version: 66.06
glider: 148
mission: 10
dive: 535
start: 9 25 111 11 50 52
data:
$ID,148
$MISSION,10
$DIVE,535
$D_SURF,4
$D_FLARE,3
$D_TGT,300
$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,100
$T_MISSION,360
$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,-888416.5
$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,1620
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,49
$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
$GPS1,114357,2336.979,-15700.531,30,99.0,50,10.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-73.5
$GPS2,114956,2336.921,-15700.567,12,1.2,12,10.3
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,bowp4
$TGT_LATLONG,2300.000,-15730.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.186,-0.144
$KALMAN_X,-3282.7,-34.6,-279.2,121934.4,193.3
$KALMAN_Y,-145098.8,-98.1,-156.1,359655.4,-380.1
$MHEAD_RNG_PITCHd_Wd,222.0,84812,-19.7,-10.000
$D_GRID,300
$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,19,-1.38,-116.8,0.0,0.0,0,96,0.00,0.00,-74.45,0.000,2,0.000,0.000,410,1966,3302,0,0,0,0,0,0
$GC,99,-1.38,-116.8,3.9,-7.1,10,124,12.32,2.40,-2.33,0.000,4,0.168,0.038,2682,3452,3435,0,0,0,0,0,0
$GC,175,-1.30,-116.8,22.0,-14.1,20,185,0.00,2.58,0.00,0.000,6,0.000,0.025,2682,1865,3436,0,0,0,0,0,0
$GC,461,-1.12,-116.8,63.3,-14.5,49,466,0.25,2.55,0.00,0.000,4,0.097,0.036,2740,285,3436,0,0,0,0,0,0
$GC,544,-1.24,-116.8,73.3,-10.4,55,549,0.00,2.45,0.00,0.000,6,0.000,0.018,2741,1871,3437,0,0,0,0,0,0
$GC,813,-1.30,-116.8,97.7,-8.2,79,818,0.15,2.60,0.00,0.000,4,0.054,0.038,2663,287,3437,0,0,0,0,0,0
$GC,853,-1.30,-116.8,102.3,-10.8,82,864,0.15,2.38,0.00,0.000,6,0.078,0.017,2701,1836,3437,0,0,0,0,0,0
$GC,1121,-1.30,-116.8,127.9,-9.6,107,1126,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,1837,3438,0,0,0,0,0,0
$GC,1383,-1.30,-116.8,150.6,-7.6,132,1388,0.00,2.50,0.00,0.000,4,0.000,0.043,2701,292,3438,0,0,0,0,0,0
$GC,1434,-1.42,-116.8,154.4,-8.0,136,1439,0.00,2.33,0.00,0.000,6,0.000,0.016,2701,1822,3438,0,0,0,0,0,0
$GC,1703,-1.42,-116.8,176.5,-8.5,160,1707,0.00,2.47,0.00,0.000,4,0.000,0.038,2701,283,3438,0,0,0,0,0,0
$GC,1772,-1.54,-116.8,182.9,-9.0,166,1777,0.20,2.28,0.00,0.000,6,0.044,0.017,2607,1792,3438,0,0,0,0,0,0
$GC,2041,-1.32,-116.8,214.7,-12.0,182,2047,0.40,2.45,0.00,0.000,4,0.084,0.036,2699,297,3438,0,0,0,0,0,0
$GC,2086,-1.45,-116.8,219.7,-9.1,182,2093,0.08,2.25,0.00,0.000,6,0.035,0.018,2634,1765,3438,0,0,0,0,0,0
$GC,2337,-1.35,-116.8,247.2,-11.4,189,2344,0.25,2.60,0.00,0.000,4,0.084,0.025,2695,3428,3438,0,0,0,0,0,0
$GC,2351,-1.35,-116.8,248.7,-10.8,189,2355,0.00,2.65,0.00,0.000,6,0.000,0.022,2696,1754,3438,0,0,0,0,0,0
$GC,2625,-1.44,-116.8,268.3,-6.8,196,2630,0.00,2.38,0.00,0.000,4,0.000,0.043,2695,284,3438,0,0,0,0,0,0
$GC,2674,-1.57,-116.8,271.9,-7.2,197,2678,0.20,2.22,0.00,0.000,6,0.044,0.018,2608,1757,3438,0,0,0,0,0,0
$STATE,2953,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2953,begin apogee
