version: 66.04
glider: 118
mission: 21
dive: 21
start: 7 30 109 3 59 35
data:
$ID,118
$MISSION,21
$DIVE,21
$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,150
$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,-86192.539
$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,49
$R_STBD_OVSHOOT,35
$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
$GPS1,034151,2152.637,-15945.839,9,1.7,10,9.8
$_CALLS,3
$_XMS_NAKs,13
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-61.5
$GPS2,035844,2152.539,-15946.245,14,1.3,14,9.8
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,T2
$TGT_LATLONG,2150.420,-15941.560
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.259,-0.020
$KALMAN_X,-18476.9,-837.7,189.6,11767.0,-1114.0
$KALMAN_Y,11474.0,525.2,90.7,-18658.8,31.5
$MHEAD_RNG_PITCHd_Wd,84.6,8960,-18.3,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,25,-2.00,-146.0,0.0,0.0,0,91,0.00,0.00,-63.60,0.000,2,0.000,0.000,417,2370,3439
$GC,97,-2.00,-146.0,4.6,-10.7,9,119,10.93,2.58,-1.35,0.000,4,0.126,0.046,2528,3802,3535
$GC,164,-2.00,-146.0,30.7,-26.9,16,169,0.00,2.38,0.00,0.000,6,0.000,0.023,2528,2409,3535
$GC,365,-2.00,-146.0,67.7,-14.7,34,369,0.00,2.47,0.00,0.000,4,0.000,0.037,2529,3799,3536
$GC,389,-2.00,-146.0,71.6,-15.3,35,396,0.00,2.40,0.00,0.000,6,0.000,0.023,2529,2402,3535
$GC,724,-2.00,-146.0,120.8,-13.8,66,730,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2402,3537
$GC,1052,-2.00,-146.0,172.4,-16.3,97,1058,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2402,3537
$GC,1380,-2.00,-146.0,219.8,-13.1,128,1384,0.00,2.50,0.00,0.000,4,0.000,0.042,2529,3802,3536
$GC,1469,-2.00,-146.0,231.6,-13.3,135,1473,0.00,2.42,0.00,0.000,6,0.000,0.025,2528,2399,3536
$STATE,1542,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1542,begin apogee
$GC,1554,-0.50,0.0,241.4,13.0,141,1674,1.50,0.00,109.57,0.591,6,0.066,0.000,2857,2570,2937
$STATE,1680,end apogee,CONTROL_FINISHED_OK
$STATE,1680,begin climb
$GC,1685,2.00,146.0,248.6,0.0,153,1805,2.40,0.00,108.90,0.588,6,0.038,0.000,3422,2570,2340
$GC,2128,2.05,182.1,219.6,8.3,195,2158,0.00,0.00,27.92,0.561,6,0.000,0.000,3422,2570,2194
$GC,2482,2.08,207.4,188.5,8.8,228,2508,0.00,2.53,19.98,0.542,4,0.000,0.047,3422,3912,2090
$GC,2735,2.08,207.4,161.0,12.0,249,2742,0.00,2.40,0.00,0.000,6,0.000,0.026,3422,2534,2087
$GC,3063,2.14,256.6,130.8,7.7,280,3111,0.00,2.58,37.55,0.535,4,0.000,0.044,3422,3905,1890
$GC,3196,2.14,256.6,117.7,12.2,290,3203,0.00,2.38,0.00,0.000,6,0.000,0.025,3422,2542,1888
$GC,3525,2.14,258.1,82.6,9.9,321,3529,0.00,2.40,0.00,0.000,4,0.000,0.044,3422,1149,1886
$GC,3585,2.14,258.1,76.6,11.0,325,3590,0.00,2.33,0.00,0.000,6,0.000,0.026,3422,2546,1885
$GC,3914,2.21,310.1,45.4,7.6,355,3968,0.12,2.53,42.22,0.472,4,0.046,0.044,3465,3933,1670
$GC,4235,2.21,310.1,10.6,11.5,388,4242,0.00,2.38,0.00,0.000,6,0.000,0.024,3465,2546,1666
$STATE,4289,end climb,SURFACE_DEPTH_REACHED
$STATE,4289,begin surface coast
$FINISH,0.1,1.022059
$STATE,4327,end surface coast,CONTROL_FINISHED_OK
$STATE,4327,begin surface
$SM_CCo,4420,0.00,0.000,0,0,1661,313.00
$SM_GC,1.05,13.00,0.00,0.00,0.023,0.000,0.000,418,2385,1661,-11.65,-0.42,313.00
$IRIDIUM_FIX,2145.77,-15945.93,241098,030303
$TT8_MAMPS,0.058292
$HUMID,1790
$INTERNAL_PRESSURE,10.1503
$TCM_TEMP,24.30
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,24.1,19.019
$10V_AH,10.1,23.751
$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,27.950,34.750,346.150,0.000,0.000,91.309,115.465,522.989,0.000,0.000,35.446,14.250,793.173,2109.854,387.340,733.066,1405.311,33.336,829.221,0.000,707.274,0.000,0.000,0.000
$DEVICE_MAMPS,125.788,46.787,590.590,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,271.271,0.000,0.000,0.000,0.000,0.000,66.457,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,12746,403
$CAP_FILE_SIZE,156119,0
$CFSIZE,-70647808,-84082688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300709,051440,2152.558,-15946.306,21,2.4,40,9.8