version: 66.06
glider: 148
mission: 10
dive: 475
start: 9 21 111 13 51 36
data:
$ID,148
$MISSION,10
$DIVE,475
$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,-887044.06
$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,34
$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,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
$GPS1,134439,2418.781,-15642.280,13,1.9,26,10.4
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-71.7
$GPS2,135038,2418.760,-15642.268,11,1.2,11,10.4
$SPEED_LIMITS,0.175,0.253
$TGT_NAME,bowp4
$TGT_LATLONG,2300.000,-15730.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.193,-0.161
$KALMAN_X,-21009.9,196.9,-136.6,170781.9,380.5
$KALMAN_Y,-111761.9,-30.2,-54.9,403635.8,-44.5
$MHEAD_RNG_PITCHd_Wd,219.7,167026,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.32,-135.5,0.0,0.0,0,95,0.00,0.00,-74.80,0.000,2,0.000,0.000,413,1921,3308,0,0,0,0,0,0
$GC,99,-1.32,-136.3,3.6,-6.2,10,124,11.70,2.72,-3.65,0.000,4,0.145,0.050,2694,287,3512,0,0,0,0,0,0
$GC,212,-1.21,-136.3,26.3,-13.0,26,223,0.10,2.47,0.00,0.000,6,0.086,0.018,2721,1871,3513,0,0,0,0,0,0
$GC,490,-1.09,-136.3,61.4,-12.9,52,495,0.15,2.50,0.00,0.000,4,0.107,0.026,2754,3448,3513,0,0,0,0,0,0
$GC,537,-1.18,-136.3,66.7,-9.2,55,541,0.00,2.47,0.00,0.000,6,0.000,0.021,2754,1863,3513,0,0,0,0,0,0
$GC,806,-1.18,-136.3,88.8,-8.6,79,810,0.00,2.55,0.00,0.000,4,0.000,0.045,2754,289,3513,0,0,0,0,0,0
$GC,856,-1.34,-136.3,93.7,-9.3,83,861,0.22,2.47,0.00,0.000,6,0.038,0.017,2654,1907,3513,0,0,0,0,0,0
$GC,1126,-1.15,-136.3,127.0,-11.9,107,1131,0.35,2.38,0.00,0.000,4,0.084,0.023,2736,3435,3513,0,0,0,0,0,0
$GC,1136,-0.99,-136.3,129.3,-11.7,107,1144,0.12,2.45,0.00,0.000,6,0.066,0.020,2772,1889,3514,0,0,0,0,0,0
$GC,1400,-1.16,-136.3,145.6,-6.3,132,1405,0.15,2.60,0.00,0.000,4,0.053,0.040,2684,296,3514,0,0,0,0,0,0
$GC,1482,-1.16,-136.3,153.6,-9.4,139,1489,0.20,2.45,0.00,0.000,6,0.071,0.018,2736,1878,3514,0,0,0,0,0,0
$GC,1748,-1.25,-136.3,173.7,-7.6,164,1752,0.00,2.42,0.00,0.000,4,0.000,0.027,2736,3433,3514,0,0,0,0,0,0
$GC,1824,-1.40,-136.3,180.1,-8.3,171,1830,0.20,2.40,0.00,0.000,6,0.041,0.020,2631,1884,3514,0,0,0,0,0,0
$STATE,1987,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1987,begin apogee
$GC,1995,-0.31,0.0,200.8,12.6,186,2104,1.33,0.00,105.38,0.573,6,0.077,0.000,2919,1642,2955,0,0,0,0,0,0
$STATE,2104,end apogee,CONTROL_FINISHED_OK
$STATE,2105,begin climb
$GC,2107,1.32,136.3,204.1,0.0,188,2223,1.42,2.45,106.95,0.570,4,0.026,0.052,3295,202,2397,0,0,0,0,0,0
$GC,2234,1.14,254.1,206.9,4.2,191,2344,0.22,2.28,96.60,0.564,6,0.108,0.019,3243,1652,1916,0,0,0,0,0,0
$GC,2602,1.07,254.1,167.9,12.7,220,2607,0.00,2.58,0.00,0.000,4,0.000,0.038,3243,3220,1912,0,0,0,0,0,0
$GC,2704,1.07,254.1,154.8,10.6,229,2710,0.00,2.47,0.00,0.000,6,0.000,0.028,3243,1698,1908,0,0,0,0,0,0
$GC,2968,1.08,261.9,126.5,9.7,254,2982,0.00,2.53,6.70,0.426,4,0.000,0.030,3243,3228,1886,0,0,0,0,0,0
$GC,3029,1.15,270.8,120.9,9.7,259,3051,0.00,2.50,9.20,0.456,6,0.000,0.036,3243,1686,1850,0,0,0,0,0,0
$GC,3306,1.17,285.1,95.6,9.4,285,3329,0.00,2.55,13.65,0.472,4,0.000,0.029,3243,3226,1789,0,0,0,0,0,0
$GC,3378,1.27,285.1,88.2,10.3,291,3384,0.10,2.50,0.00,0.000,6,0.076,0.028,3292,1683,1786,0,0,0,0,0,0
$GC,3648,1.27,288.5,62.0,9.9,316,3653,0.12,2.53,0.00,0.000,4,0.109,0.030,3265,3232,1786,0,0,0,0,0,0
$GC,3668,1.29,307.4,59.7,9.2,317,3696,0.00,2.50,19.77,0.466,6,0.000,0.027,3265,1681,1700,0,0,0,0,0,0
$GC,3953,1.35,351.8,35.8,7.9,343,3997,0.00,2.53,38.67,0.461,4,0.000,0.028,3265,3229,1520,0,0,0,0,0,0
$GC,4069,1.44,351.8,24.5,11.5,355,4079,0.12,2.53,0.00,0.000,6,0.028,0.028,3335,1693,1514,0,0,0,0,0,0
$STATE,4213,end climb,SURFACE_DEPTH_REACHED
$STATE,4216,begin surface coast
$FINISH,0.4,1.023013
$STATE,4255,end surface coast,CONTROL_FINISHED_OK
$STATE,4255,begin surface
$SM_CCo,4277,38.65,0.435,0,0,1323,400.08
$SM_GC,1.39,0.00,0.00,38.65,0.000,0.000,0.435,408,1969,1323,-11.88,2.77,400.08
$IRIDIUM_FIX,2411.01,-15639.70,151200,121216
$TT8_MAMPS,0.026845
$HUMID,60.98
$INTERNAL_PRESSURE,9.49642
$TCM_TEMP,22.20
$XPDR_PINGS,2
$24V_AH,23.8,43.526
$10V_AH,10.3,49.356
$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,28.175,60.400,396.925,38.650,0.000,28.210,33.503,158.393,0.500,0.000,13.178,712.896,1436.217,400.628,1338.474,794.109,33.351,961.165,0.000,1676.625,0.000,0.540,0.000
$DEVICE_MAMPS,144.963,52.156,572.949,434.889,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,256.451,489.127,564.057,594.946,1118.952,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355988
$DATA_FILE_SIZE,32024,382
$CAP_FILE_SIZE,65904,0
$CFSIZE,260165632,110149632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210911,150425,2418.307,-15642.346,6,1.2,12,10.4