$GC,2960,-0.31,0.0,300.0,10.6,204,3056,1.38,0.00,93.00,0.653,6,0.076,0.000,2921,1589,2955,0,0,0,0,0,0
$STATE,3057,end apogee,CONTROL_FINISHED_OK
$STATE,3057,begin climb
$GC,3061,1.38,116.8,303.8,0.0,206,3164,1.48,2.40,93.68,0.648,4,0.027,0.055,3322,214,2478,0,0,0,0,0,0
$GC,3427,0.94,128.6,284.0,9.3,214,3445,0.57,2.15,10.38,0.561,6,0.096,0.020,3197,1596,2429,0,0,0,0,0,0
$GC,3712,1.03,199.3,266.6,5.9,221,3779,0.00,2.42,59.00,0.630,4,0.000,0.051,3197,210,2142,0,0,0,0,0,0
$GC,3971,1.04,208.4,244.6,9.5,226,3985,0.00,2.25,8.70,0.533,6,0.000,0.021,3197,1614,2105,0,0,0,0,0,0
$GC,4230,1.17,255.4,225.2,7.3,233,4279,0.20,2.65,40.83,0.607,4,0.046,0.041,3272,3192,1912,0,0,0,0,0,0
$GC,4344,1.17,255.4,213.5,11.2,235,4349,0.12,2.53,0.00,0.000,6,0.109,0.028,3245,1651,1907,0,0,0,0,0,0
$GC,4610,1.17,255.4,184.9,10.8,251,4611,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,1651,1905,0,0,0,0,0,0
$GC,4866,1.20,274.0,160.0,8.9,275,4887,0.00,0.00,16.33,0.539,6,0.000,0.000,3246,1651,1837,0,0,0,0,0,0
$GC,5146,1.20,274.0,131.7,11.1,301,5150,0.00,2.50,0.00,0.000,4,0.000,0.030,3245,3204,1833,0,0,0,0,0,0
$GC,5250,1.27,274.0,119.8,10.2,310,5260,0.00,2.60,0.00,0.000,6,0.000,0.028,3245,1618,1831,0,0,0,0,0,0
$GC,5518,1.37,297.6,93.4,8.6,335,5549,0.17,2.60,20.75,0.503,4,0.051,0.032,3315,3194,1738,0,0,0,0,0,0
$GC,5620,1.37,297.6,82.1,11.1,344,5630,0.10,2.55,0.00,0.000,6,0.083,0.028,3289,1637,1735,0,0,0,0,0,0
$GC,5887,1.40,318.5,58.8,8.8,369,5915,0.00,2.58,19.08,0.472,4,0.000,0.028,3289,3195,1653,0,0,0,0,0,0
$GC,5933,1.43,345.2,54.9,8.5,372,5964,0.00,2.53,24.45,0.473,6,0.000,0.027,3289,1640,1546,0,0,0,0,0,0
$GC,6237,1.50,345.2,25.4,10.0,402,6248,0.10,2.55,0.00,0.000,4,0.077,0.029,3344,3192,1542,0,0,0,0,0,0
$GC,6342,1.50,345.2,12.3,13.3,417,6353,0.10,2.50,0.00,0.000,6,0.080,0.028,3317,1662,1539,0,0,0,0,0,0
$STATE,6409,end climb,SURFACE_DEPTH_REACHED
$STATE,6409,begin surface coast
$FINISH,0.5,1.022060
$STATE,6458,end surface coast,CONTROL_FINISHED_OK
$STATE,6458,begin surface
$SM_CCo,6482,40.10,0.439,0,0,1323,400.08
$SM_GC,1.33,0.00,0.00,40.10,0.000,0.000,0.439,411,1959,1323,-11.86,2.52,400.08
$IRIDIUM_FIX,2328.57,-15705.07,191200,101015
$TT8_MAMPS,0.027612
$HUMID,64.09
$INTERNAL_PRESSURE,9.44759
$TCM_TEMP,20.80
$XPDR_PINGS,3
$24V_AH,23.7,48.302
$10V_AH,10.1,55.633
$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,29.825,74.425,386.175,40.100,0.000,28.432,32.628,154.681,0.750,0.000,13.720,862.301,3148.846,407.303,1594.628,870.747,33.356,1110.545,0.000,1952.129,0.000,0.538,0.000
$DEVICE_MAMPS,167.973,55.224,653.484,438.724,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,291.590,498.740,580.801,595.015,1103.889,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355988
$DATA_FILE_SIZE,35158,433
$CAP_FILE_SIZE,83412,0
$CFSIZE,260165632,107597824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250911,134046,2336.213,-15701.022,7,2.6,27,10.3