version: 66.04
glider: 117
mission: 24
dive: 62
start: 8 4 109 4 48 27
data:
$ID,117
$MISSION,24
$DIVE,62
$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,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,225
$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,-107682.8
$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,27
$R_STBD_OVSHOOT,39
$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
$GPS1,043902,2153.674,-15942.124,10,1.6,10,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-56.3
$GPS2,044736,2153.743,-15942.267,36,1.9,36,9.8
$SPEED_LIMITS,0.100,0.311
$TGT_NAME,BobNE
$TGT_LATLONG,2154.185,-15941.805
$TGT_RADIUS,400.000
$KALMAN_CONTROL,0.301,0.079
$KALMAN_X,-70625.5,-1500.1,201.0,75438.1,-960.5
$KALMAN_Y,24400.8,780.7,188.8,-29009.8,261.1
$MHEAD_RNG_PITCHd_Wd,65.5,1140,-14.7,-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,15,begin dive
$GC,18,-1.40,-219.0,0.0,0.0,0,99,0.00,0.00,-78.30,0.000,2,0.000,0.000,400,2003,3294
$GC,102,-1.40,-219.0,3.8,-8.7,13,129,10.98,2.40,-8.68,0.000,4,0.183,0.058,2229,3361,3812
$GC,213,-1.40,-219.0,30.8,-18.1,27,220,0.00,2.40,0.00,0.000,6,0.000,0.034,2230,1966,3814
$GC,283,-1.40,-219.0,43.2,-18.1,34,284,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,1966,3814
$GC,347,-1.40,-219.0,54.8,-18.2,40,351,0.00,2.47,0.00,0.000,4,0.000,0.048,2230,3365,3814
$GC,420,-1.40,-219.0,67.6,-17.3,46,424,0.00,2.40,0.00,0.000,6,0.000,0.033,2230,1959,3814
$GC,490,-1.40,-219.0,79.3,-16.4,52,494,0.00,2.50,0.00,0.000,4,0.000,0.058,2229,569,3814
$GC,555,-1.40,-219.0,91.4,-18.0,57,562,0.00,2.38,0.00,0.000,6,0.000,0.030,2230,1980,3815
$GC,626,-1.40,-219.0,102.2,-15.0,64,630,0.00,2.53,0.00,0.000,4,0.000,0.055,2230,573,3815
$GC,658,-1.40,-219.0,107.2,-14.9,66,665,0.00,2.35,0.00,0.000,6,0.000,0.030,2230,1970,3815
$GC,728,-1.40,-219.0,117.1,-14.8,73,732,0.00,2.47,0.00,0.000,4,0.000,0.051,2230,3369,3815
$GC,823,-1.40,-219.0,132.0,-15.2,81,827,0.00,2.40,0.00,0.000,6,0.000,0.035,2230,1965,3816
$GC,893,-1.40,-219.0,141.9,-13.4,87,897,0.00,2.53,0.00,0.000,4,0.000,0.059,2229,563,3817
$GC,959,-1.40,-219.0,150.3,-12.4,92,966,0.00,2.38,0.00,0.000,6,0.000,0.030,2229,1976,3817
$GC,1030,-1.40,-219.0,158.3,-11.8,99,1034,0.00,2.45,0.00,0.000,4,0.000,0.051,2229,3360,3817
$GC,1074,-1.40,-219.0,164.3,-13.0,102,1081,0.00,2.38,0.00,0.000,6,0.000,0.034,2229,1966,3817
$GC,1145,-1.40,-219.0,172.8,-12.2,109,1149,0.00,2.47,0.00,0.000,4,0.000,0.050,2229,3362,3818
$GC,1184,-1.40,-219.0,177.8,-12.5,112,1188,0.00,2.38,0.00,0.000,6,0.000,0.035,2229,1970,3818
$GC,1254,-1.40,-219.0,186.8,-13.0,118,1258,0.00,2.53,0.00,0.000,4,0.000,0.062,2230,570,3818
$GC,1309,-1.40,-219.0,194.5,-13.5,122,1316,0.00,2.38,0.00,0.000,6,0.000,0.031,2229,1976,3818
$GC,1379,-1.40,-219.0,203.3,-12.7,129,1383,0.00,2.47,0.00,0.000,4,0.000,0.052,2230,3372,3818
$GC,1446,-1.40,-219.0,211.9,-13.3,134,1453,0.00,2.40,0.00,0.000,6,0.000,0.035,2229,1969,3819
