version: 66.11
glider: 195
mission: 8
dive: 290
start: 1 22 114 5 29 21
data:
$ID,195
$MISSION,8
$DIVE,290
$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,-5914.958
$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,63
$R_STBD_OVSHOOT,77
$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
$GPS1,220114,052334,4848.904,-12632.866,32,0.8,32,17.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-58.7
$GPS2,220114,052854,4848.970,-12632.896,4,0.7,5,17.2
$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,33.1,25280,-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,-146.6,163,2247,1263,934,0.0,0.0,0,79,0.00,0.00,-61.40,0.000,16386,0.000,0.000,163,2247,2612,2622,2602,0,0,0,0,0,0,28.83,28.83,28.83
$GC,81,-0.45,-146.6,163,2247,2623,2602,3.4,-3.6,6,113,8.38,2.10,-17.62,0.000,18692,0.198,0.054,2384,3579,3216,3258,3174,0,0,0,0,0,0,25.27,25.98,26.53
$GC,295,-0.36,-146.6,2384,3579,3260,3177,24.2,-10.5,27,305,0.15,2.03,0.00,0.000,3078,0.119,0.021,2428,2189,3218,3260,3177,0,0,0,0,0,0,25.94,26.25,28.83
$GC,605,-0.36,-146.6,2428,2189,3260,3177,49.1,-8.0,58,609,0.00,2.05,0.00,0.000,516,0.000,0.031,2428,825,3218,3260,3177,0,0,0,0,0,0,28.83,26.17,28.83
$GC,654,-0.36,-146.6,2428,824,3260,3177,52.4,-7.3,62,661,0.00,2.03,0.00,0.000,1030,0.000,0.028,2424,2183,3218,3260,3177,0,0,0,0,0,0,28.83,26.25,28.83
$GC,964,-0.36,-146.6,2423,2183,3260,3177,69.9,-5.4,93,972,0.00,2.17,0.00,0.000,260,0.000,0.040,2414,3604,3218,3260,3177,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1046,-0.36,-146.6,2414,3604,3260,3177,73.9,-5.1,101,1054,0.00,2.00,0.00,0.000,1030,0.000,0.021,2414,2207,3218,3260,3177,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1354,-0.36,-146.6,2414,2208,3260,3177,89.5,-5.2,123,1356,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,2208,3218,3260,3177,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1654,-0.36,-146.6,2414,2208,3260,3177,103.0,-4.2,138,1660,0.00,2.17,0.00,0.000,260,0.000,0.041,2405,3615,3218,3260,3177,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1878,-0.36,-146.6,2405,3615,3260,3178,112.8,-4.8,149,1882,0.00,2.05,0.00,0.000,1030,0.000,0.021,2405,2199,3218,3260,3177,0,0,0,0,0,0,28.83,26.45,28.83
$GC,2190,-0.36,-146.6,2405,2199,3259,3178,128.8,-5.0,165,2195,0.00,2.05,0.00,0.000,516,0.000,0.031,2405,826,3218,3260,3177,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2338,-0.36,-146.6,2405,826,3260,3177,136.6,-5.7,172,2342,0.00,2.05,0.00,0.000,1030,0.000,0.028,2398,2210,3218,3260,3177,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2665,-0.36,-146.6,2398,2210,3260,3177,153.1,-4.9,187,2670,0.00,2.08,0.00,0.000,516,0.000,0.031,2398,826,3218,3260,3177,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2712,-0.36,-146.6,2398,826,3260,3177,154.5,-4.8,188,2717,0.12,2.05,0.00,0.000,3078,0.126,0.028,2430,2208,3218,3260,3177,0,0,0,0,0,0,26.14,26.36,28.83
$GC,3019,-0.36,-146.6,2430,2208,3260,3177,167.2,-3.8,198,3021,0.00,0.00,0.00,0.000,6,0.000,0.000,2430,2208,3218,3260,3177,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3319,-0.36,-146.6,2430,2208,3260,3177,178.4,-3.7,208,3321,0.00,0.00,0.00,0.000,6,0.000,0.000,2430,2208,3218,3260,3177,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3620,-0.42,-146.6,2430,2209,3260,3177,190.6,-4.0,218,3625,0.00,2.08,0.00,0.000,516,0.000,0.031,2430,823,3219,3261,3177,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3740,-0.42,-146.6,2430,824,3260,3177,195.7,-4.2,222,3746,0.00,2.08,0.00,0.000,1030,0.000,0.028,2430,2213,3218,3260,3177,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4070,-0.47,-146.6,2430,2213,3260,3177,207.1,-3.2,233,4076,0.12,2.15,0.00,0.000,4356,0.074,0.038,2320,3610,3218,3260,3177,0,0,0,0,0,0,26.64,26.20,28.83
