version: 66.11
glider: 195
mission: 8
dive: 291
start: 1 22 114 8 14 27
data:
$ID,195
$MISSION,8
$DIVE,291
$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,-5916.2158
$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,64
$R_STBD_OVSHOOT,53
$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,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
$GPS1,220114,080900,4849.994,-12632.122,15,0.8,15,17.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-56.2
$GPS2,220114,081401,4850.033,-12632.129,4,1.4,4,17.2
$SPEED_LIMITS,0.072,0.211
$TGT_NAME,EDDY
$TGT_LATLONG,4851.550,-12646.340
$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,262.0,17542,-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,-146.6,166,2211,1077,745,0.0,0.0,0,90,0.00,0.00,-71.55,0.000,16386,0.000,0.000,165,2211,2694,2708,2680,0,0,0,0,0,0,28.83,28.83,28.83
$GC,92,-0.45,-146.6,165,2211,2709,2680,3.4,-3.8,7,122,8.35,2.25,-14.68,0.000,18692,0.197,0.054,2386,3603,3219,3260,3178,0,0,0,0,0,0,25.26,25.97,26.48
$GC,320,-0.37,-146.6,2386,3603,3261,3179,26.8,-10.7,30,330,0.15,2.05,0.00,0.000,3078,0.117,0.021,2431,2194,3220,3261,3179,0,0,0,0,0,0,25.94,26.24,28.83
$GC,630,-0.37,-146.6,2431,2194,3262,3179,48.6,-6.7,61,634,0.00,2.05,0.00,0.000,516,0.000,0.031,2431,828,3220,3262,3179,0,0,0,0,0,0,28.83,26.17,28.83
$GC,698,-0.37,-146.6,1568,828,3251,3176,52.3,-5.5,67,706,0.00,2.08,0.00,0.000,1030,0.000,0.028,2429,2192,3220,3262,3178,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1005,-0.37,-146.6,2428,2192,3262,3179,73.4,-6.2,98,1009,0.00,2.05,0.00,0.000,516,0.000,0.031,2429,825,3220,3262,3179,0,0,0,0,0,0,28.83,26.24,28.83
$GC,1184,-0.37,-146.6,1552,825,3250,3176,82.8,-5.0,113,1188,0.00,2.10,0.00,0.000,1030,0.000,0.028,2423,2205,3220,3262,3178,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1502,-0.37,-146.6,2422,2205,3262,3179,99.0,-4.8,129,1503,0.00,0.00,0.00,0.000,6,0.000,0.000,2422,2204,3220,3262,3179,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1802,-0.37,-146.6,2422,2204,3262,3179,112.2,-4.0,144,1807,0.00,2.05,0.00,0.000,516,0.000,0.031,2422,831,3220,3262,3179,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1902,-0.37,-146.6,2422,831,3263,3178,116.6,-4.4,149,1907,0.00,2.05,0.00,0.000,1030,0.000,0.028,2419,2213,3220,3262,3179,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2223,-0.37,-146.6,2418,2213,3262,3178,131.2,-5.6,165,2228,0.00,2.12,0.00,0.000,260,0.000,0.041,2415,3607,3220,3262,3179,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2302,-0.37,-146.6,2415,3608,3262,3179,135.9,-5.8,169,2307,0.00,2.03,0.00,0.000,1030,0.000,0.021,2415,2206,3220,3262,3178,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2632,-0.37,-146.6,2415,2206,3262,3178,155.2,-5.3,184,2637,0.00,2.05,0.00,0.000,516,0.000,0.031,2415,830,3220,3262,3179,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2722,-0.37,-146.6,2415,831,3262,3178,159.4,-4.7,187,2727,0.00,2.05,0.00,0.000,1030,0.000,0.028,2414,2207,3220,3261,3179,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3053,-0.37,-146.6,2415,2207,3262,3178,171.1,-4.2,198,3058,0.00,2.17,0.00,0.000,260,0.000,0.041,2413,3630,3220,3262,3179,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3120,-0.37,-146.6,2412,3630,3262,3178,173.6,-4.4,200,3124,0.00,2.08,0.00,0.000,1030,0.000,0.021,2413,2194,3220,3262,3178,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3437,-0.37,-146.6,2413,2194,3261,3179,188.7,-5.0,211,3442,0.00,2.03,0.00,0.000,516,0.000,0.031,2413,834,3219,3261,3178,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3534,-0.37,-146.6,2412,833,3261,3179,194.3,-6.1,214,3538,0.00,2.05,0.00,0.000,1030,0.000,0.028,2405,2211,3220,3261,3179,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3857,-0.37,-146.6,2405,2211,3261,3179,213.5,-5.1,225,3862,0.00,2.08,0.00,0.000,516,0.000,0.031,2405,825,3219,3261,3178,0,0,0,0,0,0,28.83,26.30,28.83
$GC,3910,-0.37,-146.6,2405,825,3262,3178,215.0,-5.1,226,3917,0.00,2.08,0.00,0.000,1030,0.000,0.028,2405,2216,3220,3262,3178,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4217,-0.37,-146.6,2405,2216,3262,3179,227.9,-4.4,237,4218,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,2216,3219,3261,3178,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4455,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4455,begin apogee