$GC,1516,-1.40,-219.0,220.3,-11.8,141,1517,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,1969,3819
$GC,1580,-1.40,-219.0,227.3,-10.8,147,1584,0.00,2.53,0.00,0.000,4,0.000,0.062,2229,575,3819
$GC,1619,-1.40,-219.0,231.9,-11.9,150,1623,0.00,2.38,0.00,0.000,6,0.000,0.032,2229,1979,3819
$GC,1689,-1.40,-219.0,239.7,-11.1,156,1690,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,1979,3819
$GC,1752,-1.40,-219.0,246.8,-11.2,162,1754,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,1980,3818
$GC,1816,-1.40,-219.0,254.2,-11.9,168,1817,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,1979,3819
$GC,1880,-1.40,-219.0,261.4,-11.3,174,1881,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,1980,3819
$GC,1944,-1.40,-219.0,268.0,-10.3,180,1945,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,1980,3820
$STATE,1963,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1963,begin apogee
$GC,1968,-0.38,0.0,270.2,10.2,182,2156,1.10,0.00,179.10,0.691,6,0.093,0.000,2453,1982,2916
$STATE,2157,end apogee,CONTROL_FINISHED_OK
$STATE,2157,begin climb
$GC,2160,1.40,219.0,277.2,0.0,201,2344,1.77,0.00,178.02,0.679,6,0.061,0.000,2846,1984,2024
$GC,2405,1.52,317.3,265.1,7.0,225,2494,0.12,0.00,83.00,0.667,6,0.047,0.000,2892,1984,1623
$GC,2558,1.53,326.0,251.0,9.7,240,2568,0.00,0.00,8.18,0.559,6,0.000,0.000,2892,1984,1588
$GC,2632,1.57,356.9,244.2,9.1,247,2662,0.00,0.00,27.67,0.645,6,0.000,0.000,2892,1984,1462
$GC,2725,1.57,356.9,235.5,10.1,256,2729,0.00,2.58,0.00,0.000,4,0.000,0.065,2891,598,1459
$GC,2764,1.57,356.9,231.4,10.9,259,2768,0.00,2.42,0.00,0.000,6,0.000,0.036,2892,1992,1457
$GC,2834,1.59,369.9,224.6,9.6,265,2851,0.00,2.58,12.15,0.606,4,0.000,0.062,2892,3389,1408
$GC,2890,1.59,369.9,218.8,10.4,269,2897,0.00,2.45,0.00,0.000,6,0.000,0.040,2892,2000,1406
$GC,2960,1.59,369.9,211.2,11.1,276,2961,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2000,1404
$GC,3024,1.59,369.9,204.9,10.1,282,3028,0.00,2.55,0.00,0.000,4,0.000,0.059,2892,3392,1404
$GC,3051,1.59,369.9,201.8,11.3,284,3056,0.00,2.45,0.00,0.000,6,0.000,0.039,2892,1993,1404
$GC,3121,1.59,369.9,193.7,11.4,290,3123,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,1993,1403
$GC,3185,1.59,369.9,186.5,11.1,296,3186,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,1994,1402
$GC,3249,1.59,369.9,179.7,10.4,302,3253,0.00,2.55,0.00,0.000,4,0.000,0.058,2892,3395,1401
$GC,3269,1.59,369.9,177.3,10.8,303,3277,0.00,2.45,0.00,0.000,6,0.000,0.038,2892,1992,1402
$GC,3340,1.59,369.9,170.3,10.2,310,3344,0.00,2.58,0.00,0.000,4,0.000,0.065,2891,591,1401
$GC,3361,1.59,369.9,167.8,10.6,311,3368,0.00,2.42,0.00,0.000,6,0.000,0.035,2894,2002,1401
$GC,3431,1.59,369.9,160.8,10.1,318,3435,0.00,2.50,0.00,0.000,4,0.000,0.059,2892,3385,1400
$GC,3481,1.59,369.9,155.5,10.2,322,3486,0.00,2.42,0.00,0.000,6,0.000,0.038,2891,1992,1400
$GC,3552,1.62,393.8,148.9,9.3,328,3578,0.00,2.62,20.67,0.634,4,0.000,0.064,2892,599,1310
