version: 66.11
glider: 195
mission: 8
dive: 18
start: 10 28 113 0 40 3
data:
$ID,195
$MISSION,8
$DIVE,18
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,10
$T_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,330
$T_MISSION,390
$T_ABORT,1440
$T_TURN,290
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,40
$SPEED_FACTOR,1
$RHO,1.023
$MASS,59371
$MASS_COMP,3973.1001
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,12
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,1.6100001e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,45
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-4452.2095
$T_RSLEEP,12
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,207
$PITCH_MAX,3915
$C_PITCH,2550
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22.200001
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,224
$ROLL_MAX,3758
$ROLL_DEG,40
$C_ROLL_DIVE,2025
$C_ROLL_CLIMB,2025
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,50
$R_STBD_OVSHOOT,33
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2820
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,97
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-50.110214
$PRESSURE_SLOPE,0.0001168043
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.77999997
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,115
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-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,0.0043948898
$SEABIRD_T_H,0.000640176
$SEABIRD_T_I,2.7039805e-05
$SEABIRD_T_J,3.3535807e-06
$SEABIRD_C_G,-9.7607336
$SEABIRD_C_H,1.1271561
$SEABIRD_C_I,-0.0014806761
$SEABIRD_C_J,0.00019408959
$GPS1,281013,003339,4714.869,-12500.428,3,1.0,3,16.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-48.9
$GPS2,281013,003936,4714.933,-12500.433,5,1.0,5,16.7
$SPEED_LIMITS,0.119,0.258
$TGT_NAME,SEARCH_A
$TGT_LATLONG,4750.000,-12525.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.111,0.233
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,317.9,71767,-17.6,-10.000,-21.21,2209
$D_GRID,990
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,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,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.79,-146.6,198,2013,647,331,0.0,0.0,0,120,0.00,0.00,-102.85,0.000,16386,0.000,0.000,197,2013,3129,3154,3105,0,0,0,0,0,0,28.83,28.83,28.83
$GC,123,-0.79,-146.6,197,2013,3154,3107,3.2,-4.9,10,141,7.68,0.00,-6.88,0.000,18950,0.205,0.000,2288,2013,3419,3433,3405,0,0,0,0,0,0,25.91,28.83,26.50
$GC,439,-0.79,-146.6,2287,2013,3437,3405,52.5,-13.2,42,449,0.00,2.12,0.00,0.000,516,0.000,0.040,2288,627,3421,3437,3405,0,0,0,0,0,0,28.83,26.29,28.83
$GC,685,-0.79,-146.6,2288,627,3439,3405,85.2,-13.3,65,691,0.00,2.12,0.00,0.000,1030,0.000,0.034,2280,2035,3422,3439,3405,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1007,-0.79,-146.6,2280,2035,3438,3405,121.1,-10.8,81,1008,0.00,0.00,0.00,0.000,6,0.000,0.000,2281,2035,3421,3438,3405,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1325,-0.79,-146.6,2281,2036,3438,3405,156.2,-10.3,96,1327,0.00,0.00,0.00,0.000,6,0.000,0.000,2280,2035,3421,3438,3405,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1626,-0.79,-146.6,2280,2035,3436,3404,189.1,-11.1,106,1631,0.00,2.15,0.00,0.000,260,0.000,0.047,2270,3426,3420,3436,3404,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1748,-0.79,-146.6,2269,3426,3435,3405,202.5,-11.0,110,1754,0.00,2.08,0.00,0.000,1030,0.000,0.028,2270,2016,3420,3436,3404,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2078,-0.79,-146.6,2269,2016,3435,3404,236.1,-9.7,121,2084,0.00,2.17,0.00,0.000,260,0.000,0.047,2259,3429,3419,3435,3404,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2139,-0.79,-146.6,2259,3429,3435,3403,242.0,-9.7,123,2145,0.10,2.05,0.00,0.000,3078,0.119,0.029,2294,2026,3419,3435,3403,0,0,0,0,0,0,26.41,26.57,28.83
