version: 66.11
glider: 195
mission: 8
dive: 87
start: 11 9 113 22 50 9
data:
$ID,195
$MISSION,8
$DIVE,87
$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,440
$T_MISSION,480
$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,5
$CALL_WAIT,45
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-5427.9463
$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,1972
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,50
$R_STBD_OVSHOOT,43
$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,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,400
$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
$GPS1,091113,223858,4753.176,-12537.608,37,1.2,37,16.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-59.1
$GPS2,091113,224942,4753.184,-12537.394,5,0.8,5,16.9
$SPEED_LIMITS,0.089,0.231
$TGT_NAME,SEARCH_B
$TGT_LATLONG,4754.000,-12536.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.285,0.056
$KALMAN_X,-45748.8,0.0,0.0,-8631.9,-1002.0
$KALMAN_Y,-3026.8,0.0,0.0,59514.5,330.6
$MHEAD_RNG_PITCHd_Wd,32.0,2297,-37.5,-7.500,-40.00,445
$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,-1.69,-21.9,176,2206,1552,1285,0.0,0.0,0,72,0.00,0.00,-53.40,0.000,16390,0.000,0.000,175,2206,2709,2716,2702,0,0,0,0,0,0,28.83,28.83,26.25
$GC,74,-1.69,-41.6,175,2207,2715,2703,2.7,-3.0,5,91,6.82,2.22,-2.40,0.000,18692,0.205,0.054,1989,3612,2789,2814,2764,0,0,0,0,0,0,25.56,25.88,26.17
$GC,386,-1.63,-41.6,1988,3612,2820,2761,53.3,-12.0,36,391,0.12,2.12,0.00,0.000,3078,0.190,0.024,2015,2178,2790,2820,2761,0,0,0,0,0,0,25.84,26.15,28.83
$GC,691,-1.63,-58.6,2015,2177,2822,2761,67.5,-3.6,66,702,0.00,2.22,-0.60,0.000,16644,0.000,0.053,2007,3613,2862,2895,2830,0,0,0,0,0,0,28.83,26.20,26.41
$GC,726,-1.63,-68.3,2006,3613,2896,2830,69.3,-5.3,69,735,0.00,2.12,-0.32,0.000,17414,0.000,0.025,2007,2213,2902,2933,2871,0,0,0,0,0,0,28.83,26.27,26.33
$GC,1044,-1.63,-68.3,2006,2214,2936,2871,96.3,-8.1,92,1048,0.00,2.10,0.00,0.000,516,0.000,0.035,2007,825,2903,2936,2871,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1343,-1.63,-72.0,2006,825,2937,2871,116.2,-6.7,107,1348,0.00,2.05,0.00,0.000,1030,0.000,0.031,1996,2199,2904,2937,2871,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1662,-1.63,-82.5,1996,2200,2937,2871,133.9,-5.1,123,1668,0.00,2.10,-0.35,0.000,16900,0.000,0.048,1996,814,2961,2993,2930,0,0,0,0,0,0,28.83,26.39,26.54
$GC,1809,-1.63,-82.5,1996,815,2995,2930,145.1,-9.1,130,1814,0.10,2.12,0.00,0.000,3078,0.174,0.031,2013,2202,2962,2994,2930,0,0,0,0,0,0,26.12,26.44,28.83
$GC,2131,-1.63,-82.5,2013,2202,2995,2930,177.7,-10.2,142,2135,0.00,2.10,0.00,0.000,516,0.000,0.036,2013,824,2962,2995,2930,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2299,-1.63,-82.5,2013,824,2995,2930,192.9,-10.0,147,2303,0.00,2.12,0.00,0.000,1030,0.000,0.032,2005,2207,2962,2995,2930,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2611,-1.63,-82.5,2005,2206,2995,2930,225.5,-10.9,158,2615,0.00,2.15,0.00,0.000,260,0.000,0.042,1995,3613,2962,2995,2930,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2770,-1.63,-82.5,1994,3613,2995,2930,240.8,-10.4,163,2774,0.00,2.12,0.00,0.000,1030,0.000,0.025,1995,2200,2962,2995,2930,0,0,0,0,0,0,28.83,26.54,28.83
