version: 66.04
glider: 118
mission: 21
dive: 63
start: 8 3 109 16 59 17
data:
$ID,118
$MISSION,21
$DIVE,63
$D_SURF,4
$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,300
$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,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,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,30
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-87240.844
$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,10
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,3050
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,17
$R_PORT_OVSHOOT,50
$R_STBD_OVSHOOT,47
$ROLL_AD_RATE,325
$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
$GPS1,163821,2153.779,-15942.980,39,5.7,59,9.8
$_CALLS,1
$_XMS_NAKs,26
$_XMS_TOUTs,0
$_SM_DEPTHo,0.12
$_SM_ANGLEo,-61.5
$GPS2,165825,2153.848,-15943.175,12,1.4,17,9.8
$SPEED_LIMITS,0.100,0.311
$TGT_NAME,BobSW
$TGT_LATLONG,2153.790,-15942.207
$TGT_RADIUS,400.000
$KALMAN_CONTROL,0.302,-0.076
$KALMAN_X,-107794.1,974.2,264.4,104454.0,-1696.2
$KALMAN_Y,47047.3,-694.4,81.6,-50580.3,413.4
$MHEAD_RNG_PITCHd_Wd,94.3,1666,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,24,-1.74,-219.0,0.0,0.0,0,97,0.00,0.00,-69.80,0.000,2,0.000,0.000,416,2511,3311
$GC,104,-1.74,-219.0,3.1,-8.2,10,126,11.18,0.00,-7.53,0.000,6,0.126,0.000,2562,2511,3833
$GC,200,-1.74,-219.0,31.0,-19.3,21,204,0.00,0.47,0.00,0.000,4,0.000,0.031,2562,2858,3834
$GC,363,-1.74,-219.0,60.1,-17.9,35,367,0.00,0.52,0.00,0.000,6,0.000,0.031,2562,2494,3834
$GC,448,-1.74,-219.0,75.1,-18.6,42,452,0.00,0.47,0.00,0.000,4,0.000,0.038,2561,2154,3834
$GC,490,-1.74,-219.0,83.4,-16.6,45,497,0.00,0.50,0.00,0.000,6,0.000,0.025,2561,2534,3834
$GC,563,-1.74,-219.0,94.1,-14.7,52,567,0.00,0.38,0.00,0.000,4,0.000,0.031,2561,2834,3834
$GC,912,-1.74,-219.0,145.7,-14.8,82,919,0.00,0.47,0.00,0.000,6,0.000,0.033,2562,2502,3835
$GC,990,-1.74,-219.0,156.1,-14.8,89,994,0.00,0.45,0.00,0.000,4,0.000,0.032,2562,2828,3835
$GC,1349,-1.74,-219.0,201.3,-14.3,119,1356,0.00,0.47,0.00,0.000,6,0.000,0.034,2562,2499,3835
$GC,1427,-1.74,-219.0,212.5,-14.3,126,1431,0.00,0.47,0.00,0.000,4,0.000,0.032,2562,2836,3835
$GC,1785,-1.74,-219.0,258.8,-11.2,156,1792,0.00,0.50,0.00,0.000,6,0.000,0.037,2561,2499,3835
$GC,1858,-1.74,-219.0,268.1,-12.1,163,1862,0.00,0.47,0.00,0.000,4,0.000,0.036,2561,2829,3835
$STATE,1868,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1868,begin apogee
$GC,1881,-0.50,0.0,270.1,12.1,164,2053,1.25,0.00,165.15,0.609,6,0.064,0.000,2834,3018,2937
$STATE,2054,end apogee,CONTROL_FINISHED_OK
$STATE,2054,begin climb
$GC,2060,1.74,219.0,278.8,0.0,181,2234,2.15,0.50,163.98,0.606,4,0.039,0.032,3337,2692,2043
$GC,2336,1.77,243.3,264.9,9.3,203,2360,0.00,0.52,19.75,0.561,6,0.000,0.036,3338,3045,1945
$GC,2426,1.77,243.3,255.3,10.1,211,2429,0.00,0.52,0.00,0.000,4,0.000,0.042,3337,3378,1943
$GC,2785,1.85,307.7,224.1,8.0,241,2845,0.00,0.52,51.40,0.578,6,0.000,0.028,3337,3015,1683
