version: 66.11
glider: 195
mission: 8
dive: 28
start: 10 29 113 15 8 0
data:
$ID,195
$MISSION,8
$DIVE,28
$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,13
$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,-4464.8008
$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,2545
$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,0.02
$PITCH_ADJ_DBAND,1
$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,49
$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
$GPS1,291013,150309,4732.201,-12511.215,3,0.9,3,16.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-62.6
$GPS2,291013,150732,4732.210,-12511.172,5,1.0,5,16.7
$SPEED_LIMITS,0.119,0.258
$TGT_NAME,SEARCH_A
$TGT_LATLONG,4750.000,-12525.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.092,0.241
$KALMAN_X,2334.3,0.0,0.0,-15841.6,7372.4
$KALMAN_Y,-14086.8,0.0,0.0,46079.0,-31902.7
$MHEAD_RNG_PITCHd_Wd,322.4,37163,-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,14,-0.79,-146.6,178,2022,1499,1265,0.0,0.0,0,80,0.00,0.00,-63.55,0.000,16386,0.000,0.000,178,2022,3014,3024,3005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-0.79,-146.6,178,2023,3026,3005,3.3,-5.1,6,111,7.75,2.20,-9.73,0.000,18692,0.204,0.058,2273,3425,3419,3431,3408,0,0,0,0,0,0,25.74,25.96,26.28
$GC,175,-0.63,-146.6,2273,3426,3431,3408,23.3,-24.1,15,186,0.22,2.12,0.00,0.000,3078,0.139,0.028,2336,2009,3420,3432,3408,0,0,0,0,0,0,25.90,26.07,28.83
$GC,484,-0.63,-146.6,2336,2009,3433,3408,66.6,-14.6,46,494,0.00,2.22,0.00,0.000,772,0.000,0.045,2327,3431,3420,3433,3408,0,0,0,0,0,0,28.83,26.17,28.83
$GC,508,-0.63,-146.6,2327,3430,3433,3408,69.1,-11.8,48,517,0.00,2.08,0.00,0.000,1030,0.000,0.028,2328,2032,3420,3433,3408,0,0,0,0,0,0,28.83,26.24,28.83
$GC,827,-0.63,-146.6,2327,2032,3434,3408,97.7,-9.3,70,832,0.00,2.20,0.00,0.000,260,0.000,0.046,2317,3441,3421,3434,3408,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1134,-0.65,-146.6,2316,3441,3434,3408,129.0,-10.3,85,1140,0.00,2.12,0.00,0.000,1030,0.000,0.029,2317,2018,3421,3434,3408,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1445,-0.69,-146.6,2316,2018,3434,3408,158.9,-9.3,99,1450,0.00,2.17,0.00,0.000,260,0.000,0.047,2307,3431,3421,3434,3408,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1635,-0.72,-146.6,2306,3430,3434,3408,176.5,-9.7,105,1639,0.00,2.10,0.00,0.000,1030,0.000,0.029,2307,2016,3421,3434,3408,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1953,-0.76,-146.6,2306,2016,3434,3408,207.2,-9.7,116,1954,0.00,0.00,0.00,0.000,6,0.000,0.000,2306,2016,3421,3434,3408,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2253,-0.81,-146.6,2306,2016,3434,3408,237.6,-10.1,126,2258,0.00,2.20,0.00,0.000,260,0.000,0.047,2295,3444,3420,3433,3408,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2419,-0.85,-146.6,2295,3444,3433,3408,252.6,-9.9,131,2423,0.00,2.10,0.00,0.000,1030,0.000,0.030,2296,2025,3420,3433,3408,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2731,-0.89,-146.6,2296,2025,3432,3408,284.8,-9.8,142,2737,0.12,2.15,0.00,0.000,4356,0.081,0.045,2209,3423,3420,3432,3408,0,0,0,0,0,0,26.60,26.52,28.83
$GC,2854,-0.84,-146.6,2209,3424,3432,3408,301.3,-13.8,146,2860,0.17,2.05,0.00,0.000,3078,0.119,0.030,2269,2024,3420,3432,3408,0,0,0,0,0,0,26.41,26.57,28.83
$GC,3213,-0.84,-146.6,2268,2024,3432,3408,340.2,-10.5,152,3219,0.00,2.17,0.00,0.000,260,0.000,0.047,2261,3435,3420,3433,3408,0,0,0,0,0,0,28.83,26.54,28.83
