version: 66.11
glider: 195
mission: 8
dive: 289
start: 1 22 114 2 5 10
data:
$ID,195
$MISSION,8
$DIVE,289
$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,550
$T_MISSION,660
$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,14
$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,250
$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,8
$CALL_WAIT,45
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-5913.6982
$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,2.5
$ROLL_MIN,224
$ROLL_MAX,3758
$ROLL_DEG,40
$C_ROLL_DIVE,2207
$C_ROLL_CLIMB,2027
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,65
$R_STBD_OVSHOOT,56
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2618
$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,1
$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,900
$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
$GPS1,220114,015828,4847.964,-12633.737,36,1.3,36,17.2
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-56.1
$GPS2,220114,020444,4847.975,-12633.803,4,1.6,4,17.2
$SPEED_LIMITS,0.072,0.211
$TGT_NAME,EDDY
$TGT_LATLONG,4857.690,-12616.900
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.170,0.125
$KALMAN_X,-82790.7,0.0,0.0,-12145.4,-1846.6
$KALMAN_Y,23320.9,0.0,0.0,47769.7,1073.6
$MHEAD_RNG_PITCHd_Wd,31.6,27315,-10.0,-6.000,-15.88,3571
$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,-0.45,-146.6,157,2211,1255,934,0.0,0.0,0,80,0.00,0.00,-61.70,0.000,16386,0.000,0.000,157,2212,2599,2613,2585,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.45,-146.6,157,2211,2614,2585,3.2,-3.2,6,120,8.45,2.25,-18.50,0.000,18692,0.200,0.055,2384,3597,3219,3260,3178,0,0,0,0,0,0,25.24,25.96,26.51
$GC,255,-0.36,-146.6,2384,3597,3261,3178,19.0,-10.4,23,263,0.15,2.05,0.00,0.000,3078,0.119,0.021,2427,2191,3219,3261,3178,0,0,0,0,0,0,25.90,26.21,28.83
$GC,562,-0.36,-146.6,2427,2190,3262,3178,43.0,-6.7,54,566,0.00,2.20,0.00,0.000,260,0.000,0.040,2419,3606,3220,3262,3178,0,0,0,0,0,0,28.83,26.07,28.83
$GC,712,-0.36,-146.6,2419,3606,3262,3178,52.4,-5.6,68,719,0.00,2.05,0.00,0.000,1030,0.000,0.021,2419,2195,3220,3262,3178,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1019,-0.36,-146.6,2419,2196,3262,3178,69.0,-5.8,99,1023,0.00,2.08,0.00,0.000,516,0.000,0.031,2419,820,3220,3262,3178,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1172,-0.36,-146.6,2419,820,3262,3178,78.3,-6.0,114,1180,0.00,2.10,0.00,0.000,1030,0.000,0.028,2415,2196,3220,3262,3178,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1482,-0.36,-146.6,2414,2196,3262,3178,95.5,-5.6,131,1487,0.00,2.03,0.00,0.000,516,0.000,0.031,2415,834,3220,3262,3178,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1528,-0.36,-146.6,2414,834,3262,3178,98.1,-5.9,133,1532,0.00,2.05,0.00,0.000,1030,0.000,0.028,2408,2210,3220,3262,3178,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1835,-0.36,-146.6,2408,2210,3262,3178,118.4,-6.4,148,1839,0.00,2.15,0.00,0.000,260,0.000,0.040,2402,3609,3220,3262,3179,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1931,-0.36,-146.6,2402,3609,3262,3178,124.2,-6.2,153,1935,0.00,2.05,0.00,0.000,1030,0.000,0.021,2402,2196,3220,3262,3178,0,0,0,0,0,0,28.83,26.45,28.83