$GC,2914,1.85,307.7,211.6,11.1,252,2918,0.00,0.57,0.00,0.000,4,0.000,0.040,3337,3377,1678
$GC,3106,1.85,307.7,189.5,12.1,268,3113,0.00,0.45,0.00,0.000,6,0.000,0.029,3337,3059,1675
$GC,3179,1.85,307.7,181.3,11.5,275,3185,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,3059,1674
$GC,3257,1.85,307.7,173.0,11.3,282,3261,0.00,0.52,0.00,0.000,4,0.000,0.039,3337,3382,1674
$GC,3402,1.89,341.8,159.0,9.0,294,3438,0.00,0.47,28.05,0.539,6,0.000,0.028,3337,3050,1542
$GC,3504,1.89,342.5,148.6,10.0,303,3508,0.00,0.45,0.00,0.000,4,0.000,0.031,3337,2718,1539
$GC,3603,1.91,357.0,138.5,9.6,311,3623,0.05,0.50,13.40,0.498,6,0.042,0.034,3374,3060,1480
$GC,3689,1.91,357.0,130.0,10.5,319,3695,0.00,0.00,0.00,0.000,6,0.000,0.000,3374,3060,1478
$GC,3768,1.91,357.0,121.1,12.2,326,3775,0.00,0.00,0.00,0.000,6,0.000,0.000,3374,3061,1477
$GC,3846,1.91,357.0,111.5,12.3,333,3853,0.00,0.00,0.00,0.000,6,0.000,0.000,3374,3060,1476
$GC,3925,1.91,357.0,102.4,11.4,340,3931,0.00,0.00,0.00,0.000,6,0.000,0.000,3374,3060,1476
$GC,4004,1.91,357.0,93.6,10.5,347,4010,0.00,0.00,0.00,0.000,6,0.000,0.000,3374,3061,1475
$GC,4082,1.91,357.0,85.4,10.3,354,4086,0.00,0.50,0.00,0.000,4,0.000,0.038,3374,3383,1475
$GC,4216,1.91,359.1,71.4,9.9,365,4220,0.00,0.47,0.00,0.000,6,0.000,0.027,3374,3050,1475
$GC,4295,1.97,406.1,63.8,8.6,372,4340,0.00,0.57,41.10,0.477,4,0.000,0.035,3374,3384,1280
$GC,4421,2.02,441.8,53.6,8.9,382,4457,0.00,0.47,29.85,0.459,6,0.000,0.026,3374,3050,1135
$GC,4523,2.02,441.8,43.4,10.7,391,4527,0.00,0.43,0.00,0.000,4,0.000,0.030,3374,2721,1133
$GC,4622,2.03,452.9,32.4,9.7,399,4635,0.00,0.47,9.93,0.403,6,0.000,0.031,3374,3054,1090
$GC,4702,2.03,452.9,23.7,11.6,406,4709,0.00,0.00,0.00,0.000,6,0.000,0.000,3374,3054,1088
$GC,4781,2.03,452.9,14.2,12.6,416,4787,0.00,0.00,0.00,0.000,6,0.000,0.000,3374,3054,1087
$STATE,4861,end climb,SURFACE_DEPTH_REACHED
$STATE,4861,begin surface coast
$FINISH,0.3,1.022851
$STATE,4889,end surface coast,CONTROL_FINISHED_OK
$STATE,4889,begin surface
$SM_CCo,4988,0.00,0.000,0,0,1082,454.79
$SM_GC,0.60,12.65,0.00,0.00,0.022,0.000,0.000,420,2531,1082,-11.54,0.88,454.79
$IRIDIUM_FIX,2145.77,-15940.77,281098,131337
$TT8_MAMPS,0.06136
$HUMID,1717
$INTERNAL_PRESSURE,10.0527
$TCM_TEMP,24.40
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,24.0,26.152
$10V_AH,10.1,28.162
$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,27.275,14.225,522.600,0.000,0.000,31.207,39.094,767.099,0.000,0.000,90.815,18.025,910.566,1927.969,525.402,1057.552,1745.073,33.358,1182.274,0.000,999.291,0.000,0.000,0.000
$DEVICE_MAMPS,125.788,42.952,608.998,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,292.144,0.000,0.000,0.000,0.000,0.000,79.996,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,12736,434
$CAP_FILE_SIZE,190281,0
$CFSIZE,-70647808,-96600064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030809,182354,2153.767,-15943.295,35,1.8,45,9.8