5,226.4,10.6,899,9690,0.00,2.60,0.00,0.000,4,0.000,0.062,2956,3391,1986
$GC,9893,1.89,225.8,205.6,10.0,917,9898,0.00,2.47,0.00,0.000,6,0.000,0.042,2956,1991,1986
$GC,10220,1.89,225.8,172.4,10.8,947,10224,0.00,2.58,0.00,0.000,4,0.000,0.059,2956,3397,1986
$GC,10304,1.89,225.8,162.8,11.0,954,10308,0.00,2.47,0.00,0.000,6,0.000,0.039,2956,1986,1986
$GC,10630,1.89,225.8,127.7,10.9,984,10632,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,1986,1986
$GC,10949,1.90,241.1,97.2,9.1,1014,10972,0.00,2.65,12.55,0.630,4,0.000,0.056,2956,3397,1933
$GC,11006,1.90,241.1,91.0,10.7,1019,11011,0.00,2.47,0.00,0.000,6,0.000,0.037,2956,1981,1933
$GC,11331,1.92,254.3,61.6,9.2,1049,11350,0.00,0.00,12.80,0.589,6,0.000,0.000,2956,1981,1879
$GC,11671,1.99,311.6,39.1,6.6,1081,11728,0.00,2.60,48.50,0.583,4,0.000,0.052,2956,3392,1645
$GC,11937,2.00,315.0,16.3,9.8,1107,11950,0.00,2.42,3.85,0.370,6,0.000,0.034,2956,1991,1632
$GC,12019,2.00,315.0,7.6,10.0,1121,12024,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,1991,1631
$STATE,12085,end climb,SURFACE_DEPTH_REACHED
$STATE,12085,begin surface coast
$FINISH,0.6,1.022939
$STATE,12108,end surface coast,CONTROL_FINISHED_OK
$STATE,12109,begin surface
$SM_CCo,12130,66.40,0.529,0,0,1082,450.13
$SM_GC,1.22,0.00,0.00,66.40,0.000,0.000,0.529,408,1987,1082,-9.82,0.48,450.13
$IRIDIUM_FIX,2141.13,-15934.24,261098,020226
$TT8_MAMPS,0.081302
$HUMID,1918
$INTERNAL_PRESSURE,7.50029
$TCM_TEMP,24.60
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.7,10.591
$10V_AH,10.1,4.570
$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,25.825,117.025,410.100,66.400,0.000,24.429,29.845,283.391,0.000,0.000,81.941,32.377,2134.424,7272.698,603.857,2035.016,654.721,33.341,1655.377,0.000,1967.497,0.000,0.000,0.000
$DEVICE_MAMPS,189.449,78.234,1068.431,529.230,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,801.589,0.000,0.000,0.000,0.000,0.000,153.637,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,37830,1137
$CAP_FILE_SIZE,118855,0
$CFSIZE,260165632,254525440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010809,085537,2153.539,-15940.270,43,1.8,43,9.8