version: 66.11
glider: 194
mission: 7
dive: 427
start: 3 22 114 23 42 41
data:
$ID,194
$MISSION,7
$DIVE,427
$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,-11911.638
$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,2100
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,47
$R_STBD_OVSHOOT,38
$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,0
$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
$GPS1,220314,233605,4950.204,-12742.334,15,1.2,15,17.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.22
$_SM_ANGLEo,-64.8
$GPS2,220314,234213,4950.233,-12742.216,22,1.1,22,17.6
$SPEED_LIMITS,0.072,0.215
$TGT_NAME,EDDY
$TGT_LATLONG,4941.730,-12815.860
$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,231.1,43272,-9.9,-6.000,-15.57,3651
$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,16,-0.47,-146.6,181,2093,526,431,0.0,0.0,0,70,0.00,0.00,-52.50,0.000,16386,0.000,0.000,176,2094,1916,1920,1912,0,0,0,0,0,0,28.83,28.83,28.83
$GC,74,-0.47,-146.6,177,2094,1921,1912,3.5,-3.2,5,120,9.62,2.22,-28.08,0.000,18948,0.196,0.049,2687,684,3000,3077,2923,0,0,0,0,0,0,24.77,26.03,26.80
$GC,246,-0.30,-146.6,2687,684,3078,2923,24.3,-13.9,22,256,0.17,2.15,0.00,0.000,3078,0.106,0.030,2740,2105,3000,3077,2923,0,0,0,0,0,0,25.65,26.11,28.83
$GC,556,-0.23,-146.6,2740,2105,3078,2923,57.0,-10.7,53,564,0.00,2.15,0.00,0.000,260,0.000,0.041,2733,3497,3000,3078,2923,0,0,0,0,0,0,28.83,25.94,28.83
$GC,590,-0.16,-146.6,1808,3496,3050,2919,60.6,-10.8,56,598,0.15,2.12,0.00,0.000,3078,0.090,0.026,2788,2086,3000,3077,2923,0,0,0,0,0,0,25.90,26.29,28.83
$GC,898,-0.16,-146.6,2788,2086,3078,2923,83.2,-6.8,85,903,0.00,2.20,0.00,0.000,260,0.000,0.040,2783,3502,3000,3078,2923,0,0,0,0,0,0,28.83,25.94,28.83
$GC,957,-0.16,-146.6,2783,3502,3078,2923,87.2,-6.6,88,962,0.00,2.08,0.00,0.000,1030,0.000,0.025,2783,2093,3000,3078,2923,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1277,-0.16,-146.6,2783,2093,3078,2923,105.6,-5.5,104,1283,0.00,2.20,0.00,0.000,260,0.000,0.041,2774,3501,3000,3078,2922,0,0,0,0,0,0,28.83,25.92,28.83
$GC,1407,-0.16,-146.6,2774,3501,3078,2923,112.7,-5.9,110,1411,0.00,2.08,0.00,0.000,1030,0.000,0.025,2774,2093,3000,3078,2922,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1713,-0.16,-146.6,2774,2092,3079,2923,130.6,-5.5,125,1719,0.00,2.17,0.00,0.000,260,0.000,0.041,2770,3493,3000,3078,2923,0,0,0,0,0,0,28.83,25.92,28.83
$GC,1772,-0.16,-146.6,2770,3493,3078,2922,133.9,-5.4,128,1778,0.00,2.05,0.00,0.000,1030,0.000,0.025,2770,2100,3000,3078,2922,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2103,-0.16,-146.6,2770,2100,3078,2922,151.8,-5.4,144,2104,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,2100,3000,3078,2922,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2403,-0.16,-146.6,2770,2100,3078,2922,166.5,-5.1,154,2408,0.00,2.20,0.00,0.000,260,0.000,0.041,2761,3509,3000,3078,2922,0,0,0,0,0,0,28.83,25.92,28.83