$GC,3264,-0.84,-146.6,2261,3435,3432,3407,340.2,-10.5,152,3273,0.00,2.12,0.00,0.000,1030,0.000,0.030,2261,2032,3419,3432,3407,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3574,-0.84,-146.6,2260,2031,3432,3407,379.2,-10.7,158,3575,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,2032,3419,3432,3407,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3872,-0.84,-146.6,2261,2032,3432,3406,409.7,-10.1,163,3878,0.00,2.17,0.00,0.000,260,0.000,0.047,2250,3435,3419,3432,3406,0,0,0,0,0,0,28.83,26.57,28.83
$GC,3941,-0.84,-146.6,2250,3435,3432,3406,416.2,-10.3,164,3945,0.00,2.15,0.00,0.000,1030,0.000,0.030,2250,2019,3419,3432,3406,0,0,0,0,0,0,28.83,26.62,28.83
$GC,4294,-0.84,-146.6,2250,2020,3432,3406,456.9,-11.2,170,4300,0.00,2.10,0.00,0.000,516,0.000,0.043,2250,634,3418,3432,3405,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4341,-0.84,-146.6,2250,634,3432,3405,456.9,-11.2,170,4346,0.08,2.15,0.00,0.000,3078,0.126,0.037,2268,2027,3418,3432,3405,0,0,0,0,0,0,26.48,26.62,28.83
$GC,4657,-0.89,-146.6,2268,2027,3432,3404,493.3,-9.7,176,4662,0.00,2.12,0.00,0.000,260,0.000,0.048,2260,3422,3418,3432,3404,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4807,-0.94,-146.6,2260,3422,3432,3404,505.2,-9.8,178,4811,0.00,2.08,0.00,0.000,1030,0.000,0.031,2260,2018,3417,3432,3403,0,0,0,0,0,0,28.83,26.64,28.83
$GC,5134,-0.98,-146.6,2260,2017,3432,3404,541.4,-10.1,184,5140,0.00,2.12,0.00,0.000,516,0.000,0.044,2260,628,3417,3432,3403,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5162,-1.03,-146.6,2260,627,3432,3404,541.4,-10.1,184,5166,0.12,2.12,0.00,0.000,5126,0.083,0.037,2191,2032,3417,3432,3403,0,0,0,0,0,0,26.63,26.63,28.83
$STATE,5193,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5193,begin apogee
$GC,5196,-0.23,0.0,2190,2032,3432,3403,548.1,-10.3,185,5315,0.82,0.00,112.38,0.883,10246,0.113,0.000,2468,2032,2820,2915,2726,0,0,0,0,0,0,26.50,28.83,24.26
$STATE,5316,end apogee,CONTROL_FINISHED_OK
$STATE,5317,begin climb
$GC,5318,0.79,146.6,2468,2032,2915,2726,551.9,0.0,187,5442,0.93,2.35,116.07,0.877,10756,0.057,0.044,2813,637,2221,2339,2104,0,0,0,0,0,0,25.07,24.70,23.99
$GC,5471,0.79,146.6,2813,637,2337,2104,546.2,6.7,189,5476,0.00,2.28,0.00,0.000,1030,0.000,0.034,2814,2015,2220,2337,2104,0,0,0,0,0,0,28.83,25.10,28.83
$GC,5795,0.68,146.6,2813,2014,2335,2101,501.7,12.7,195,5802,0.15,2.20,0.00,0.000,4612,0.150,0.043,2777,631,2218,2335,2101,0,0,0,0,0,0,25.75,25.82,28.83
$GC,5916,0.60,146.6,2777,631,2334,2101,488.1,12.2,197,5922,0.12,2.17,0.00,0.000,5126,0.121,0.035,2736,2027,2217,2334,2101,0,0,0,0,0,0,25.85,25.96,28.83
$GC,6275,0.60,158.7,2735,2027,2333,2099,454.3,9.4,203,6291,0.00,2.30,9.68,0.726,8452,0.000,0.046,2735,3433,2173,2291,2056,0,0,0,0,0,0,28.83,25.98,25.22
$GC,6357,0.60,167.7,2736,3433,2291,2055,448.4,9.6,204,6372,0.00,2.15,8.93,0.710,9222,0.000,0.031,2744,2020,2135,2254,2017,0,0,0,0,0,0,28.83,26.08,25.15
$GC,6696,0.60,174.6,2743,2020,2254,2014,413.6,9.7,210,6707,0.00,2.20,6.80,0.653,8708,0.000,0.045,2754,630,2107,2229,1985,0,0,0,0,0,0,28.83,26.03,25.25
$GC,6752,0.60,177.7,2753,629,2229,1986,407.8,9.9,211,6762,0.00,2.20,3.92,0.511,9222,0.000,0.034,2753,2022,2095,2218,1972,0,0,0,0,0,0,28.83,26.10,25.22
$GC,7110,0.60,181.8,2753,2023,2218,1973,371.5,9.8,217,7117,0.00,0.00,5.07,0.578,8198,0.000,0.000,2754,2022,2077,2201,1954,0,0,0,0,0,0,28.83,28.83,25.30
$GC,7410,0.60,181.8,2754,2022,2201,1955,341.4,10.0,222,7416,0.00,2.20,0.00,0.000,260,0.000,0.046,2753,3436,2077,2201,1954,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7457,0.60,181.8,2753,3436,2202,1955,341.4,10.0,222,7461,0.00,2.17,0.00,0.000,1030,0.000,0.031,2763,2027,2078,2201,1955,0,0,0,0,0,0,28.83,26.30,28.83