$GC,2247,-0.36,-146.6,2402,2196,3262,3178,141.8,-5.6,169,2249,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,2196,3220,3262,3178,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2568,-0.36,-146.6,2402,2196,3262,3178,159.9,-5.1,182,2573,0.00,2.05,0.00,0.000,516,0.000,0.031,2402,822,3220,3262,3178,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2736,-0.36,-146.6,2402,822,3262,3178,167.2,-5.0,187,2740,0.12,2.08,0.00,0.000,3078,0.125,0.028,2433,2216,3220,3262,3178,0,0,0,0,0,0,26.13,26.35,28.83
$GC,3043,-0.41,-146.6,2432,2216,3262,3178,178.7,-3.5,197,3049,0.00,2.15,0.00,0.000,260,0.000,0.041,2426,3611,3220,3262,3178,0,0,0,0,0,0,28.83,26.19,28.83
$GC,3096,-0.41,-146.6,2426,3610,3263,3178,179.8,-3.5,198,3103,0.00,2.03,0.00,0.000,1030,0.000,0.021,2426,2203,3220,3262,3178,0,0,0,0,0,0,28.83,26.47,28.83
$GC,3403,-0.41,-146.6,2426,2203,3262,3178,193.5,-4.4,209,3404,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,2203,3220,3262,3178,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3704,-0.41,-146.6,2426,2203,3262,3178,206.8,-4.3,219,3705,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,2203,3220,3262,3178,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4003,-0.46,-146.6,2426,2203,3262,3178,218.2,-3.5,229,4009,0.00,2.05,0.00,0.000,516,0.000,0.031,2426,832,3220,3262,3178,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4081,-0.46,-146.6,2426,832,3262,3178,220.6,-3.8,231,4085,0.00,2.05,0.00,0.000,1030,0.000,0.028,2420,2212,3220,3262,3178,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4388,-0.46,-146.6,2420,2212,3262,3178,234.0,-4.2,241,4393,0.00,2.15,0.00,0.000,260,0.000,0.041,2414,3612,3220,3262,3178,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4451,-0.46,-146.6,2414,3612,3262,3178,236.6,-4.3,243,4454,0.00,2.05,0.00,0.000,1030,0.000,0.021,2414,2205,3220,3262,3178,0,0,0,0,0,0,28.83,26.47,28.83
$GC,4778,-0.46,-146.6,2414,2205,3262,3178,251.4,-4.3,254,4779,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,2205,3220,3262,3178,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5078,-0.46,-146.6,2414,2205,3261,3178,263.1,-3.8,264,5083,0.00,2.05,0.00,0.000,516,0.000,0.031,2414,834,3219,3261,3178,0,0,0,0,0,0,28.83,26.26,28.83
$GC,5121,-0.46,-146.6,2414,834,3261,3178,264.3,-3.9,265,5125,0.00,2.05,0.00,0.000,1030,0.000,0.028,2408,2209,3220,3262,3178,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5433,-0.46,-146.6,2407,2209,3262,3178,279.4,-4.8,276,5438,0.00,2.08,0.00,0.000,516,0.000,0.031,2408,825,3220,3262,3178,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5546,-0.46,-146.6,2408,825,3261,3178,284.5,-5.4,279,5552,0.00,2.08,0.00,0.000,1030,0.000,0.028,2405,2213,3220,3262,3178,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5883,-0.46,-146.6,2405,2213,3261,3178,304.6,-5.2,290,5888,0.00,2.08,0.00,0.000,516,0.000,0.031,2405,829,3219,3261,3178,0,0,0,0,0,0,28.83,26.26,28.83
