version: 66.04
glider: 118
mission: 21
dive: 41
start: 8 1 109 13 24 58
data:
$ID,118
$MISSION,21
$DIVE,41
$D_SURF,4
$D_FLARE,3
$D_TGT,660
$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,220
$T_MISSION,275
$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,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,450
$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,-86674.969
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,428
$PITCH_MAX,3730
$C_PITCH,2946
$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,2560
$C_ROLL_CLIMB,2720
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,17
$R_PORT_OVSHOOT,64
$R_STBD_OVSHOOT,31
$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
$GPS1,130637,2152.476,-15941.941,36,1.8,36,9.8
$_CALLS,2
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.07
$_SM_ANGLEo,-60.2
$GPS2,132404,2152.615,-15942.196,15,2.1,34,9.8
$SPEED_LIMITS,0.100,0.279
$TGT_NAME,T0
$TGT_LATLONG,2154.000,-15942.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.255,0.114
$KALMAN_X,-63182.3,1062.6,141.1,61564.6,-3076.9
$KALMAN_Y,28182.2,-449.4,-171.1,-33988.4,690.1
$MHEAD_RNG_PITCHd_Wd,56.2,2587,-16.8,-10.000
$D_GRID,660
$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,-1.89,-170.3,0.0,0.0,0,106,0.00,0.00,-83.03,0.000,2,0.000,0.000,420,2532,3482
$GC,113,-1.89,-170.3,3.8,-10.0,12,135,10.98,2.67,-2.12,0.000,4,0.127,0.052,2528,3933,3636
$GC,333,-1.89,-170.3,60.4,-19.1,32,340,0.00,2.47,0.00,0.000,6,0.000,0.022,2528,2563,3636
$GC,668,-1.89,-170.3,114.7,-17.5,63,674,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2564,3637
$GC,1002,-1.89,-170.3,166.6,-15.6,94,1006,0.00,2.62,0.00,0.000,4,0.000,0.045,2528,3941,3639
$GC,1072,-1.89,-170.3,178.8,-15.1,99,1079,0.00,2.53,0.00,0.000,6,0.000,0.024,2528,2552,3638
$GC,1400,-1.89,-170.3,224.2,-13.7,130,1404,0.00,2.30,0.00,0.000,4,0.000,0.045,2528,1168,3638
$GC,1501,-1.89,-170.3,238.0,-12.9,138,1505,0.00,2.25,0.00,0.000,6,0.000,0.025,2528,2575,3638
$GC,1834,-1.89,-170.3,279.3,-12.9,169,1839,0.00,2.58,0.00,0.000,4,0.000,0.051,2528,3921,3637
$GC,1935,-1.89,-170.3,293.1,-13.4,177,1939,0.00,2.50,0.00,0.000,6,0.000,0.026,2528,2558,3637
$GC,2263,-1.89,-170.3,338.0,-13.8,207,2268,0.00,2.65,0.00,0.000,4,0.000,0.052,2528,3922,3635
$GC,2307,-1.89,-170.3,344.1,-14.6,210,2311,0.00,2.53,0.00,0.000,6,0.000,0.028,2528,2562,3635
$GC,2635,-1.89,-170.3,382.2,-10.7,240,2641,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2562,3632
$GC,2963,-1.89,-170.3,420.6,-11.5,271,2968,0.00,2.70,0.00,0.000,4,0.000,0.055,2528,3922,3630
$GC,3104,-1.89,-170.3,438.0,-11.9,282,3112,0.00,2.55,0.00,0.000,6,0.000,0.030,2528,2563,3629
$GC,3433,-1.89,-170.3,475.8,-11.6,313,3437,0.00,2.72,0.00,0.000,4,0.000,0.057,2528,3929,3626
$GC,3503,-1.89,-170.3,484.6,-12.3,318,3510,0.00,2.60,0.00,0.000,6,0.000,0.031,2528,2556,3625
$GC,3831,-1.89,-170.3,527.3,-12.8,349,3835,0.00,2.75,0.00,0.000,4,0.000,0.060,2528,3922,3622
$GC,3912,-1.89,-170.3,538.7,-13.4,355,3920,0.00,2.60,0.00,0.000,6,0.000,0.033,2528,2560,3621
$GC,4241,-1.89,-170.3,576.3,-11.3,386,4245,0.00,2.72,0.00,0.000,4,0.000,0.063,2528,3919,3619
$GC,4311,-1.89,-170.3,584.5,-11.2,391,4318,0.00,2.62,0.00,0.000,6,0.000,0.034,2528,2550,3617
$GC,4639,-1.89,-170.3,619.6,-9.4,422,4644,0.00,2.80,0.00,0.000,4,0.000,0.066,2528,3925,3615
$GC,4732,-1.89,-170.3,629.3,-9.7,429,4740,0.00,2.65,0.00,0.000,6,0.000,0.038,2529,2560,3614
$STATE,5034,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5034,begin apogee
$GC,5047,-0.50,0.0,660.8,10.4,458,5191,1.40,0.00,132.25,0.953,6,0.071,0.000,2830,2711,2937
$STATE,5193,end apogee,CONTROL_FINISHED_OK
$STATE,5193,begin climb
