version: 66.06
glider: 148
mission: 10
dive: 154
start: 8 31 111 2 21 50
data:
$ID,148
$MISSION,10
$DIVE,154
$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,110
$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,-880050.44
$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,1870
$C_ROLL_CLIMB,1630
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,51
$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
$GPS1,021145,2348.139,-15816.490,28,5.6,47,10.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-72.0
$GPS2,022056,2348.222,-15816.530,14,1.4,14,10.2
$SPEED_LIMITS,0.175,0.226
$TGT_NAME,Bowf3
$TGT_LATLONG,2346.600,-15730.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.208,-0.089
$KALMAN_X,-101734.5,-356.2,90.9,89612.2,-152.0
$KALMAN_Y,-48823.8,250.0,328.5,283474.0,326.2
$MHEAD_RNG_PITCHd_Wd,102.9,78916,-20.9,-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,-1.44,-107.1,0.0,0.0,0,88,0.00,0.00,-67.55,0.000,2,0.000,0.000,409,1929,3285,0,0,0,0,0,0
$GC,91,-1.44,-107.1,3.7,-6.9,9,116,11.68,2.65,-4.38,0.000,4,0.156,0.043,2627,283,3534,0,0,0,0,0,0
$GC,178,-1.17,-107.1,29.5,-23.1,21,189,0.28,2.47,0.00,0.000,6,0.086,0.020,2692,1860,3535,0,0,0,0,0,0
$GC,448,-1.05,-107.1,78.1,-15.6,46,453,0.12,2.53,0.00,0.000,4,0.118,0.029,2719,3445,3535,0,0,0,0,0,0
$GC,493,-1.05,-107.1,85.1,-13.8,49,498,0.00,2.47,0.00,0.000,6,0.000,0.021,2719,1862,3535,0,0,0,0,0,0
$GC,761,-1.11,-107.1,117.5,-10.9,73,765,0.00,2.50,0.00,0.000,4,0.000,0.038,2719,293,3536,0,0,0,0,0,0
$GC,789,-1.17,-107.1,120.9,-11.4,75,795,0.08,2.47,0.00,0.000,6,0.035,0.018,2662,1887,3536,0,0,0,0,0,0
$GC,1063,-1.11,-107.1,158.0,-13.7,100,1068,0.20,2.58,0.00,0.000,4,0.095,0.035,2706,296,3536,0,0,0,0,0,0
$GC,1079,-1.11,-107.1,161.4,-14.3,101,1085,0.00,2.45,0.00,0.000,6,0.000,0.018,2706,1876,3536,0,0,0,0,0,0
$GC,1348,-1.20,-107.1,191.0,-10.7,126,1350,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,1879,3536,0,0,0,0,0,0
$STATE,1454,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1454,begin apogee
$GC,1460,-0.31,0.0,200.9,9.1,136,1547,0.77,0.00,83.40,0.572,6,0.073,0.000,2883,1597,3094,0,0,0,0,0,0
$STATE,1547,end apogee,CONTROL_FINISHED_OK
$STATE,1547,begin climb
$GC,1551,1.44,107.1,203.3,0.0,138,1643,1.58,2.35,82.55,0.568,4,0.041,0.050,3271,205,2657,0,0,0,0,0,0
$GC,1717,1.31,240.2,204.0,1.7,141,1831,0.17,2.17,106.78,0.568,6,0.109,0.018,3235,1636,2114,0,0,0,0,0,0
$GC,2093,1.31,240.2,166.7,11.2,171,2097,0.00,2.38,0.00,0.000,4,0.000,0.044,3235,204,2108,0,0,0,0,0,0
$GC,2122,1.31,240.2,163.1,11.7,173,2128,0.00,2.17,0.00,0.000,6,0.000,0.019,3235,1606,2108,0,0,0,0,0,0
$GC,2385,1.31,241.1,136.7,10.0,198,2389,0.00,2.33,0.00,0.000,4,0.000,0.044,3235,204,2107,0,0,0,0,0,0
$GC,2431,1.31,241.1,131.3,11.8,202,2436,0.00,2.17,0.00,0.000,6,0.000,0.020,3235,1620,2107,0,0,0,0,0,0
$GC,2694,1.38,241.1,102.5,10.3,226,2698,0.00,2.35,0.00,0.000,4,0.000,0.044,3235,198,2106,0,0,0,0,0,0
$GC,2714,1.38,241.1,100.8,10.4,227,2718,0.00,2.17,0.00,0.000,6,0.000,0.019,3235,1622,2105,0,0,0,0,0,0
$GC,2983,1.53,273.2,75.7,8.1,251,3014,0.20,0.00,26.95,0.487,6,0.047,0.000,3318,1625,1980,0,0,0,0,0,0
$GC,3271,1.45,273.2,43.2,12.5,278,3276,0.25,2.53,0.00,0.000,4,0.096,0.030,3260,3204,1976,0,0,0,0,0,0
$GC,3305,1.51,273.2,39.2,11.3,280,3309,0.00,2.50,0.00,0.000,6,0.000,0.026,3259,1633,1974,0,0,0,0,0,0
$GC,3602,1.53,284.2,11.3,9.4,320,3622,0.10,2.55,10.15,0.406,4,0.079,0.030,3308,3191,1934,0,0,0,0,0,0
$STATE,3663,end climb,SURFACE_DEPTH_REACHED
$STATE,3663,begin surface coast
$FINISH,0.4,1.002600
$STATE,3718,end surface coast,CONTROL_FINISHED_OK
$STATE,3718,begin surface
$SM_CCo,3743,67.00,0.442,0,0,1464,400.08
$SM_GC,1.28,0.00,0.00,67.00,0.000,0.000,0.442,404,1860,1464,-11.71,-0.28,400.08
$IRIDIUM_FIX,2340.34,-15814.98,241100,020226
$TT8_MAMPS,0.026845
$HUMID,57.71
$INTERNAL_PRESSURE,9.52572
$TCM_TEMP,23.70
$XPDR_PINGS,2
$24V_AH,23.9,16.606
$10V_AH,10.4,17.079
$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,27.100,48.350,309.825,67.000,0.000,56.918,73.789,225.543,0.500,0.000,15.609,633.571,1363.689,345.510,1170.349,855.684,33.340,817.710,0.000,1457.924,0.000,0.540,0.000
$DEVICE_MAMPS,155.701,49.855,572.182,441.792,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,226.294,420.463,490.168,523.954,985.993,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355504
$DATA_FILE_SIZE,25872,336
$CAP_FILE_SIZE,58993,0
$CFSIZE,260165632,123203584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310811,032608,2348.048,-15816.128,7,1.8,7,10.2