$GC,5981,-0.46,-146.6,2404,829,3262,3178,308.0,-5.3,291,5985,0.00,2.08,0.00,0.000,1030,0.000,0.028,2404,2217,3219,3261,3178,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6298,-0.59,-146.6,2404,2217,3261,3178,319.1,-2.2,297,6305,0.12,2.17,0.00,0.000,4356,0.083,0.040,2338,3622,3219,3261,3178,0,0,0,0,0,0,26.59,26.15,28.83
$STATE,6476,end dive,NO_VERTICAL_VELOCITY
$STATE,6476,begin apogee
$GC,6483,-0.23,0.0,2338,2025,3261,3178,318.9,0.0,300,6602,0.35,0.00,114.55,0.786,10246,0.060,0.000,2480,2025,2617,2707,2528,0,0,0,0,0,0,26.32,28.83,24.11
$STATE,6604,end apogee,CONTROL_FINISHED_OK
$STATE,6604,begin climb
$GC,6605,0.45,146.6,2480,2025,2707,2527,319.1,0.0,302,6731,0.57,2.33,115.90,0.761,10756,0.065,0.035,2689,649,2018,2168,1868,0,0,0,0,0,0,25.22,24.77,23.76
$GC,6788,0.45,146.6,2689,649,2168,1863,312.8,4.1,305,6792,0.00,2.15,0.00,0.000,1030,0.000,0.024,2689,2034,2015,2168,1863,0,0,0,0,0,0,28.83,25.27,28.83
$GC,7101,0.45,181.9,2689,2034,2168,1859,296.7,5.0,311,7132,0.00,0.00,28.48,0.747,8454,0.000,0.000,2689,2034,1875,2032,1718,0,0,0,0,0,0,28.83,28.83,24.46
$GC,7429,0.45,181.9,2689,2034,2032,1712,277.3,6.5,322,7430,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2034,1872,2032,1712,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7729,0.45,181.9,2689,2034,2032,1712,257.8,6.4,332,7730,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2034,1872,2032,1712,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8029,0.45,181.9,2688,2034,2032,1710,239.8,6.1,342,8033,0.00,2.15,0.00,0.000,260,0.000,0.037,2689,3431,1871,2032,1710,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8098,0.45,181.9,2689,3431,2032,1710,235.9,6.4,344,8102,0.00,2.08,0.00,0.000,1030,0.000,0.023,2689,2025,1871,2032,1710,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8416,0.45,209.5,2688,2025,2032,1709,216.2,5.2,355,8445,0.00,0.00,22.50,0.718,8198,0.000,0.000,2689,2025,1763,1922,1604,0,0,0,0,0,0,28.83,28.83,24.81
$GC,8746,0.45,235.3,2689,2025,1922,1599,199.6,5.3,366,8776,0.00,2.25,21.65,0.708,8452,0.000,0.037,2689,3426,1657,1816,1498,0,0,0,0,0,0,28.83,25.93,24.76
$GC,8816,0.45,252.3,2689,3426,1816,1497,196.0,5.5,368,8839,0.00,2.10,15.00,0.680,9222,0.000,0.023,2689,2017,1588,1748,1428,0,0,0,0,0,0,28.83,26.03,24.57
$GC,9139,0.52,255.1,2688,2017,1747,1422,177.9,5.9,379,9144,0.00,2.20,0.00,0.000,260,0.000,0.037,2689,3433,1585,1748,1422,0,0,0,0,0,0,28.83,26.01,28.83
$GC,9176,0.58,255.1,2689,3434,1747,1422,175.8,6.2,380,9181,0.12,2.10,0.00,0.000,3078,0.075,0.022,2789,2015,1584,1747,1422,0,0,0,0,0,0,26.10,26.17,28.83
