version: 66.04
glider: 117
mission: 24
dive: 50
start: 8 3 109 4 48 41
data:
$ID,117
$MISSION,24
$DIVE,50
$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,115
$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,-107373.35
$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,37
$R_STBD_OVSHOOT,37
$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
$GPS1,044006,2154.561,-15942.754,35,1.3,35,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-55.5
$GPS2,044750,2154.649,-15942.887,13,1.8,13,9.8
$SPEED_LIMITS,0.100,0.279
$TGT_NAME,BobNE
$TGT_LATLONG,2154.185,-15941.805
$TGT_RADIUS,400.000
$KALMAN_CONTROL,0.245,-0.134
$KALMAN_X,-53764.6,-1577.1,-179.4,57969.1,-519.8
$KALMAN_Y,16065.6,988.8,252.3,-19265.2,348.6
$MHEAD_RNG_PITCHd_Wd,108.8,2049,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.50,-170.3,0.0,0.0,0,98,0.00,0.00,-79.30,0.000,2,0.000,0.000,406,1953,3183
$GC,102,-1.50,-170.3,3.1,-5.9,13,129,10.65,2.50,-8.10,0.000,4,0.177,0.070,2208,575,3615
$GC,231,-1.50,-170.3,30.7,-17.6,30,235,0.00,2.35,0.00,0.000,6,0.000,0.030,2208,1976,3617
$GC,433,-1.50,-170.3,66.1,-18.5,49,438,0.00,2.45,0.00,0.000,4,0.000,0.051,2208,3365,3617
$GC,473,-1.50,-170.3,73.9,-19.6,52,477,0.00,2.38,0.00,0.000,6,0.000,0.034,2208,1975,3617
$GC,799,-1.50,-170.3,120.6,-12.7,82,803,0.00,2.45,0.00,0.000,4,0.000,0.050,2209,3362,3619
$GC,839,-1.50,-170.3,126.7,-14.9,85,843,0.00,2.38,0.00,0.000,6,0.000,0.034,2208,1970,3619
$GC,1165,-1.50,-170.3,168.7,-12.3,115,1169,0.00,2.55,0.00,0.000,4,0.000,0.064,2208,562,3621
$GC,1260,-1.50,-170.3,180.1,-11.9,123,1265,0.00,2.38,0.00,0.000,6,0.000,0.033,2208,1964,3621
$GC,1588,-1.50,-170.3,219.4,-12.5,153,1592,0.00,2.50,0.00,0.000,4,0.000,0.056,2208,3369,3621
$GC,1676,-1.50,-170.3,231.2,-13.0,160,1683,0.00,2.42,0.00,0.000,6,0.000,0.038,2208,1960,3621
$STATE,1967,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1967,begin apogee
$GC,1973,-0.38,0.0,270.3,12.5,188,2121,1.20,0.00,139.82,0.686,6,0.095,0.000,2452,1960,2916
$STATE,2122,end apogee,CONTROL_FINISHED_OK
$STATE,2122,begin climb
$GC,2125,1.50,170.3,276.9,0.0,203,2277,1.90,2.62,138.50,0.672,4,0.058,0.068,2876,596,2221
$GC,2295,1.61,259.1,269.8,6.5,219,2375,0.00,2.45,73.75,0.661,6,0.000,0.037,2875,2003,1860
$GC,2694,1.65,291.9,236.3,8.7,256,2729,0.12,2.60,27.65,0.650,4,0.047,0.065,2922,3397,1726
$GC,2798,1.65,291.9,225.2,10.9,265,2802,0.00,2.47,0.00,0.000,6,0.000,0.041,2922,1993,1723
$GC,3125,1.65,291.9,189.5,10.5,295,3127,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,1993,1719
$GC,3441,1.65,291.9,154.6,10.1,325,3445,0.00,2.55,0.00,0.000,4,0.000,0.057,2922,3401,1716
$GC,3529,1.65,291.9,145.2,10.7,332,3536,0.00,2.45,0.00,0.000,6,0.000,0.038,2923,1992,1715
$GC,3856,1.65,291.9,111.6,10.6,363,3860,0.00,2.58,0.00,0.000,4,0.000,0.066,2922,587,1713
$GC,3877,1.65,291.9,108.8,12.2,364,3884,0.00,2.42,0.00,0.000,6,0.000,0.035,2922,2004,1713
$GC,4204,1.67,305.3,76.0,9.5,395,4219,0.00,2.62,10.18,0.548,4,0.000,0.062,2922,588,1672
$GC,4276,1.70,329.7,69.0,9.0,401,4305,0.00,2.42,22.17,0.575,6,0.000,0.035,2922,2002,1572
$GC,4623,1.78,393.5,41.4,7.5,434,4683,0.00,2.58,53.72,0.555,4,0.000,0.056,2922,3390,1312
$GC,4794,1.78,393.5,26.0,10.4,449,4798,0.00,2.42,0.00,0.000,6,0.000,0.035,2922,1987,1308
$GC,5001,1.79,402.1,6.9,9.7,480,5015,0.00,2.55,7.75,0.450,4,0.000,0.062,2922,592,1276
$STATE,5053,end climb,SURFACE_DEPTH_REACHED
$STATE,5053,begin surface coast
$FINISH,0.4,0.999364
$STATE,5076,end surface coast,CONTROL_FINISHED_OK
$STATE,5076,begin surface
$SM_CCo,5160,0.00,0.000,0,0,1273,403.27
$SM_GC,1.28,10.88,0.00,0.00,0.026,0.000,0.000,402,1981,1273,-9.77,0.31,403.27
$IRIDIUM_FIX,2145.77,-15940.77,281098,030339
$TT8_MAMPS,0.06136
$HUMID,1924
$INTERNAL_PRESSURE,7.62725
$TCM_TEMP,25.00
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,24.0,14.147
$10V_AH,10.2,6.111
$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,24.750,59.500,473.550,0.000,0.000,30.955,26.393,265.567,0.000,0.000,139.651,13.390,905.582,2799.635,518.058,904.382,505.363,33.362,1041.606,0.000,865.841,0.000,0.000,0.000
$DEVICE_MAMPS,177.177,69.797,686.465,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,331.558,0.000,0.000,0.000,0.000,0.000,81.109,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,15889,493
$CAP_FILE_SIZE,59655,0
$CFSIZE,260165632,252661760
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030809,061543,2154.541,-15942.685,12,1.6,29,9.8