$GC,2469,-0.79,-146.6,2293,2026,3435,3401,270.7,-9.1,134,2474,0.00,2.15,0.00,0.000,260,0.000,0.047,2285,3423,3417,3435,3400,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2545,-0.79,-146.6,2285,3423,3435,3400,276.3,-8.8,136,2549,0.00,2.08,0.00,0.000,1030,0.000,0.029,2285,2019,3417,3435,3400,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2858,-0.79,-146.6,2285,2018,3435,3397,308.5,-10.0,146,2859,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,2018,3416,3435,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3158,-0.79,-146.6,2286,2019,3433,3398,339.3,-10.3,151,3163,0.00,2.17,0.00,0.000,260,0.000,0.047,2275,3424,3415,3432,3398,0,0,0,0,0,0,28.83,26.56,28.83
$GC,3289,-0.79,-146.6,2275,3424,3432,3397,351.2,-10.1,153,3293,0.00,2.08,0.00,0.000,1030,0.000,0.030,2275,2018,3414,3432,3397,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3638,-0.79,-146.6,2275,2018,3431,3398,384.2,-9.4,159,3643,0.00,2.15,0.00,0.000,260,0.000,0.047,2265,3420,3414,3431,3397,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3789,-0.79,-146.6,2264,3420,3430,3397,397.6,-10.4,161,3793,0.00,2.10,0.00,0.000,1030,0.000,0.030,2265,2029,3414,3431,3397,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4119,-0.79,-146.6,2264,2029,3430,3397,433.7,-9.6,167,4124,0.12,2.10,0.00,0.000,2564,0.144,0.041,2305,643,3413,3430,3397,0,0,0,0,0,0,26.53,26.59,28.83
$GC,4185,-0.79,-146.6,2305,643,3430,3397,438.8,-9.2,168,4189,0.00,2.10,0.00,0.000,1030,0.000,0.037,2299,2029,3413,3430,3397,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4533,-0.79,-146.6,2299,2029,3429,3396,466.1,-7.9,174,4538,0.00,2.17,0.00,0.000,260,0.000,0.048,2289,3437,3412,3429,3396,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4600,-0.79,-146.6,2288,3437,3429,3395,471.3,-8.3,175,4604,0.00,2.15,0.00,0.000,1030,0.000,0.031,2288,2019,3412,3429,3395,0,0,0,0,0,0,28.83,26.66,28.83
$GC,4953,-0.79,-146.6,2288,2019,3428,3395,502.2,-8.4,181,4959,0.00,2.20,0.00,0.000,260,0.000,0.048,2278,3441,3411,3427,3395,0,0,0,0,0,0,28.83,26.61,28.83
$STATE,5012,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5012,begin apogee
$GC,5017,-0.23,0.0,2278,2014,3427,3394,507.2,-8.2,182,5134,0.57,0.00,107.97,0.848,10246,0.100,0.000,2477,2014,2819,2916,2723,0,0,0,0,0,0,26.53,28.83,24.39
$STATE,5135,end apogee,CONTROL_FINISHED_OK
$STATE,5136,begin climb
$GC,5137,0.79,146.6,2477,2014,2916,2724,510.0,0.0,184,5257,0.90,0.00,115.50,0.844,10758,0.057,0.000,2805,2014,2222,2344,2100,0,0,0,0,0,0,25.16,28.83,24.08
$GC,5553,0.79,146.6,2805,2014,2342,2098,466.6,12.3,191,5554,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2014,2220,2343,2098,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5853,0.79,146.6,2805,2014,2341,2098,431.1,11.6,196,5859,0.00,2.17,0.00,0.000,516,0.000,0.044,2816,626,2219,2341,2097,0,0,0,0,0,0,28.83,26.05,28.83
$GC,5946,0.79,146.6,2815,627,2339,2098,423.5,11.8,197,5950,0.00,2.15,0.00,0.000,1030,0.000,0.035,2815,2026,2218,2339,2098,0,0,0,0,0,0,28.83,26.14,28.83
$GC,6268,0.79,146.6,2815,2026,2338,2098,375.7,13.7,203,6273,0.00,2.20,0.00,0.000,260,0.000,0.046,2816,3435,2217,2338,2097,0,0,0,0,0,0,28.83,26.23,28.83