$GC,2450,-0.16,-146.6,2761,3509,3078,2922,168.1,-5.2,155,2455,0.00,2.08,0.00,0.000,1030,0.000,0.026,2761,2102,3000,3078,2922,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2758,-0.16,-146.6,2761,2101,3078,2922,185.3,-4.9,165,2764,0.00,2.17,0.00,0.000,260,0.000,0.041,2753,3506,3000,3078,2922,0,0,0,0,0,0,28.83,25.92,28.83
$GC,2817,-0.16,-146.6,2753,3506,3078,2922,188.6,-5.5,167,2824,0.12,2.10,0.00,0.000,3078,0.112,0.026,2794,2092,3000,3078,2922,0,0,0,0,0,0,26.03,26.27,28.83
$GC,3148,-0.24,-146.6,2794,2091,3078,2921,204.5,-5.1,178,3154,0.00,2.12,0.00,0.000,516,0.000,0.035,2794,705,2999,3078,2921,0,0,0,0,0,0,28.83,26.06,28.83
$GC,3221,-0.31,-146.6,2794,705,3078,2921,207.5,-5.1,180,3226,0.15,2.10,0.00,0.000,5126,0.066,0.030,2689,2108,3000,3078,2922,0,0,0,0,0,0,26.10,26.13,28.83
$GC,3534,-0.21,-146.6,2688,2110,3078,2921,229.4,-4.7,191,3540,0.25,2.12,0.00,0.000,2308,0.123,0.030,2763,3506,2999,3078,2921,0,0,0,0,0,0,25.93,26.06,28.83
$GC,3836,-0.30,-146.6,2762,3507,3078,2921,232.5,-0.0,201,3841,0.00,2.08,0.00,0.000,1030,0.000,0.028,2763,2120,2999,3078,2921,0,0,0,0,0,0,28.83,26.17,28.83
$STATE,3862,end dive,NO_VERTICAL_VELOCITY
$STATE,3862,begin apogee
$GC,3868,-0.24,0.0,2762,1984,3078,2920,232.6,0.0,202,3986,0.00,0.00,114.45,0.725,8198,0.000,0.000,2763,1981,2399,2468,2331,0,0,0,0,0,0,28.83,28.83,23.52
$STATE,3987,end apogee,CONTROL_FINISHED_OK
$STATE,3987,begin climb
$GC,3989,0.47,146.6,2762,1982,2467,2331,232.4,0.0,206,4114,0.65,2.22,116.40,0.711,10756,0.068,0.036,2996,619,1800,1868,1733,0,0,0,0,0,0,25.32,25.13,23.51
$GC,4406,0.63,234.5,2997,619,1854,1732,225.5,3.5,220,4481,0.15,2.08,68.82,0.715,11270,0.080,0.029,3080,2000,1442,1514,1371,0,0,0,0,0,0,26.11,26.17,24.02
$GC,4789,0.63,234.5,3079,2000,1506,1368,203.5,5.6,233,4795,0.12,2.15,0.00,0.000,4612,0.110,0.036,3037,616,1436,1505,1368,0,0,0,0,0,0,26.36,26.13,28.83
$GC,4826,0.63,234.5,3037,616,1504,1367,202.1,5.3,234,4830,0.00,2.10,0.00,0.000,1030,0.000,0.029,3037,2009,1435,1504,1367,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5145,0.73,234.5,3037,2009,1504,1366,188.0,4.6,245,5151,0.12,2.15,0.00,0.000,2564,0.083,0.036,3140,621,1435,1504,1366,0,0,0,0,0,0,26.58,26.15,28.83
$GC,5177,0.79,234.5,3140,622,1503,1366,186.0,5.2,246,5182,0.15,2.08,0.00,0.000,5126,0.108,0.030,3094,1997,1435,1503,1367,0,0,0,0,0,0,26.04,26.25,28.83
$GC,5500,0.79,234.5,3093,1996,1503,1367,167.8,5.2,257,5506,0.00,2.15,0.00,0.000,260,0.000,0.040,3093,3389,1435,1503,1367,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5572,0.79,234.5,3093,3389,1503,1367,164.7,4.9,259,5576,0.00,2.08,0.00,0.000,1030,0.000,0.028,3097,2005,1435,1503,1367,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5895,0.79,234.5,3097,2005,1503,1366,147.2,5.7,271,5901,0.00,2.17,0.00,0.000,516,0.000,0.037,3106,604,1434,1502,1367,0,0,0,0,0,0,28.83,26.12,28.83
$GC,6039,0.79,234.5,3106,603,1501,1366,139.1,5.9,278,6043,0.00,2.12,0.00,0.000,1030,0.000,0.030,3106,2007,1433,1501,1366,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6350,0.79,234.5,3106,2007,1501,1366,118.5,6.1,294,6356,0.00,2.20,0.00,0.000,516,0.000,0.038,3112,607,1433,1501,1366,0,0,0,0,0,0,28.83,26.08,28.83