$GC,3087,-1.63,-82.5,1994,2200,2995,2930,274.6,-10.3,174,3091,0.00,2.17,0.00,0.000,260,0.000,0.043,1983,3614,2962,2995,2930,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3268,-1.63,-82.5,1983,3615,2995,2930,294.3,-11.2,180,3273,0.15,2.08,0.00,0.000,3078,0.184,0.026,2019,2192,2962,2994,2930,0,0,0,0,0,0,26.22,26.57,28.83
$GC,3620,-1.70,-82.5,2018,2192,2995,2930,333.2,-11.0,187,3624,0.00,2.20,0.00,0.000,260,0.000,0.044,2010,3620,2962,2995,2929,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3859,-1.70,-82.5,2010,3620,2995,2929,359.9,-11.3,191,3863,0.00,2.12,0.00,0.000,1030,0.000,0.026,2009,2209,2962,2995,2929,0,0,0,0,0,0,28.83,26.59,28.83
$GC,4219,-1.77,-82.5,2010,2209,2994,2929,400.1,-11.5,197,4224,0.00,2.08,0.00,0.000,516,0.000,0.037,2011,820,2961,2994,2929,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4435,-1.83,-82.5,2010,820,2994,2929,421.1,-11.6,200,4440,0.12,2.08,0.00,0.000,5126,0.081,0.034,1938,2206,2961,2994,2929,0,0,0,0,0,0,26.55,26.57,28.83
$GC,4752,-1.83,-82.5,1937,2206,2994,2928,469.6,-14.3,206,4756,0.00,2.15,0.00,0.000,260,0.000,0.043,1928,3613,2961,2994,2928,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4879,-1.83,-82.5,1927,3613,2994,2928,486.0,-14.1,208,4883,0.00,2.10,0.00,0.000,1030,0.000,0.026,1928,2210,2961,2994,2928,0,0,0,0,0,0,28.83,26.62,28.83
$GC,5232,-1.83,-82.5,1927,2210,2994,2928,536.0,-13.6,214,5238,0.00,2.17,0.00,0.000,260,0.000,0.043,1916,3623,2960,2994,2927,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5537,-1.83,-82.5,1917,3623,2994,2926,583.0,-15.4,219,5544,0.15,2.10,0.00,0.000,3078,0.190,0.028,1951,2197,2960,2994,2926,0,0,0,0,0,0,26.24,26.62,28.83
$STATE,5716,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5716,begin apogee
$GC,5720,-0.23,0.0,1951,1959,2994,2926,608.0,-14.0,222,5790,1.62,0.00,64.78,0.970,10246,0.153,0.000,2466,1958,2617,2695,2540,0,0,0,0,0,0,26.20,28.83,24.69
$STATE,5791,end apogee,CONTROL_FINISHED_OK
$STATE,5791,begin climb
$GC,5792,1.69,82.5,2466,1958,2695,2540,611.0,0.0,223,5866,1.73,2.25,65.57,0.956,10756,0.059,0.040,3097,592,2281,2377,2185,0,0,0,0,0,0,25.42,24.87,24.18
$GC,5946,1.69,82.5,3097,592,2373,2184,598.7,16.9,225,5953,0.00,2.22,0.00,0.000,1030,0.000,0.031,3097,1973,2278,2373,2184,0,0,0,0,0,0,28.83,25.46,28.83
$GC,6253,1.69,82.5,3097,1974,2371,2183,515.6,22.4,231,6257,0.00,2.22,0.00,0.000,260,0.000,0.041,3097,3388,2277,2371,2183,0,0,0,0,0,0,28.83,25.88,28.83
$GC,6317,1.69,82.5,3097,3388,2371,2183,501.9,23.1,232,6321,0.00,2.17,0.00,0.000,1030,0.000,0.028,3108,1989,2277,2370,2184,0,0,0,0,0,0,28.83,25.98,28.83
