version: 66.04
glider: 118
mission: 21
dive: 14
start: 7 29 109 17 19 16
data:
$ID,118
$MISSION,21
$DIVE,14
$D_SURF,4
$D_FLARE,3
$D_TGT,240
$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,80
$T_MISSION,90
$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,500
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,250
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51726
$NAV_MODE,1
$FERRY_MAX,45
$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,300
$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,-85978.859
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,428
$PITCH_MAX,3730
$C_PITCH,2970
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,10
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,311
$ROLL_MAX,3943
$ROLL_DEG,40
$C_ROLL_DIVE,2400
$C_ROLL_CLIMB,2550
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,17
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,36
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,582
$VBD_MAX,3956
$C_VBD,2937
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-8.3219604
$PRESSURE_SLOPE,0.000115925
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,150
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.4
$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,0.0043077655
$SEABIRD_T_H,0.00063814409
$SEABIRD_T_I,2.4031482e-05
$SEABIRD_T_J,2.4698193e-06
$SEABIRD_C_G,-9.9826059
$SEABIRD_C_H,1.1260695
$SEABIRD_C_I,-0.0021108589
$SEABIRD_C_J,0.00021799213
$GPS1,165644,2152.598,-15943.077,35,6.0,54,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.62
$_SM_ANGLEo,-58.0
$GPS2,171820,2152.585,-15943.550,12,1.2,12,9.8
$SPEED_LIMITS,0.173,0.326
$TGT_NAME,T2
$TGT_LATLONG,2150.420,-15941.560
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.284,-0.159
$KALMAN_X,-5772.8,-743.9,-315.8,4112.6,-754.1
$KALMAN_Y,7228.3,-233.4,253.7,-13740.5,41.6
$MHEAD_RNG_PITCHd_Wd,109.4,5271,-13.9,-10.000
$D_GRID,240
$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,20,-1.69,-243.3,0.0,0.0,0,124,0.00,0.00,-96.18,0.000,2,0.000,0.000,417,2389,3264
$GC,130,-1.69,-243.3,3.3,-8.4,14,159,11.27,2.40,-9.25,0.000,4,0.125,0.054,2595,998,3929
$GC,202,-1.69,-243.3,27.1,-19.0,22,207,0.00,2.30,0.00,0.000,6,0.000,0.021,2595,2406,3930
$GC,403,-1.69,-243.3,60.3,-15.0,40,410,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2406,3930
$GC,738,-1.69,-243.3,107.8,-14.9,71,742,0.00,2.45,0.00,0.000,4,0.000,0.040,2596,3793,3930
$GC,784,-1.69,-243.3,115.5,-13.0,74,791,0.00,2.40,0.00,0.000,6,0.000,0.024,2595,2397,3930
$GC,1113,-1.69,-243.3,159.7,-13.1,105,1117,0.00,2.53,0.00,0.000,4,0.000,0.041,2595,3802,3930
$GC,1202,-1.69,-243.3,171.1,-12.0,112,1206,0.00,2.42,0.00,0.000,6,0.000,0.025,2596,2398,3930
$GC,1530,-1.69,-243.3,211.1,-12.4,142,1534,0.00,2.53,0.00,0.000,4,0.000,0.042,2595,3797,3929
$GC,1596,-1.69,-243.3,219.2,-12.5,147,1601,0.00,2.42,0.00,0.000,6,0.000,0.026,2596,2397,3929
$STATE,1760,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1760,begin apogee
$GC,1773,-0.50,0.0,240.0,12.5,162,1963,1.17,0.00,180.30,0.591,6,0.061,0.000,2855,2568,2937
$STATE,1969,end apogee,CONTROL_FINISHED_OK
$STATE,1969,begin climb
$GC,1975,1.69,243.3,249.8,0.0,181,2165,2.08,2.47,180.45,0.589,4,0.038,0.046,3346,3911,1944
$GC,2417,1.72,266.6,218.2,9.4,217,2442,0.00,2.40,18.50,0.540,6,0.000,0.027,3347,2540,1850
$GC,2769,1.72,266.6,184.2,10.9,249,2773,0.00,2.53,0.00,0.000,4,0.000,0.047,3347,3915,1846
$GC,2932,1.72,266.6,164.2,11.4,262,2939,0.00,2.40,0.00,0.000,6,0.000,0.027,3347,2538,1844
$GC,3261,1.78,318.7,132.3,8.6,293,3304,0.00,0.00,40.97,0.535,6,0.000,0.000,3346,2538,1637
$GC,3629,1.78,318.7,96.4,11.0,327,3633,0.00,2.50,0.00,0.000,4,0.000,0.045,3347,3919,1631
$GC,3842,1.78,318.7,71.9,11.0,344,3849,0.00,2.38,0.00,0.000,6,0.000,0.025,3346,2546,1630
$GC,4170,1.83,356.6,40.1,9.0,375,4207,0.00,0.00,30.65,0.466,6,0.000,0.000,3347,2546,1481
$GC,4401,1.88,401.9,19.7,8.7,397,4455,0.15,2.58,37.08,0.446,4,0.038,0.042,3400,3921,1297
$STATE,4536,end climb,SURFACE_DEPTH_REACHED
$STATE,4536,begin surface coast
$FINISH,0.4,1.022899
$STATE,4553,end surface coast,CONTROL_FINISHED_OK
$STATE,4553,begin surface
$SM_CCo,4649,0.00,0.000,0,0,1289,404.25
$SM_GC,0.94,12.80,0.00,0.00,0.024,0.000,0.000,420,2402,1289,-11.65,0.06,404.25
$IRIDIUM_FIX,2143.45,-15943.76,231098,171713
$TT8_MAMPS,0.063661
$HUMID,1790
$INTERNAL_PRESSURE,10.1113
$TCM_TEMP,24.10
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,24.1,18.021
$10V_AH,10.1,23.336
$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,27.475,39.675,487.950,0.000,0.000,62.876,51.909,911.288,0.000,0.000,192.025,12.684,798.909,2108.542,503.796,793.326,1741.207,33.349,1019.679,0.000,764.976,0.000,0.000,0.000
$DEVICE_MAMPS,125.021,54.457,590.590,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,282.050,0.000,0.000,0.000,0.000,0.000,74.365,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,12730,420
$CAP_FILE_SIZE,171337,0
$CFSIZE,-70647808,-82247680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290709,183743,2152.693,-15943.690,9,1.5,14,9.8