version: 66.04
glider: 117
mission: 24
dive: 43
start: 8 2 109 22 22 55
data:
$ID,117
$MISSION,24
$DIVE,43
$D_SURF,2
$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,120
$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,-107243.83
$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,31
$R_STBD_OVSHOOT,44
$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
$GPS1,221207,2154.217,-15941.957,26,1.4,26,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-54.9
$GPS2,222206,2154.315,-15942.151,16,1.8,26,9.8
$SPEED_LIMITS,0.100,0.279
$TGT_NAME,BobSW
$TGT_LATLONG,2153.790,-15942.207
$TGT_RADIUS,400.000
$KALMAN_CONTROL,0.190,-0.204
$KALMAN_X,-50432.8,114.3,-141.3,54167.9,-1072.0
$KALMAN_Y,13717.5,68.3,76.3,-16450.2,627.9
$MHEAD_RNG_PITCHd_Wd,127.3,977,-16.8,-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,17,-1.50,-170.3,0.0,0.0,0,100,0.00,0.00,-79.65,0.000,2,0.000,0.000,409,1960,3403
$GC,103,-1.50,-170.3,4.1,-9.3,13,123,10.93,0.00,-3.53,0.000,6,0.185,0.000,2210,1960,3614
$GC,195,-1.50,-170.3,28.5,-19.2,25,196,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,1960,3616
$GC,385,-1.50,-170.3,60.8,-18.0,43,390,0.00,2.50,0.00,0.000,4,0.000,0.058,2210,573,3617
$GC,437,-1.50,-170.3,68.5,-13.2,47,441,0.00,2.35,0.00,0.000,6,0.000,0.029,2210,1967,3617
$GC,763,-1.50,-170.3,114.3,-16.2,77,767,0.00,2.47,0.00,0.000,4,0.000,0.051,2210,3362,3619
$GC,802,-1.50,-170.3,121.0,-16.6,80,806,0.00,2.38,0.00,0.000,6,0.000,0.034,2210,1974,3619
$GC,1128,-1.50,-170.3,165.9,-14.2,110,1129,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,1974,3620
$GC,1445,-1.50,-170.3,210.3,-14.1,140,1450,0.00,2.58,0.00,0.000,4,0.000,0.065,2210,565,3621
$GC,1489,-1.50,-170.3,216.7,-13.7,143,1496,0.00,2.40,0.00,0.000,6,0.000,0.034,2210,1974,3621
$GC,1816,-1.50,-170.3,254.8,-10.5,174,1817,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,1974,3622
$STATE,1950,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1950,begin apogee
$GC,1956,-0.38,0.0,270.4,11.8,187,2104,1.20,0.00,140.85,0.690,6,0.098,0.000,2452,1977,2917
$STATE,2105,end apogee,CONTROL_FINISHED_OK
$STATE,2105,begin climb
$GC,2107,1.50,170.3,277.4,0.0,202,2256,1.90,2.70,139.38,0.676,4,0.058,0.062,2867,3390,2222
$GC,2295,1.64,282.1,271.9,5.6,218,2396,0.15,2.47,93.47,0.668,6,0.044,0.040,2915,1992,1765
$GC,2721,1.65,289.3,233.3,9.7,258,2732,0.00,0.00,5.93,0.518,6,0.000,0.000,2914,1992,1737
$GC,3051,1.65,289.3,197.4,11.9,289,3055,0.00,2.55,0.00,0.000,4,0.000,0.059,2914,3389,1734
$GC,3080,1.65,289.3,193.7,13.1,291,3084,0.00,2.45,0.00,0.000,6,0.000,0.041,2914,1993,1733
$GC,3406,1.66,298.1,158.2,9.7,321,3419,0.00,2.67,8.20,0.571,4,0.000,0.067,2914,587,1701
$GC,3447,1.66,298.1,153.8,10.5,324,3454,0.00,2.45,0.00,0.000,6,0.000,0.036,2914,2002,1700
$GC,3774,1.66,298.1,118.7,11.5,355,3778,0.00,2.53,0.00,0.000,4,0.000,0.061,2914,3390,1697
$GC,3858,1.66,298.1,108.4,12.0,362,3862,0.00,2.45,0.00,0.000,6,0.000,0.037,2914,1981,1696
$GC,4184,1.66,298.1,73.0,10.6,392,4185,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,1981,1694
$GC,4501,1.75,369.5,42.0,7.2,422,4567,0.00,0.00,59.92,0.565,6,0.000,0.000,2914,1981,1409
$GC,4758,1.79,402.8,19.5,8.7,446,4796,0.00,2.62,28.02,0.526,4,0.000,0.052,2914,3388,1274
$GC,4842,1.85,452.5,11.9,8.0,460,4893,0.12,2.42,42.65,0.517,6,0.044,0.035,2960,1990,1071
$STATE,4931,end climb,SURFACE_DEPTH_REACHED
$STATE,4931,begin surface coast
$FINISH,0.5,1.022898
$STATE,4951,end surface coast,CONTROL_FINISHED_OK
$STATE,4951,begin surface
$SM_CCo,5033,0.00,0.000,0,0,1064,454.30
$SM_GC,1.12,11.20,0.00,0.00,0.030,0.000,0.000,408,1987,1064,-9.76,0.51,454.30
$IRIDIUM_FIX,2145.77,-15940.77,271098,202007
$TT8_MAMPS,0.075166
$HUMID,1912
$INTERNAL_PRESSURE,7.55888
$TCM_TEMP,24.50
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,24.0,13.454
$10V_AH,10.2,5.868
$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,25.500,40.000,518.425,0.000,0.000,23.010,28.223,378.585,0.000,0.000,87.128,26.408,849.116,2788.220,530.386,847.347,620.080,33.337,1029.612,0.000,798.123,0.000,0.000,0.000
$DEVICE_MAMPS,184.847,67.496,689.533,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,323.448,0.000,0.000,0.000,0.000,0.000,75.282,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,15863,478
$CAP_FILE_SIZE,58074,0
$CFSIZE,260165632,252997632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020809,234732,2153.927,-15942.032,11,1.5,11,9.8