version: 66.06
glider: 148
mission: 10
dive: 194
start: 9 2 111 4 10 56
data:
$ID,148
$MISSION,10
$DIVE,194
$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,-880985.44
$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,33
$R_STBD_OVSHOOT,53
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,3015
$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
$GPS1,035836,2354.429,-15804.328,15,1.6,31,10.2
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-71.6
$GPS2,041001,2354.576,-15804.354,10,1.4,10,10.2
$SPEED_LIMITS,0.175,0.226
$TGT_NAME,Bowf3
$TGT_LATLONG,2346.600,-15730.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.089,-0.208
$KALMAN_X,-107214.6,97.0,356.1,115329.4,197.4
$KALMAN_Y,-17866.3,498.9,403.0,263955.9,685.7
$MHEAD_RNG_PITCHd_Wd,146.7,60069,-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,-107.1,0.0,0.0,0,95,0.00,0.00,-74.78,0.000,2,0.000,0.000,407,1945,3437,0,0,0,0,0,0
$GC,99,-1.44,-107.1,4.5,-8.9,10,124,12.12,2.72,-0.22,0.000,4,0.171,0.044,2627,272,3456,0,0,0,0,0,0
$GC,241,-1.13,-107.1,44.9,-23.5,27,255,0.35,2.45,0.00,0.000,6,0.097,0.018,2702,1868,3457,0,0,0,0,0,0
$GC,507,-1.13,-107.1,88.4,-14.9,52,512,0.00,2.55,0.00,0.000,4,0.000,0.036,2703,282,3457,0,0,0,0,0,0
$GC,572,-1.13,-107.1,98.8,-14.1,57,578,0.00,2.45,0.00,0.000,6,0.000,0.018,2702,1869,3457,0,0,0,0,0,0
$GC,835,-1.13,-107.1,131.7,-12.6,82,840,0.00,2.53,0.00,0.000,4,0.000,0.035,2703,287,3457,0,0,0,0,0,0
$GC,855,-1.13,-107.1,134.0,-12.8,83,859,0.00,2.40,0.00,0.000,6,0.000,0.018,2702,1869,3457,0,0,0,0,0,0
$GC,1120,-1.20,-107.1,163.4,-10.0,107,1124,0.00,2.42,0.00,0.000,4,0.000,0.027,2703,3431,3457,0,0,0,0,0,0
$GC,1149,-1.26,-107.1,166.1,-10.2,109,1154,0.12,2.47,0.00,0.000,6,0.062,0.021,2628,1851,3457,0,0,0,0,0,0
$STATE,1412,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1413,begin apogee
$GC,1419,-0.31,0.0,200.8,14.3,133,1507,1.12,0.00,83.70,0.568,6,0.079,0.000,2880,1603,3014,0,0,0,0,0,0
$STATE,1508,end apogee,CONTROL_FINISHED_OK
$STATE,1508,begin climb
$GC,1510,1.44,107.1,205.2,0.0,135,1605,1.58,2.60,83.30,0.564,4,0.041,0.034,3263,3179,2576,0,0,0,0,0,0
$GC,1869,1.43,204.9,198.7,3.9,143,1953,0.00,2.40,78.43,0.559,6,0.000,0.025,3263,1661,2179,0,0,0,0,0,0
$GC,2214,1.43,204.9,165.8,11.2,175,2218,0.00,2.47,0.00,0.000,4,0.000,0.028,3263,3192,2174,0,0,0,0,0,0
$GC,2293,1.43,204.9,157.1,10.2,182,2299,0.00,2.53,0.00,0.000,6,0.000,0.027,3262,1624,2171,0,0,0,0,0,0
$GC,2560,1.43,204.9,129.8,10.7,207,2564,0.00,2.53,0.00,0.000,4,0.000,0.031,3263,3187,2171,0,0,0,0,0,0
$GC,2609,1.45,223.1,125.0,8.9,211,2631,0.00,2.50,15.50,0.487,6,0.000,0.027,3263,1626,2105,0,0,0,0,0,0
$GC,2886,1.45,224.5,96.1,10.0,237,2891,0.00,0.00,0.00,0.000,6,0.000,0.000,3263,1626,2102,0,0,0,0,0,0
$GC,3154,1.51,266.2,75.5,7.5,262,3205,0.00,2.40,36.92,0.485,4,0.000,0.044,3263,178,1928,0,0,0,0,0,0
$GC,3212,1.52,275.5,69.8,9.5,266,3226,0.00,2.28,9.55,0.426,6,0.000,0.019,3263,1624,1891,0,0,0,0,0,0
$GC,3488,1.61,275.5,41.3,10.7,291,3493,0.15,2.40,0.00,0.000,4,0.054,0.044,3332,170,1886,0,0,0,0,0,0
$GC,3548,1.47,275.5,32.7,15.9,295,3553,0.28,2.25,0.00,0.000,6,0.097,0.019,3272,1641,1886,0,0,0,0,0,0
$STATE,3827,end climb,SURFACE_DEPTH_REACHED
$STATE,3827,begin surface coast
$FINISH,0.6,1.023360
$STATE,3875,end surface coast,CONTROL_FINISHED_OK
$STATE,3875,begin surface
$SM_CCo,3896,69.15,0.436,0,0,1383,400.08
$SM_GC,1.25,0.00,0.00,69.15,0.000,0.000,0.436,412,1959,1383,-11.67,2.52,400.08
$IRIDIUM_FIX,2342.70,-15803.60,261100,040420
$TT8_MAMPS,0.026845
$HUMID,57.75
$INTERNAL_PRESSURE,9.52572
$TCM_TEMP,23.90
$XPDR_PINGS,2
$24V_AH,23.9,19.568
$10V_AH,10.4,20.700
$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,27.125,45.000,307.400,69.150,0.000,53.115,72.093,363.361,0.500,0.000,11.993,639.131,1412.217,353.043,1253.833,1001.384,33.355,859.420,0.000,1545.546,0.000,0.540,0.000
$DEVICE_MAMPS,171.041,44.486,567.580,435.656,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,230.762,423.349,498.856,534.738,998.364,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355664
$DATA_FILE_SIZE,29027,344
$CAP_FILE_SIZE,61188,0
$CFSIZE,260165632,121737216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020911,051810,2354.693,-15803.886,7,2.5,27,10.2