$GC,6328,0.79,146.6,2815,3435,2337,2098,366.9,14.0,204,6332,0.00,2.15,0.00,0.000,1030,0.000,0.031,2826,2022,2217,2337,2098,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6689,0.79,146.6,2825,2022,2337,2096,318.6,13.1,210,6690,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,2022,2216,2337,2096,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6989,0.79,146.6,2825,2022,2338,2095,281.8,12.2,217,6995,0.00,2.20,0.00,0.000,260,0.000,0.046,2826,3429,2217,2338,2096,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7021,0.79,146.6,2825,3429,2337,2095,278.2,12.1,218,7026,0.08,2.15,0.00,0.000,5126,0.140,0.031,2811,2027,2216,2337,2095,0,0,0,0,0,0,26.28,26.44,28.83
$GC,7349,0.79,146.6,2811,2027,2337,2095,242.4,10.5,229,7351,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2027,2216,2337,2095,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7649,0.79,146.6,2811,2027,2337,2094,210.6,10.7,239,7651,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2027,2216,2337,2095,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7949,0.79,146.6,2811,2027,2337,2094,176.2,11.7,249,7953,0.00,2.15,0.00,0.000,516,0.000,0.044,2819,631,2215,2337,2094,0,0,0,0,0,0,28.83,26.50,28.83
$GC,7988,0.79,146.6,2819,631,2336,2095,172.6,11.7,250,7992,0.00,2.12,0.00,0.000,1030,0.000,0.035,2819,2034,2214,2336,2093,0,0,0,0,0,0,28.83,26.53,28.83
$GC,8311,0.79,146.6,2819,2034,2336,2095,134.9,11.5,263,8317,0.00,2.15,0.00,0.000,260,0.000,0.046,2819,3429,2215,2335,2095,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8393,0.79,146.6,2818,3429,2336,2095,124.8,12.7,267,8398,0.00,2.15,0.00,0.000,1030,0.000,0.030,2829,2015,2215,2336,2095,0,0,0,0,0,0,28.83,26.57,28.83
$GC,8711,0.79,146.6,2829,2015,2336,2095,87.2,11.5,283,8717,0.00,2.12,0.00,0.000,516,0.000,0.044,2839,627,2215,2336,2095,0,0,0,0,0,0,28.83,26.53,28.83
$GC,8936,0.79,146.6,2838,627,2336,2095,61.9,11.5,302,8946,0.10,2.15,0.00,0.000,5126,0.124,0.035,2805,2017,2215,2336,2095,0,0,0,0,0,0,26.45,26.60,28.83
$GC,9245,0.79,239.9,2805,2018,2336,2095,39.7,5.7,333,9316,0.00,0.00,68.80,0.571,8454,0.000,0.000,2805,2018,1840,1984,1696,0,0,0,0,0,0,28.83,28.83,25.22
$GC,9615,0.79,323.4,2805,2018,1983,1687,14.2,6.1,370,9659,0.00,2.22,38.75,0.478,8708,0.000,0.044,2808,624,1498,1644,1352,0,0,0,0,0,0,28.83,25.72,25.22
$GC,9682,0.79,404.3,2808,623,1641,1349,9.9,6.2,376,9725,0.00,2.20,36.47,0.076,9222,0.000,0.034,2808,2031,1169,1322,1017,0,0,0,0,0,0,28.83,25.82,25.75
$STATE,9771,end climb,SURFACE_DEPTH_REACHED
$STATE,9772,begin surface coast
$FINISH,-0.1,1.023959
$STATE,9793,end surface coast,CONTROL_FINISHED_OK
$STATE,9793,begin surface
$SM_CCo,9866,0.00,0.000,0,0,1161,406.95
$SM_GC,0.93,6.93,0.00,0.00,0.032,0.000,0.000,180,2031,1161,-7.29,0.17,406.95,0,0,0,0,0,0,25.96,28.83,28.83
$IRIDIUM_FIX,4657.54,-12503.16,281013,000017
$TT8_MAMPS,0.026215,0.026215
$HUMID,44.29
$INTERNAL_PRESSURE,8.87857
$TCM_TEMP,12.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,443.0,69.7
$24V_AH,24.1,3.633
$10V_AH,10.3,3.608
$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,16.475,68.625,367.500,0.000,0.000,0.000,0.000,0.000,9.000,0.000,6.563,1107.724,6896.572,373.813,1486.430,64.264,0.333,1083.592,0.000,1455.701,0.000,59.003,0.000
$DEVICE_MAMPS,205.020,48.195,847.620,0.000,0.000,0.000,0.000,0.000,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,69.140,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,264.177,512.359,830.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,11.230,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,314508
$DATA_FILE_SIZE,27109,387
$CAP_FILE_SIZE,103620,0
$CFSIZE,2097872896,2093154304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,281013,032558,4716.341,-12501.037,56,0.8,56,16.7