$GC,5198,1.89,170.3,666.8,0.0,472,5349,2.33,2.60,136.30,0.936,4,0.044,0.066,3369,1305,2242
$GC,5472,1.89,170.3,649.2,11.1,494,5476,0.00,2.38,0.00,0.000,6,0.000,0.041,3367,2714,2239
$GC,5801,1.90,176.4,614.1,9.8,524,5808,0.00,0.00,5.82,0.683,6,0.000,0.000,3367,2715,2217
$GC,6129,1.91,186.3,581.1,9.6,555,6146,0.00,2.58,9.43,0.781,4,0.000,0.064,3366,3932,2177
$GC,6368,1.91,186.3,554.8,10.9,575,6375,0.00,2.40,0.00,0.000,6,0.000,0.035,3366,2714,2176
$GC,6696,1.94,206.5,524.3,9.2,606,6715,0.00,0.00,17.25,0.831,6,0.000,0.000,3367,2715,2095
$GC,7035,1.95,213.6,492.6,9.7,638,7048,0.00,2.55,7.03,0.706,4,0.000,0.062,3367,3933,2066
$GC,7204,1.95,213.6,473.9,12.3,652,7208,0.00,2.40,0.00,0.000,6,0.000,0.034,3367,2712,2067
$GC,7532,1.95,213.6,438.0,10.6,682,7537,0.00,2.53,0.00,0.000,4,0.000,0.061,3367,3934,2065
$GC,7798,1.95,219.9,410.5,9.8,704,7810,0.00,2.40,6.50,0.660,6,0.000,0.032,3367,2705,2040
$GC,8133,1.95,219.9,379.2,10.7,735,8138,0.00,2.53,0.00,0.000,4,0.000,0.058,3367,3936,2038
$GC,8273,1.95,219.9,365.2,10.7,746,8277,0.00,2.38,0.00,0.000,6,0.000,0.031,3367,2716,2038
$GC,8601,1.95,219.9,332.8,10.4,776,8605,0.00,2.50,0.00,0.000,4,0.000,0.057,3367,3933,2038
$GC,8712,1.95,219.9,320.5,11.1,785,8716,0.00,2.35,0.00,0.000,6,0.000,0.031,3367,2706,2038
$GC,9046,2.00,257.5,290.2,8.5,816,9083,0.00,2.58,31.35,0.719,4,0.000,0.055,3366,3946,1886
$GC,9137,2.00,257.5,280.8,10.3,823,9144,0.00,2.40,0.00,0.000,6,0.000,0.029,3367,2713,1883
$GC,9466,2.00,257.5,246.8,10.8,854,9470,0.00,2.50,0.00,0.000,4,0.000,0.054,3367,3937,1881
$GC,9613,2.00,257.5,231.7,10.9,866,9618,0.00,2.38,0.00,0.000,6,0.000,0.028,3367,2706,1881
$GC,9942,2.00,257.5,197.7,10.1,896,9946,0.00,2.50,0.00,0.000,4,0.000,0.051,3367,3939,1882
$GC,10019,2.00,257.5,189.2,11.5,902,10023,0.00,2.35,0.00,0.000,6,0.000,0.027,3367,2715,1881
$GC,10348,2.00,257.5,157.3,10.6,932,10352,0.00,2.47,0.00,0.000,4,0.000,0.050,3367,3941,1881
$GC,10394,2.00,257.5,152.5,10.3,935,10402,0.00,2.35,0.00,0.000,6,0.000,0.025,3367,2715,1881
$GC,10723,2.07,311.3,126.0,7.9,966,10779,0.12,2.55,44.15,0.565,4,0.044,0.048,3409,3938,1666
$GC,10862,2.07,311.3,110.3,12.9,977,10869,0.00,2.35,0.00,0.000,6,0.000,0.025,3409,2708,1663
$GC,11190,2.07,311.3,73.0,12.0,1008,11194,0.00,2.47,0.00,0.000,4,0.000,0.047,3410,3948,1662
$GC,11340,2.07,311.3,54.7,10.4,1020,11347,0.00,2.33,0.00,0.000,6,0.000,0.023,3409,2714,1662
$GC,11668,2.07,311.3,22.4,10.3,1051,11672,0.00,2.45,0.00,0.000,4,0.000,0.045,3410,3946,1662
$GC,11731,2.07,311.3,10.5,24.2,1058,11738,0.00,2.33,0.00,0.000,6,0.000,0.022,3410,2704,1661
$STATE,11779,end climb,SURFACE_DEPTH_REACHED
$STATE,11779,begin surface coast
$FINISH,1.2,1.022976
$STATE,11813,end surface coast,CONTROL_FINISHED_OK
$STATE,11813,begin surface
$SM_CCo,11847,65.75,0.438,0,0,1101,450.13
$SM_GC,0.00,0.00,0.00,65.75,0.000,0.000,0.438,419,2535,1101,-11.62,-0.74,450.13
$IRIDIUM_FIX,2143.45,-16001.41,261098,131332
$TT8_MAMPS,0.081302
$HUMID,1728
$INTERNAL_PRESSURE,9.99408
$TCM_TEMP,24.00
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.8,22.579
$10V_AH,10.0,25.957
$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,27.700,115.875,390.075,65.750,0.000,58.091,59.416,557.135,0.000,0.000,96.284,35.235,2137.054,5993.941,551.276,2006.210,2256.100,33.356,1617.655,0.000,1939.988,0.000,0.000,0.000
$DEVICE_MAMPS,126.555,65.962,953.381,437.957,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,744.026,0.000,0.000,0.000,0.000,0.000,158.354,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,34670,1071
$CAP_FILE_SIZE,391807,0
$CFSIZE,-70647808,-90177536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,18,0,0
$GPS,010809,164501,2153.881,-15941.959,39,1.6,40,9.8