$GC,4460,-0.23,0.0,2405,2012,3261,3178,240.1,-5.2,245,4577,0.17,0.00,113.15,0.739,10246,0.106,0.000,2469,2011,2617,2707,2528,0,0,0,0,0,0,26.30,28.83,24.23
$STATE,4579,end apogee,CONTROL_FINISHED_OK
$STATE,4579,begin climb
$GC,4581,0.45,146.6,2468,2012,2706,2528,243.6,0.0,249,4706,0.62,2.38,114.40,0.713,10500,0.075,0.036,2688,3428,2018,2168,1869,0,0,0,0,0,0,25.26,24.91,23.95
$GC,4802,0.51,165.3,2687,3428,2169,1863,234.3,5.5,256,4822,0.00,2.10,15.88,0.662,9222,0.000,0.022,2688,2039,1943,2099,1787,0,0,0,0,0,0,28.83,25.56,24.17
$GC,5146,0.59,192.2,2688,2039,2098,1781,215.3,5.2,268,5176,0.12,2.17,22.05,0.695,10756,0.077,0.033,2772,649,1834,1992,1676,0,0,0,0,0,0,26.14,25.75,24.61
$GC,5286,0.59,192.2,2772,649,1991,1672,206.9,6.9,272,5291,0.12,2.10,0.00,0.000,5126,0.121,0.025,2736,2040,1832,1992,1672,0,0,0,0,0,0,25.77,25.97,28.83
$GC,5593,0.59,192.2,2736,2040,1992,1669,183.6,7.4,282,5597,0.00,2.15,0.00,0.000,260,0.000,0.037,2736,3431,1830,1991,1670,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5687,0.59,192.2,2736,3431,1991,1670,176.3,8.3,285,5691,0.00,2.08,0.00,0.000,1030,0.000,0.022,2739,2025,1830,1991,1670,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6004,0.59,192.2,2739,2025,1991,1669,154.7,6.6,296,6008,0.00,2.15,0.00,0.000,260,0.000,0.037,2740,3422,1830,1992,1669,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6043,0.59,192.2,2739,3422,1992,1668,152.7,6.9,297,6047,0.00,2.05,0.00,0.000,1030,0.000,0.022,2740,2027,1829,1991,1668,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6350,0.59,192.2,2739,2027,1992,1668,128.2,7.2,312,6351,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2027,1830,1992,1668,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6651,0.59,192.2,2740,2027,1992,1668,107.5,6.8,327,6656,0.00,2.15,0.00,0.000,260,0.000,0.037,2740,3424,1829,1991,1668,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6739,0.59,192.2,2740,3425,1991,1668,102.0,6.9,331,6743,0.00,2.05,0.00,0.000,1030,0.000,0.022,2740,2018,1829,1991,1668,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7046,0.59,196.8,2740,2018,1992,1668,84.1,5.9,346,7055,0.00,2.25,4.47,0.472,8452,0.000,0.037,2740,3428,1814,1973,1656,0,0,0,0,0,0,28.83,26.27,24.65
$GC,7102,0.59,197.4,2740,3429,1973,1656,80.7,6.0,349,7106,0.00,2.08,0.00,0.000,1030,0.000,0.023,2740,2026,1815,1974,1656,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7413,0.59,197.4,2740,2026,1973,1655,61.6,6.7,379,7417,0.00,2.10,0.00,0.000,516,0.000,0.035,2740,644,1814,1974,1655,0,0,0,0,0,0,28.83,26.24,28.83
$GC,7479,0.59,201.3,2740,644,1973,1654,57.8,5.9,385,7490,0.00,2.08,5.18,0.492,9222,0.000,0.025,2740,2032,1796,1954,1639,0,0,0,0,0,0,28.83,26.39,24.72
$GC,7790,0.59,243.3,2740,2032,1954,1637,44.3,4.8,416,7829,0.00,0.00,34.12,0.623,8198,0.000,0.000,2740,2032,1624,1782,1467,0,0,0,0,0,0,28.83,28.83,24.89
$GC,8129,0.70,243.3,2740,2032,1782,1458,25.1,7.4,450,8138,0.00,2.15,0.00,0.000,260,0.000,0.037,2740,3429,1619,1782,1457,0,0,0,0,0,0,28.83,26.07,28.83
$GC,8293,0.78,243.3,1808,3428,1758,1456,12.8,7.5,466,8301,0.15,2.12,0.00,0.000,3078,0.068,0.022,2830,2018,1620,1782,1458,0,0,0,0,0,0,26.21,26.28,28.83
$STATE,8450,end climb,SURFACE_DEPTH_REACHED
$STATE,8450,begin surface coast
$FINISH,0.8,1.024602
$STATE,8471,end surface coast,CONTROL_FINISHED_OK
$STATE,8472,begin surface
$SM_CCo,8486,1.80,0.051,0,0,1597,250.21
$SM_GC,2.50,6.90,0.25,1.80,0.031,0.053,0.051,168,2206,1597,-7.28,-1.64,250.21,0,0,0,0,0,0,26.36,26.36,26.10
$IRIDIUM_FIX,4830.54,-12634.55,220114,050552
$TT8_MAMPS,0.026964,0.026964
$HUMID,43.77
$INTERNAL_PRESSURE,8.89811
$TCM_TEMP,16.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,181.1,67.8
$24V_AH,24.0,43.379
$10V_AH,10.1,30.279
$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,16.600,72.025,309.250,1.800,0.000,0.000,0.000,234.175,2.500,0.000,5.528,1306.629,5623.046,361.189,1418.570,95.555,0.000,1279.352,0.000,1160.962,0.000,18.172,0.000
$DEVICE_MAMPS,196.605,53.550,738.990,51.255,0.000,0.000,0.000,74.970,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,329.253,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,314888
$DATA_FILE_SIZE,30374,484
$CAP_FILE_SIZE,90735,0
$CFSIZE,2097872896,2057601024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,220114,103704,4850.650,-12633.370,32,0.9,32,17.2