$GC,6392,0.79,234.5,3112,607,1501,1366,115.9,6.1,296,6398,0.00,2.08,0.00,0.000,1030,0.000,0.029,3112,2000,1433,1501,1366,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6715,0.79,234.5,3112,2001,1501,1366,96.1,5.8,312,6716,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2001,1434,1501,1367,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7016,0.79,234.5,3112,2001,1501,1366,80.2,4.6,327,7021,0.00,2.15,0.00,0.000,260,0.000,0.040,3112,3398,1433,1501,1366,0,0,0,0,0,0,28.83,26.05,28.83
$GC,7079,0.79,234.5,3112,3398,1501,1366,77.2,5.2,332,7086,0.00,2.12,0.00,0.000,1030,0.000,0.028,3116,2008,1433,1500,1366,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7387,0.79,234.5,3116,2007,1501,1366,62.7,4.4,363,7395,0.00,2.17,0.00,0.000,516,0.000,0.039,3116,603,1433,1501,1366,0,0,0,0,0,0,28.83,26.06,28.83
$GC,7429,0.79,234.5,3116,603,1500,1365,60.9,4.3,367,7438,0.00,2.12,0.00,0.000,1030,0.000,0.029,3116,2014,1433,1501,1366,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7738,0.79,234.5,3116,2014,1501,1366,48.2,5.1,398,7747,0.00,2.15,0.00,0.000,260,0.000,0.039,3116,3396,1433,1501,1366,0,0,0,0,0,0,28.83,26.04,28.83
$GC,7811,0.79,234.5,3116,3396,1501,1366,43.9,5.9,405,7820,0.00,2.10,0.00,0.000,1030,0.000,0.028,3116,1988,1433,1501,1366,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8121,0.84,339.2,3116,1987,1501,1366,32.4,3.1,436,8201,0.00,2.25,70.03,0.603,8708,0.000,0.038,3116,616,1015,1111,919,0,0,0,0,0,0,28.83,25.66,24.11
$GC,8287,0.94,339.2,2208,616,1092,917,25.8,5.0,452,8295,0.00,2.15,0.00,0.000,1030,0.000,0.029,3117,1997,1009,1101,918,0,0,0,0,0,0,28.83,26.05,28.83
$GC,8597,1.13,339.2,3116,1997,1101,914,6.1,6.2,483,8606,0.22,2.15,0.00,0.000,2564,0.067,0.037,3220,617,1007,1100,914,0,0,0,0,0,0,26.41,26.09,28.83
$STATE,8647,end climb,SURFACE_DEPTH_REACHED
$STATE,8647,begin surface coast
$FINISH,1.3,1.018988
$STATE,8689,end surface coast,CONTROL_FINISHED_OK
$STATE,8689,begin surface
$SM_CCo,8768,0.00,0.000,0,0,1004,342.44
$SM_GC,2.41,7.85,2.33,0.00,0.028,0.031,0.000,149,2111,1004,-8.22,-1.30,342.44,0,0,0,0,0,0,26.41,26.15,28.83
$IRIDIUM_FIX,4933.03,-12742.25,220314,232308
$TT8_MAMPS,0.026964,0.026964
$HUMID,42.32
$INTERNAL_PRESSURE,8.89908
$TCM_TEMP,17.30
$XPDR_PINGS,57
$24V_AH,23.5,69.577
$10V_AH,9.9,50.530
$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,19.750,85.825,369.700,0.000,0.000,0.000,0.000,0.000,14.250,0.000,23.240,1325.809,5518.024,403.784,1490.794,111.595,0.000,1172.103,0.000,1452.171,0.000,0.542,0.000
$DEVICE_MAMPS,195.840,71.145,725.220,0.000,0.000,0.000,0.000,0.000,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,336.018,651.725,461.725,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,300924
$DATA_FILE_SIZE,33752,492
$CAP_FILE_SIZE,306259,0
$CFSIZE,2097872896,2037055488
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,6392.40,0x235a1e,1,24
$GPS,230314,021004,4949.627,-12742.111,40,1.0,40,17.6