version: 66.11
glider: 194
mission: 7
dive: 335
start: 2 11 114 7 12 34
data:
$ID,194
$MISSION,7
$DIVE,335
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,20
$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,58592
$MASS_COMP,3867
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,14
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$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,0
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,20
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-7289.1289
$T_RSLEEP,12
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,199
$PITCH_MAX,3894
$C_PITCH,2842
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,21
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2.5
$ROLL_MIN,291
$ROLL_MAX,3873
$ROLL_DEG,40
$C_ROLL_DIVE,2233
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,47
$R_STBD_OVSHOOT,57
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2400
$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,2
$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,-53.385216
$PRESSURE_SLOPE,0.0001158091
$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,300
$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,1.223
$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,0.0044109076
$SEABIRD_T_H,0.00064730842
$SEABIRD_T_I,2.664891e-05
$SEABIRD_T_J,3.309405e-06
$SEABIRD_C_G,-9.5383005
$SEABIRD_C_H,1.0995622
$SEABIRD_C_I,-0.0013844616
$SEABIRD_C_J,0.00017264462
$GPS1,110214,061036,4955.246,-12801.214,42,1.1,42,17.7
$_CALLS,16
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.33
$_SM_ANGLEo,-59.8
$GPS2,110214,071206,4955.676,-12802.147,7,1.0,7,17.7
$SPEED_LIMITS,0.072,0.215
$TGT_NAME,EDDY
$TGT_LATLONG,4957.030,-12803.630
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.098,-0.192
$KALMAN_X,-116131.8,0.0,0.0,-60659.7,-2366.7
$KALMAN_Y,127094.2,0.0,0.0,128462.3,1406.9
$MHEAD_RNG_PITCHd_Wd,307.1,3067,-29.5,-6.000,-32.84,609
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.41,-23.9,107,2246,894,795,0.0,0.0,0,61,0.00,0.00,-42.42,0.000,16386,0.000,0.000,108,2246,1972,1988,1956,0,0,0,0,0,0,28.83,28.83,28.83
$GC,63,-1.41,-23.9,107,2246,1981,1964,3.2,-2.6,4,94,8.77,2.22,-17.05,0.000,18948,0.202,0.049,2385,823,2498,2532,2465,0,0,0,0,0,0,24.94,26.06,26.62
$GC,176,-1.29,-23.9,2385,822,2535,2466,19.4,-21.8,15,184,0.20,2.15,0.00,0.000,3078,0.169,0.031,2426,2235,2500,2535,2466,0,0,0,0,0,0,25.48,26.12,28.83
$GC,483,-1.24,-23.9,2426,2235,2536,2465,76.6,-12.5,46,493,0.00,2.17,0.00,0.000,260,0.000,0.041,2418,3640,2500,2536,2465,0,0,0,0,0,0,28.83,26.13,28.83
$GC,599,-1.16,-23.9,2418,3639,2536,2465,90.0,-13.4,53,607,0.20,2.12,0.00,0.000,3078,0.160,0.027,2471,2201,2500,2536,2465,0,0,0,0,0,0,25.70,26.36,28.83
$GC,906,-1.16,-23.9,2470,2201,2536,2465,126.4,-10.9,69,912,0.00,2.08,0.00,0.000,516,0.000,0.034,2471,840,2500,2535,2465,0,0,0,0,0,0,28.83,26.27,28.83
$GC,973,-1.16,-23.9,2470,841,2536,2465,133.0,-11.0,72,977,0.00,2.12,0.00,0.000,1030,0.000,0.031,2463,2234,2500,2536,2465,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1303,-1.16,-23.9,2462,2234,2535,2465,170.0,-11.0,85,1308,0.00,2.15,0.00,0.000,260,0.000,0.041,2452,3635,2500,2536,2465,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1601,-1.16,-23.9,2452,3635,2536,2466,205.6,-11.5,95,1605,0.00,2.08,0.00,0.000,1030,0.000,0.027,2452,2228,2500,2535,2465,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1927,-1.16,-23.9,2452,2228,2536,2465,235.1,-8.8,106,1933,0.00,2.20,0.00,0.000,260,0.000,0.041,2441,3638,2500,2536,2465,0,0,0,0,0,0,28.83,26.16,28.83