$GC,6669,1.69,82.5,3107,1989,2369,2182,416.6,23.2,238,6670,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,1989,2275,2369,2182,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6969,1.69,82.5,3107,1989,2369,2181,347.5,23.0,243,6973,0.00,2.20,0.00,0.000,516,0.000,0.040,3118,565,2275,2369,2181,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7172,1.69,82.5,3117,566,2368,2181,305.5,23.7,246,7177,0.10,2.20,0.00,0.000,5126,0.172,0.031,3090,1983,2274,2368,2181,0,0,0,0,0,0,26.02,26.31,28.83
$GC,7505,1.69,82.5,3090,1983,2368,2180,224.7,22.5,257,7509,0.00,2.17,0.00,0.000,260,0.000,0.041,3090,3382,2274,2368,2181,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7596,1.69,82.5,3090,3383,2368,2181,203.3,23.2,260,7600,0.00,2.12,0.00,0.000,1030,0.000,0.028,3098,1965,2274,2368,2181,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7911,1.69,82.5,3099,1965,2368,2180,129.7,23.4,272,7915,0.00,2.12,0.00,0.000,516,0.000,0.041,3109,579,2274,2368,2180,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7980,1.69,82.5,3109,579,2368,2180,116.6,23.4,275,7988,0.00,2.15,0.00,0.000,1030,0.000,0.031,3109,1972,2274,2368,2180,0,0,0,0,0,0,28.83,26.42,28.83
$GC,8288,1.69,82.5,3109,1973,2368,2180,56.9,15.8,297,8297,0.00,2.15,0.00,0.000,516,0.000,0.041,3119,576,2274,2368,2180,0,0,0,0,0,0,28.83,26.40,28.83
$GC,8311,1.69,82.5,3119,576,2368,2180,52.6,17.6,299,8321,0.10,2.08,0.00,0.000,5126,0.171,0.029,3091,1984,2273,2367,2180,0,0,0,0,0,0,26.16,26.46,28.83
$GC,8620,1.74,82.7,3091,1984,2368,2180,17.0,7.5,330,8629,0.00,2.12,0.00,0.000,260,0.000,0.041,3091,3374,2274,2368,2180,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8672,1.74,82.7,3091,3374,2367,2180,12.0,9.6,335,8681,0.00,2.08,0.00,0.000,1030,0.000,0.028,3100,1969,2274,2368,2180,0,0,0,0,0,0,28.83,26.50,28.83
$STATE,8780,end climb,SURFACE_DEPTH_REACHED
$STATE,8780,begin surface coast
$FINISH,0.3,1.024838
$STATE,8792,end surface coast,CONTROL_FINISHED_OK
$STATE,8792,begin surface
$SM_CCo,8806,68.53,0.052,0,0,1597,250.21
$SM_GC,2.08,7.57,0.35,68.53,0.036,0.047,0.052,179,2209,1597,-7.26,-1.27,250.21,0,0,0,0,0,0,26.53,26.51,26.34
$IRIDIUM_FIX,4700.70,-12543.69,091113,171738
$TT8_MAMPS,0.026964,0.026964
$HUMID,41.96
$INTERNAL_PRESSURE,8.87857
$TCM_TEMP,11.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,564.3,52.0
$24V_AH,24.2,11.609
$10V_AH,10.2,8.598
$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,18.600,77.750,130.350,68.525,0.000,0.000,0.000,553.975,4.500,0.000,6.358,1107.430,6049.881,284.291,1998.556,70.645,0.000,1539.961,0.000,1405.094,0.000,38.551,0.000
$DEVICE_MAMPS,205.020,53.550,970.020,52.020,0.000,0.000,0.000,84.150,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,238.178,459.806,283.364,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,11.230,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,314304
$DATA_FILE_SIZE,26928,347
$CAP_FILE_SIZE,101197,0
$CFSIZE,2097872896,2084798464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,101113,011857,4753.543,-12537.178,18,0.8,18,16.9