version: 66.06
glider: 148
mission: 10
dive: 472
start: 9 21 111 9 44 4
data:
$ID,148
$MISSION,10
$DIVE,472
$D_SURF,4
$D_FLARE,3
$D_TGT,200
$D_ABORT,430
$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,660
$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,140
$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,-886962.12
$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,2990
$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,1660
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,109
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,2955
$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
$GPS1,093704,2420.360,-15641.995,7,3.0,27,10.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-70.2
$GPS2,094308,2420.335,-15641.988,12,1.3,12,10.4
$SPEED_LIMITS,0.175,0.253
$TGT_NAME,bowp4
$TGT_LATLONG,2300.000,-15730.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.143,-0.208
$KALMAN_X,-22573.8,-21.1,283.2,172622.8,-38.8
$KALMAN_Y,-111006.1,-18.8,-203.4,405937.0,-265.3
$MHEAD_RNG_PITCHd_Wd,204.1,169808,-18.4,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-1.31,-136.1,0.0,0.0,0,97,0.00,0.00,-74.75,0.000,2,0.000,0.000,407,1917,3305,0,0,0,0,0,0
$GC,100,-1.32,-136.3,3.6,-6.2,10,125,11.73,2.70,-3.72,0.000,4,0.146,0.046,2696,287,3511,0,0,0,0,0,0
$GC,194,-1.22,-136.3,24.6,-13.2,23,205,0.08,2.40,0.00,0.000,6,0.090,0.018,2717,1824,3512,0,0,0,0,0,0
$GC,473,-1.06,-136.3,62.0,-13.3,50,478,0.17,2.55,0.00,0.000,4,0.101,0.027,2757,3435,3512,0,0,0,0,0,0
$GC,532,-1.16,-136.3,68.5,-8.8,54,537,0.00,2.47,0.00,0.000,6,0.000,0.021,2757,1849,3512,0,0,0,0,0,0
$GC,797,-1.25,-136.3,87.1,-6.4,78,802,0.15,2.50,0.00,0.000,4,0.054,0.041,2671,298,3512,0,0,0,0,0,0
$GC,881,-1.17,-136.3,95.6,-11.5,85,886,0.28,2.42,0.00,0.000,6,0.087,0.017,2733,1879,3513,0,0,0,0,0,0
$GC,1148,-1.17,-136.3,119.8,-9.2,109,1153,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1882,3513,0,0,0,0,0,0
$GC,1409,-1.17,-136.3,141.1,-8.2,134,1414,0.00,2.55,0.00,0.000,4,0.000,0.038,2733,300,3513,0,0,0,0,0,0
$GC,1478,-1.29,-136.3,147.2,-8.9,140,1483,0.10,2.38,0.00,0.000,6,0.074,0.017,2664,1860,3513,0,0,0,0,0,0
$GC,1739,-1.17,-136.3,175.2,-10.6,164,1744,0.28,2.45,0.00,0.000,4,0.083,0.025,2730,3425,3513,0,0,0,0,0,0
$GC,1779,-1.33,-136.3,178.6,-7.3,167,1785,0.12,2.47,0.00,0.000,6,0.061,0.021,2638,1837,3513,0,0,0,0,0,0
$STATE,1989,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1989,begin apogee
$GC,1996,-0.31,0.0,200.2,10.5,187,2108,1.25,0.00,105.32,0.573,6,0.077,0.000,2921,1635,2954,0,0,0,0,0,0
$STATE,2109,end apogee,CONTROL_FINISHED_OK
$STATE,2109,begin climb
$GC,2111,1.32,136.3,205.1,0.0,190,2228,1.42,2.42,107.03,0.570,4,0.028,0.052,3294,212,2397,0,0,0,0,0,0
$GC,2511,0.97,157.0,178.2,9.1,212,2539,0.43,2.22,17.42,0.521,6,0.096,0.019,3202,1638,2313,0,0,0,0,0,0
$GC,2794,1.07,244.1,159.5,5.7,239,2876,0.10,2.42,72.07,0.546,4,0.078,0.044,3251,215,1958,0,0,0,0,0,0
$GC,2891,0.99,268.5,152.2,8.9,248,2920,0.20,2.25,22.00,0.514,6,0.092,0.020,3207,1657,1860,0,0,0,0,0,0
$GC,3178,1.07,273.0,125.9,9.9,275,3189,0.00,2.55,4.40,0.361,4,0.000,0.031,3207,3230,1840,0,0,0,0,0,0
$GC,3253,1.20,273.0,117.8,10.4,282,3259,0.17,2.47,0.00,0.000,6,0.048,0.028,3294,1705,1837,0,0,0,0,0,0
$GC,3515,1.09,276.0,87.6,10.0,306,3520,0.30,2.47,0.00,0.000,4,0.090,0.031,3229,3236,1837,0,0,0,0,0,0
$GC,3580,1.30,330.4,82.2,7.4,311,3636,0.17,2.50,49.42,0.496,6,0.048,0.028,3321,1687,1606,0,0,0,0,0,0
$GC,3893,1.22,330.4,49.3,11.0,340,3898,0.28,2.50,0.00,0.000,4,0.087,0.028,3255,3240,1602,0,0,0,0,0,0
$GC,3940,1.40,371.9,45.0,8.0,343,3982,0.15,2.47,35.53,0.464,6,0.055,0.028,3333,1703,1438,0,0,0,0,0,0
$STATE,4258,end climb,SURFACE_DEPTH_REACHED
$STATE,4258,begin surface coast
$FINISH,0.4,1.015024
$STATE,4296,end surface coast,CONTROL_FINISHED_OK
$STATE,4296,begin surface
$SM_CCo,4318,22.25,0.425,0,0,1324,400.08
$SM_GC,1.41,0.00,0.00,22.25,0.000,0.000,0.425,408,1930,1324,-11.88,1.70,400.08
$IRIDIUM_FIX,2411.01,-15639.70,151200,080846
$TT8_MAMPS,0.026845
$HUMID,62.24
$INTERNAL_PRESSURE,9.48665
$TCM_TEMP,22.00
$XPDR_PINGS,2
$24V_AH,23.8,43.291
$10V_AH,10.3,49.048
$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,29.050,49.700,413.200,22.250,0.000,27.667,36.332,158.709,0.500,0.000,14.440,716.559,1455.633,374.082,1370.059,793.455,33.351,946.628,0.000,1712.758,0.000,0.541,0.000
$DEVICE_MAMPS,145.730,52.156,572.949,424.918,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,261.352,493.626,572.976,591.176,1116.347,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356036
$DATA_FILE_SIZE,31994,390
$CAP_FILE_SIZE,64336,0
$CFSIZE,260165632,110276608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210911,105719,2419.831,-15642.021,8,1.9,14,10.4