version: 66.06
glider: 148
mission: 10
dive: 77
start: 8 27 111 3 34 55
data:
$ID,148
$MISSION,10
$DIVE,77
$D_SURF,4
$D_FLARE,3
$D_TGT,200
$D_ABORT,400
$D_NO_BLEED,200
$D_BOOST,0
$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,66
$T_MISSION,200
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52523
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2143
$TGT_DEFAULT_LON,-15810
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,4
$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,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-878572.38
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,420
$PITCH_MAX,3705
$C_PITCH,2950
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,1.5
$ROLL_MIN,160
$ROLL_MAX,3940
$ROLL_DEG,45
$C_ROLL_DIVE,1850
$C_ROLL_CLIMB,1630
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$R_STBD_OVSHOOT,48
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,3095
$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,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-11.834597
$PRESSURE_SLOPE,0.00011637
$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,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,53
$DEVICE4,35
$DEVICE5,87
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004341084
$SEABIRD_T_H,0.00063239998
$SEABIRD_T_I,2.5339032e-05
$SEABIRD_T_J,2.8251138e-06
$SEABIRD_C_G,-9.8402824
$SEABIRD_C_H,1.0914109
$SEABIRD_C_I,9.7469172e-05
$SEABIRD_C_J,8.7214314e-05
$GPS1,032144,2329.225,-15814.787,11,1.4,11,10.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-72.2
$GPS2,033402,2329.228,-15814.890,14,1.4,14,10.1
$SPEED_LIMITS,0.175,0.235
$TGT_NAME,Bowf2
$TGT_LATLONG,2348.000,-15830.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.063,0.227
$KALMAN_X,-76157.9,-184.1,-217.2,67009.2,-364.7
$KALMAN_Y,-55037.8,72.5,-260.7,255280.8,-75.3
$MHEAD_RNG_PITCHd_Wd,334.3,43177,-19.9,-10.101
$D_GRID,200
$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,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.39,-116.8,0.0,0.0,0,88,0.00,0.00,-67.38,0.000,2,0.000,0.000,413,1834,3316,0,0,0,0,0,0
$GC,91,-1.39,-116.8,4.1,-7.7,9,116,11.82,2.58,-4.45,0.000,4,0.156,0.034,2641,3436,3574,0,0,0,0,0,0
$GC,224,-1.15,-116.8,38.9,-19.5,26,229,0.25,2.53,0.00,0.000,6,0.100,0.022,2695,1849,3575,0,0,0,0,0,0
$GC,488,-1.07,-116.8,82.1,-12.9,50,492,0.00,2.55,0.00,0.000,4,0.000,0.037,2695,272,3576,0,0,0,0,0,0
$GC,532,-1.07,-116.8,87.8,-14.2,53,537,0.00,2.42,0.00,0.000,6,0.000,0.018,2695,1851,3576,0,0,0,0,0,0
$GC,800,-1.07,-116.8,124.4,-13.0,77,805,0.00,2.47,0.00,0.000,4,0.000,0.028,2695,3429,3577,0,0,0,0,0,0
$GC,838,-1.07,-116.8,130.5,-13.0,80,848,0.00,2.53,0.00,0.000,6,0.000,0.021,2695,1848,3576,0,0,0,0,0,0
$GC,1100,-1.07,-116.8,160.2,-10.5,105,1105,0.10,2.58,0.00,0.000,4,0.131,0.039,2715,272,3577,0,0,0,0,0,0
$GC,1170,-1.18,-116.8,167.8,-10.7,111,1180,0.08,2.45,0.00,0.000,6,0.037,0.019,2658,1837,3577,0,0,0,0,0,0
$STATE,1436,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1436,begin apogee
$GC,1442,-0.31,0.0,201.2,12.6,136,1537,1.00,0.00,91.60,0.577,6,0.080,0.000,2881,1609,3095,0,0,0,0,0,0
$STATE,1538,end apogee,CONTROL_FINISHED_OK
$STATE,1538,begin climb
$GC,1540,1.39,116.8,205.6,0.0,138,1643,1.52,2.38,91.03,0.574,4,0.041,0.050,3253,204,2616,0,0,0,0,0,0
$GC,1909,1.22,186.8,197.9,6.0,147,1973,0.17,2.22,56.70,0.567,6,0.110,0.018,3218,1647,2332,0,0,0,0,0,0
$GC,2228,1.26,217.1,173.2,8.3,177,2256,0.00,0.00,25.35,0.541,6,0.000,0.000,3218,1647,2209,0,0,0,0,0,0
$GC,2513,1.28,234.4,147.6,9.1,204,2537,0.00,2.47,15.32,0.510,4,0.000,0.047,3217,197,2138,0,0,0,0,0,0
$GC,2623,1.28,234.4,135.6,12.1,214,2627,0.00,2.22,0.00,0.000,6,0.000,0.019,3217,1625,2138,0,0,0,0,0,0
$GC,2886,1.38,258.3,109.5,8.7,238,2913,0.12,2.58,20.85,0.505,4,0.067,0.034,3272,3196,2040,0,0,0,0,0,0
$GC,2966,1.38,258.3,101.6,11.4,245,2971,0.00,2.47,0.00,0.000,6,0.000,0.029,3272,1658,2037,0,0,0,0,0,0
$GC,3234,1.38,258.3,72.6,10.4,269,3239,0.00,2.42,0.00,0.000,4,0.000,0.045,3272,173,2036,0,0,0,0,0,0
$GC,3331,1.33,264.1,61.8,9.8,276,3344,0.12,2.30,5.72,0.386,6,0.087,0.019,3241,1642,2017,0,0,0,0,0,0
$GC,3613,1.46,302.5,42.0,7.9,302,3653,0.10,0.00,34.15,0.472,6,0.078,0.000,3290,1642,1859,0,0,0,0,0,0
$STATE,3932,end climb,SURFACE_DEPTH_REACHED
$STATE,3933,begin surface coast
$FINISH,0.7,1.023276
$STATE,3980,end surface coast,CONTROL_FINISHED_OK
$STATE,3980,begin surface
$SM_CCo,4004,54.67,0.440,0,0,1463,400.08
$SM_GC,1.52,0.00,0.00,54.67,0.000,0.000,0.440,411,1928,1463,-11.68,2.21,400.08
$IRIDIUM_FIX,2319.18,-15815.41,201100,030328
$TT8_MAMPS,0.026845
$HUMID,54.48
$INTERNAL_PRESSURE,9.46712
$TCM_TEMP,23.50
$XPDR_PINGS,2
$24V_AH,23.8,10.968
$10V_AH,10.5,10.184
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$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,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,26.825,39.800,340.725,54.675,0.000,91.256,103.003,276.920,0.500,0.000,15.620,652.354,1532.229,352.128,1272.299,994.014,33.354,871.397,0.000,1572.628,0.000,0.539,0.000
$DEVICE_MAMPS,156.468,49.855,576.784,440.258,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,236.997,446.494,520.334,540.733,1020.750,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355480
$DATA_FILE_SIZE,28912,353
$CAP_FILE_SIZE,63245,0
$CFSIZE,260165632,125984768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270811,044336,2329.742,-15815.364,11,1.6,22,10.1