$GC,9484,0.52,255.1,2790,2015,1747,1421,146.0,9.5,391,9490,0.22,2.17,0.00,0.000,4356,0.107,0.036,2713,3420,1584,1747,1421,0,0,0,0,0,0,26.01,26.11,28.83
$GC,9511,0.52,255.1,2713,3420,1747,1421,144.5,9.2,392,9515,0.00,2.05,0.00,0.000,1030,0.000,0.022,2714,2024,1584,1747,1421,0,0,0,0,0,0,28.83,26.28,28.83
$GC,9825,0.52,259.0,2713,2024,1747,1419,126.3,5.9,408,9836,0.00,2.12,5.88,0.542,8708,0.000,0.036,2713,644,1561,1721,1401,0,0,0,0,0,0,28.83,26.20,24.65
$GC,9866,0.52,259.0,2713,643,1721,1401,123.8,6.2,410,9870,0.00,2.08,0.00,0.000,1030,0.000,0.026,2714,2034,1561,1721,1401,0,0,0,0,0,0,28.83,26.28,28.83
$GC,10184,0.57,306.0,2713,2035,1721,1401,107.1,4.7,426,10230,0.00,2.25,39.33,0.677,8452,0.000,0.037,2714,3423,1368,1530,1206,0,0,0,0,0,0,28.83,25.84,24.78
$GC,10288,0.63,308.2,2713,3423,1530,1204,101.4,5.9,431,10292,0.00,2.08,0.00,0.000,1030,0.000,0.021,2714,2026,1366,1530,1203,0,0,0,0,0,0,28.83,25.99,28.83
$GC,10600,0.70,358.5,2713,2026,1530,1198,86.6,4.6,447,10646,0.12,0.00,43.35,0.653,10758,0.076,0.000,2795,2026,1155,1321,990,0,0,0,0,0,0,26.30,28.83,24.66
$GC,10939,0.70,358.5,2795,2026,1320,981,59.0,8.3,476,10943,0.00,2.17,0.00,0.000,260,0.000,0.037,2796,3426,1150,1320,980,0,0,0,0,0,0,28.83,25.98,28.83
$GC,11008,0.70,358.5,2795,3426,1321,980,52.6,9.8,482,11015,0.00,2.08,0.00,0.000,1030,0.000,0.023,2796,2026,1150,1320,980,0,0,0,0,0,0,28.83,26.15,28.83
$GC,11315,0.70,358.5,2796,2025,1320,978,28.2,7.1,513,11316,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2025,1149,1320,978,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11616,0.70,370.8,2796,2025,1320,976,9.2,5.6,543,11626,0.00,2.25,4.88,0.073,8452,0.000,0.037,2796,3430,1105,1275,936,0,0,0,0,0,0,28.83,26.15,25.95
$GC,11648,0.70,370.8,2796,3430,1275,936,6.7,7.2,546,11652,0.00,2.08,0.00,0.000,1030,0.000,0.022,2796,2015,1105,1275,936,0,0,0,0,0,0,28.83,26.32,28.83
$STATE,11732,end climb,SURFACE_DEPTH_REACHED
$STATE,11732,begin surface coast
$FINISH,0.8,1.003483
$STATE,11763,end surface coast,CONTROL_FINISHED_OK
$STATE,11763,begin surface
$SM_CCo,11838,0.00,0.000,0,0,1103,371.63
$SM_GC,1.80,6.68,0.28,0.00,0.024,0.044,0.000,165,2245,1103,-7.26,-1.22,371.63,0,0,0,0,0,0,26.39,26.43,28.83
$IRIDIUM_FIX,4830.54,-12514.78,210114,212131
$TT8_MAMPS,0.026964,0.026964
$HUMID,43.18
$INTERNAL_PRESSURE,8.84928
$TCM_TEMP,16.60
$XPDR_PINGS,0
$24V_AH,23.8,43.224
$10V_AH,10.1,30.197
$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,16.925,93.525,411.500,0.000,0.000,0.000,0.000,305.200,0.000,0.000,5.551,1533.917,8447.845,453.709,1676.389,111.584,0.000,1569.790,0.000,1350.952,0.000,1.004,0.000
$DEVICE_MAMPS,199.665,55.080,786.420,0.000,0.000,0.000,0.000,74.970,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,379.627,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,314864
$DATA_FILE_SIZE,33659,557
$CAP_FILE_SIZE,111935,0
$CFSIZE,2097872896,2057732096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,220114,052334,4848.904,-12632.866,32,0.8,32,17.2