$GC,2229,-1.16,-23.9,2441,3638,2536,2465,266.5,-11.2,116,2235,0.08,2.05,0.00,0.000,3078,0.151,0.027,2463,2232,2500,2536,2465,0,0,0,0,0,0,26.05,26.43,28.83
$GC,2558,-1.16,-23.9,2463,2231,2536,2465,296.6,-8.8,127,2559,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,2231,2500,2536,2465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2859,-1.16,-23.9,2463,2232,2536,2465,322.9,-8.7,133,2864,0.00,2.12,0.00,0.000,516,0.000,0.035,2463,839,2500,2536,2465,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3160,-1.16,-23.9,2463,839,2536,2465,351.4,-9.4,138,3166,0.00,2.12,0.00,0.000,1030,0.000,0.031,2456,2242,2500,2536,2465,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3519,-1.16,-23.9,2455,2242,2536,2465,389.4,-10.6,144,3525,0.00,2.15,0.00,0.000,516,0.000,0.035,2455,845,2500,2536,2465,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3654,-1.16,-23.9,2455,845,2536,2465,402.7,-10.8,146,3658,0.00,2.12,0.00,0.000,1030,0.000,0.032,2445,2236,2500,2536,2465,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3996,-1.16,-23.9,2445,2235,2536,2464,436.2,-9.1,152,4001,0.00,2.17,0.00,0.000,260,0.000,0.041,2434,3635,2500,2536,2464,0,0,0,0,0,0,28.83,26.14,28.83
$GC,4259,-1.16,-23.9,2434,3635,2536,2464,461.0,-10.4,156,4264,0.15,2.12,0.00,0.000,3078,0.161,0.027,2472,2236,2500,2536,2464,0,0,0,0,0,0,25.91,26.41,28.83
$STATE,4595,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4595,begin apogee
$GC,4600,-0.24,0.0,2472,2004,2535,2463,491.8,-8.3,162,4625,0.90,0.00,21.05,0.878,10246,0.125,0.000,2757,2003,2400,2448,2353,0,0,0,0,0,0,25.31,28.83,23.91
$STATE,4625,end apogee,CONTROL_FINISHED_OK
$STATE,4626,begin climb
$GC,4627,1.41,23.9,2757,2003,2447,2352,491.8,0.0,162,4655,1.48,2.25,20.67,0.881,10500,0.063,0.041,3293,3400,2301,2349,2254,0,0,0,0,0,0,25.80,25.65,23.75
$GC,4949,1.34,43.5,3294,3400,2347,2254,483.0,2.7,168,4972,0.10,2.10,16.92,0.864,13318,0.151,0.028,3274,2006,2221,2270,2173,0,0,0,0,0,0,25.80,26.25,24.09
$GC,5305,1.34,43.5,3274,2006,2269,2171,468.4,4.5,174,5311,0.00,2.20,0.00,0.000,260,0.000,0.041,3274,3403,2219,2268,2171,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5485,1.34,43.5,3274,3403,2269,2171,460.6,4.3,177,5490,0.00,2.12,0.00,0.000,1030,0.000,0.029,3283,1994,2220,2269,2171,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5844,1.34,63.8,3283,1994,2268,2171,450.5,2.6,183,5866,0.00,2.22,17.00,0.844,8452,0.000,0.041,3283,3398,2139,2189,2089,0,0,0,0,0,0,28.83,26.08,24.26
$GC,6157,1.34,63.8,3283,3398,2185,2089,432.5,6.7,188,6161,0.00,2.10,0.00,0.000,1030,0.000,0.029,3294,2001,2137,2185,2089,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6499,1.34,63.8,3293,2001,2185,2088,402.8,9.0,194,6505,0.00,2.17,0.00,0.000,260,0.000,0.040,3294,3398,2136,2185,2087,0,0,0,0,0,0,28.83,26.21,28.83
$GC,6657,1.34,63.8,3293,3398,2185,2088,391.8,8.9,196,6662,0.08,2.15,0.00,0.000,5126,0.156,0.029,3270,1997,2136,2185,2088,0,0,0,0,0,0,25.89,26.39,28.83
$GC,6979,1.34,63.8,3269,1997,2184,2087,359.1,8.9,202,6985,0.00,2.17,0.00,0.000,516,0.000,0.039,3278,600,2136,2185,2087,0,0,0,0,0,0,28.83,26.24,28.83
$GC,7248,1.34,63.8,3278,600,2184,2087,341.3,7.5,206,7253,0.00,2.12,0.00,0.000,1030,0.000,0.031,3278,2012,2135,2184,2087,0,0,0,0,0,0,28.83,26.33,28.83