$GC,3609,1.62,397.7,143.4,9.9,333,3621,0.00,2.40,4.53,0.455,6,0.000,0.034,2892,1994,1296
$GC,3684,1.66,425.5,136.5,9.1,340,3718,0.00,2.65,25.67,0.627,4,0.000,0.060,2892,594,1182
$GC,3746,1.70,459.9,130.9,8.9,345,3786,0.00,2.42,30.23,0.618,6,0.000,0.033,2891,2002,1042
$GC,3849,1.73,482.7,122.0,9.3,355,3872,0.12,0.00,20.55,0.596,6,0.044,0.000,2937,2002,949
$GC,3932,1.73,482.7,111.7,13.5,363,3933,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2002,946
$GC,3996,1.73,482.7,103.0,13.3,369,3997,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2002,944
$GC,4060,1.73,482.7,94.6,13.2,375,4061,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2003,944
$GC,4123,1.73,482.7,86.1,13.6,381,4128,0.00,2.58,0.00,0.000,4,0.000,0.059,2937,595,943
$GC,4156,1.73,482.7,81.5,13.5,383,4163,0.00,2.40,0.00,0.000,6,0.000,0.032,2938,1992,943
$GC,4226,1.73,482.7,72.8,12.9,390,4231,0.00,2.58,0.00,0.000,4,0.000,0.059,2938,584,942
$GC,4255,1.73,482.7,69.1,12.6,392,4259,0.00,2.42,0.00,0.000,6,0.000,0.032,2938,2002,942
$GC,4325,1.73,482.7,61.2,10.6,398,4329,0.00,2.50,0.00,0.000,4,0.000,0.056,2938,3392,941
$GC,4379,1.80,546.1,55.8,8.1,402,4431,0.00,2.42,41.80,0.566,6,0.000,0.035,2938,1986,745
$GC,4494,1.80,546.1,42.2,12.0,413,4496,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,1986,743
$GC,4558,1.80,546.1,34.5,13.0,419,4559,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,1986,741
$GC,4622,1.80,546.1,26.9,12.1,425,4623,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,1986,741
$GC,4685,1.88,604.0,21.1,8.2,431,4687,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,1986,741
$GC,4752,1.88,604.0,15.1,10.1,441,4758,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,1986,741
$GC,4826,1.96,672.9,8.5,7.9,454,4833,0.15,2.53,0.00,0.000,4,0.039,0.058,2989,591,741
$GC,4856,1.96,672.9,4.8,12.5,459,4864,0.10,2.38,0.00,0.000,6,0.086,0.028,2968,1997,740
$STATE,4879,end climb,SURFACE_DEPTH_REACHED
$STATE,4879,begin surface coast
$FINISH,0.5,1.023093
$STATE,4892,end surface coast,CONTROL_FINISHED_OK
$STATE,4892,begin surface
$SM_CCo,4974,0.00,0.000,0,0,737,534.51
$SM_GC,1.03,11.12,0.00,0.00,0.028,0.000,0.000,403,2002,737,-9.78,0.93,534.51
$IRIDIUM_FIX,2145.77,-15940.77,291098,030337
$TT8_MAMPS,0.060593
$HUMID,1927
$INTERNAL_PRESSURE,7.55888
$TCM_TEMP,24.70
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,24.0,16.219
$10V_AH,10.2,6.954
$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,25.475,113.400,631.575,0.000,0.000,24.932,29.548,291.544,0.000,0.000,35.854,36.977,927.539,2300.392,739.724,937.973,589.116,33.339,1361.309,0.000,877.676,0.000,0.000,0.000
$DEVICE_MAMPS,182.546,65.195,691.067,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,313.661,0.000,0.000,0.000,0.000,0.000,91.652,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,15855,465
$CAP_FILE_SIZE,91474,0
$CFSIZE,260165632,251588608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040809,061208,2154.099,-15941.892,13,1.5,13,9.8