$GC,7770,0.60,181.8,2762,2027,2201,1954,302.0,10.9,228,7771,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2027,2077,2201,1954,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8070,0.60,181.8,2762,2027,2201,1954,268.2,10.9,237,8071,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2027,2077,2201,1954,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8370,0.60,185.1,2762,2027,2201,1954,238.0,9.8,247,8379,0.00,2.28,4.03,0.472,8452,0.000,0.045,2763,3439,2063,2188,1939,0,0,0,0,0,0,28.83,26.39,25.56
$GC,8421,0.60,186.2,2763,3439,2188,1941,235.1,10.0,248,8429,0.10,2.17,0.00,0.000,5126,0.126,0.031,2736,2018,2064,2188,1940,0,0,0,0,0,0,26.29,26.44,28.83
$GC,8728,0.65,226.6,2736,2018,2189,1940,207.1,8.1,259,8766,0.00,2.20,33.08,0.675,8708,0.000,0.043,2744,624,1894,2032,1757,0,0,0,0,0,0,28.83,25.96,25.29
$GC,8796,0.70,267.3,2744,623,2031,1756,202.5,8.1,261,8836,0.00,2.17,32.90,0.666,9222,0.000,0.034,2744,2029,1729,1869,1589,0,0,0,0,0,0,28.83,26.04,24.94
$GC,9144,0.77,268.7,2744,2029,1867,1580,167.2,9.9,273,9150,0.12,2.17,0.00,0.000,2308,0.081,0.044,2818,3420,1723,1867,1580,0,0,0,0,0,0,26.08,26.02,28.83
$GC,9257,0.77,268.7,2817,3420,1867,1580,154.8,12.9,276,9265,0.10,2.17,0.00,0.000,5126,0.122,0.031,2794,2026,1723,1867,1580,0,0,0,0,0,0,25.98,26.12,28.83
$GC,9574,0.77,268.7,2793,2026,1867,1578,113.8,11.8,292,9580,0.00,2.17,0.00,0.000,516,0.000,0.044,2801,628,1722,1867,1578,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9614,0.77,268.7,2801,628,1866,1578,109.0,11.8,294,9620,0.00,2.15,0.00,0.000,1030,0.000,0.034,2801,2027,1721,1865,1578,0,0,0,0,0,0,28.83,26.25,28.83
$GC,9925,0.80,268.7,2801,2027,1865,1578,68.4,12.2,314,9935,0.00,2.17,0.00,0.000,260,0.000,0.045,2802,3435,1721,1865,1578,0,0,0,0,0,0,28.83,26.30,28.83
$GC,10010,0.80,268.7,2801,3435,1865,1578,58.2,11.7,322,10019,0.00,2.10,0.00,0.000,1030,0.000,0.031,2810,2022,1721,1865,1578,0,0,0,0,0,0,28.83,26.37,28.83
$GC,10319,0.84,268.7,2810,2022,1865,1578,26.0,11.6,353,10329,0.00,2.15,0.00,0.000,516,0.000,0.044,2819,631,1721,1865,1578,0,0,0,0,0,0,28.83,26.37,28.83
$GC,10496,0.90,326.3,2819,631,1864,1577,11.3,7.3,370,10528,0.00,2.15,26.70,0.473,9222,0.000,0.034,2819,2019,1488,1630,1347,0,0,0,0,0,0,28.83,26.44,25.58
$STATE,10608,end climb,SURFACE_DEPTH_REACHED
$STATE,10608,begin surface coast
$FINISH,-0.1,1.022748
$STATE,10629,end surface coast,CONTROL_FINISHED_OK
$STATE,10630,begin surface
$SM_CCo,10642,30.48,0.244,3,0,1393,350.04
$SM_GC,1.27,6.93,0.00,30.48,0.036,0.000,0.244,179,2021,1393,-7.29,-0.11,350.04,0,0,0,0,3,0,26.25,28.83,25.58
$IRIDIUM_FIX,4716.56,-12612.66,291013,141440
$TT8_MAMPS,0.026964,0.026964
$HUMID,43.10
$INTERNAL_PRESSURE,8.88834
$TCM_TEMP,12.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,505.2,52.0
$24V_AH,24.0,4.657
$10V_AH,10.3,4.463
$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,17.750,95.350,359.550,30.475,0.000,0.000,0.000,215.175,10.500,0.000,6.470,1201.786,7428.192,445.369,1827.117,73.901,0.384,1436.497,0.000,1575.286,0.000,68.350,0.000
$DEVICE_MAMPS,204.255,58.140,882.810,244.035,0.000,0.000,0.000,72.675,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,69.140,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,262.307,507.361,822.097,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,11.230,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,314476
$DATA_FILE_SIZE,27046,383
$CAP_FILE_SIZE,107527,0
$CFSIZE,2097872896,2091974656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$GPS,291013,180722,4733.485,-12511.876,40,0.9,40,16.8