$GC,7575,1.34,63.8,3278,2012,2184,2087,317.7,6.8,212,7576,0.00,0.00,0.00,0.000,6,0.000,0.000,3278,2012,2135,2184,2087,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7876,1.34,63.8,3278,2012,2184,2087,296.3,7.1,217,7881,0.00,2.15,0.00,0.000,260,0.000,0.041,3278,3406,2135,2184,2087,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8175,1.34,63.8,3277,3406,2184,2087,271.2,8.4,227,8182,0.00,2.10,0.00,0.000,1030,0.000,0.028,3289,1994,2135,2184,2087,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8509,1.34,63.8,3288,1994,2184,2087,246.2,7.2,238,8514,0.00,2.17,0.00,0.000,516,0.000,0.038,3299,608,2135,2184,2087,0,0,0,0,0,0,28.83,26.21,28.83
$GC,8601,1.34,63.8,3299,608,2184,2087,239.4,7.5,241,8606,0.00,2.15,0.00,0.000,1030,0.000,0.031,3299,1991,2135,2184,2087,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8929,1.34,63.8,3299,1991,2184,2087,214.8,7.4,252,8935,0.00,2.17,0.00,0.000,260,0.000,0.040,3299,3400,2135,2184,2087,0,0,0,0,0,0,28.83,26.19,28.83
$GC,9140,1.34,63.8,3299,3400,2183,2087,198.1,7.6,259,9147,0.15,2.10,0.00,0.000,5126,0.167,0.029,3273,1999,2135,2184,2087,0,0,0,0,0,0,25.87,26.38,28.83
$GC,9471,1.34,63.8,3273,1998,2184,2087,176.2,6.7,270,9476,0.00,2.17,0.00,0.000,260,0.000,0.040,3273,3399,2135,2184,2087,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9660,1.34,63.8,3272,3399,2184,2087,162.6,7.8,276,9664,0.00,2.10,0.00,0.000,1030,0.000,0.029,3281,2000,2136,2184,2088,0,0,0,0,0,0,28.83,26.38,28.83
$GC,9967,1.34,63.8,3281,2000,2184,2087,138.2,8.2,289,9973,0.00,2.17,0.00,0.000,516,0.000,0.038,3291,604,2135,2184,2087,0,0,0,0,0,0,28.83,26.18,28.83
$GC,10087,1.34,63.8,3291,604,2184,2087,129.1,7.7,295,10094,0.00,2.12,0.00,0.000,1030,0.000,0.030,3291,2011,2136,2184,2088,0,0,0,0,0,0,28.83,26.31,28.83
$GC,10408,1.34,63.8,3291,2011,2183,2087,105.9,7.0,311,10413,0.00,2.20,0.00,0.000,516,0.000,0.038,3302,608,2135,2184,2087,0,0,0,0,0,0,28.83,26.18,28.83
$GC,10708,1.34,63.8,3302,608,2184,2087,89.2,6.3,326,10711,0.00,2.10,0.00,0.000,1030,0.000,0.030,3302,2000,2135,2184,2087,0,0,0,0,0,0,28.83,26.32,28.83
$GC,11016,1.34,85.3,3302,2000,2184,2088,76.9,2.4,347,11043,0.00,2.20,17.42,0.635,8452,0.000,0.037,3302,3402,2051,2102,2000,0,0,0,0,0,0,28.83,26.10,24.31
$STATE,11298,end climb,NO_VERTICAL_VELOCITY
$STATE,11298,begin surface
$SM_CCo,11301,297.83,0.628,0,0,499,466.07
$SM_GC,2.48,8.30,1.88,0.00,0.026,0.028,0.000,155,2226,493,-8.22,1.33,468.03,0,0,0,0,0,0,25.84,25.72,28.83
$IRIDIUM_FIX,4939.69,-12800.42,110214,070738
$TT8_MAMPS,0.026964,0.026964
$HUMID,39.28
$INTERNAL_PRESSURE,8.83071
$TCM_TEMP,13.50
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,425.1,72.7
$24V_AH,23.5,52.561
$10V_AH,9.9,36.490
$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,20.400,85.900,93.075,297.825,0.000,0.000,0.000,2680.800,3.750,0.000,8.536,1270.373,9046.841,475.012,4518.451,173.152,0.000,4064.815,0.000,1828.702,0.000,27.832,0.000
$DEVICE_MAMPS,201.960,48.960,880.515,628.065,0.000,0.000,0.000,82.620,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,257.908,497.456,272.546,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,300800
$DATA_FILE_SIZE,27117,375
$CAP_FILE_SIZE,147317,0
$CFSIZE,2097872896,2050293760
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,8175.55,0x235a1e,1,24
$GPS,110214,103036,4956.340,-12802.633,42,1.3,43,17.7