$GC,4129,-0.47,-146.6,2320,3610,3260,3177,210.8,-4.6,235,4136,0.22,2.05,0.00,0.000,3078,0.109,0.021,2390,2194,3218,3260,3177,0,0,0,0,0,0,26.03,26.47,28.83
$GC,4459,-0.47,-146.6,2390,2194,3260,3177,227.0,-4.8,246,4463,0.00,2.05,0.00,0.000,516,0.000,0.031,2390,828,3218,3260,3176,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4551,-0.47,-146.6,2390,828,3260,3177,231.7,-5.1,249,4556,0.00,2.05,0.00,0.000,1030,0.000,0.028,2385,2208,3218,3260,3177,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4881,-0.47,-146.6,2385,2208,3260,3177,249.3,-5.5,260,4882,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,2208,3218,3259,3177,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5181,-0.62,-146.6,2385,2208,3260,3177,258.3,-0.1,270,5187,0.12,2.17,0.00,0.000,4356,0.078,0.038,2313,3618,3218,3260,3177,0,0,0,0,0,0,26.62,26.18,28.83
$STATE,5269,end dive,NO_VERTICAL_VELOCITY
$STATE,5269,begin apogee
$GC,5276,-0.23,0.0,2313,2033,3260,3177,258.2,0.0,273,5394,0.43,0.00,113.10,0.750,10246,0.062,0.000,2477,2033,2617,2707,2528,0,0,0,0,0,0,26.24,28.83,24.20
$STATE,5395,end apogee,CONTROL_FINISHED_OK
$STATE,5395,begin climb
$GC,5397,0.45,146.6,2477,2033,2707,2528,258.3,0.0,277,5519,0.60,2.25,114.80,0.721,10756,0.073,0.034,2690,650,2018,2168,1869,0,0,0,0,0,0,25.25,24.87,23.90
$GC,5551,0.45,231.4,2689,650,2168,1864,253.7,3.6,282,5626,0.00,2.15,68.70,0.705,9222,0.000,0.024,2690,2033,1673,1832,1514,0,0,0,0,0,0,28.83,25.20,23.84
$GC,5953,0.57,231.4,2690,2033,1831,1502,226.4,6.9,296,5955,0.12,0.00,0.00,0.000,2054,0.080,0.000,2752,2033,1666,1831,1502,0,0,0,0,0,0,26.02,28.83,28.83
$GC,6253,0.64,231.4,2752,2033,1831,1501,203.9,7.6,306,6257,0.00,2.17,0.00,0.000,260,0.000,0.037,2752,3429,1666,1831,1501,0,0,0,0,0,0,28.83,26.04,28.83
$GC,6322,0.64,231.4,2752,3429,1831,1501,199.0,7.8,308,6326,0.00,2.08,0.00,0.000,1030,0.000,0.023,2756,2026,1666,1831,1501,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6644,0.64,231.4,2756,2027,1831,1500,175.5,7.0,319,6645,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2026,1665,1831,1500,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6944,0.64,254.5,2756,2026,1831,1499,157.0,5.3,329,6968,0.00,2.17,18.30,0.671,8452,0.000,0.036,2756,3425,1579,1740,1418,0,0,0,0,0,0,28.83,26.08,24.84
$GC,7025,0.64,283.1,2756,3425,1740,1416,154.1,5.2,330,7054,0.00,2.08,24.30,0.672,9222,0.000,0.023,2760,2022,1463,1623,1303,0,0,0,0,0,0,28.83,26.17,24.72
$GC,7366,0.64,302.5,2760,2022,1621,1292,133.2,5.4,346,7388,0.00,2.20,16.45,0.646,8708,0.000,0.035,2759,644,1384,1547,1221,0,0,0,0,0,0,28.83,25.94,24.76
$GC,7408,0.64,324.7,2759,644,1547,1219,131.1,5.4,348,7433,0.00,2.08,20.00,0.649,9222,0.000,0.025,2760,2024,1293,1459,1128,0,0,0,0,0,0,28.83,26.01,24.64
$GC,7741,0.64,324.7,2759,2024,1459,1119,111.4,6.9,365,7747,0.00,2.17,0.00,0.000,260,0.000,0.037,2760,3431,1289,1459,1119,0,0,0,0,0,0,28.83,26.02,28.83
$GC,7788,0.64,324.7,2759,3431,1459,1119,107.8,8.4,367,7792,0.00,2.08,0.00,0.000,1030,0.000,0.022,2760,2025,1289,1459,1119,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8102,0.64,324.7,2760,2025,1459,1116,83.0,7.1,383,8103,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,2025,1287,1459,1116,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8400,0.64,324.7,2759,2025,1459,1115,64.7,6.0,410,8404,0.00,2.15,0.00,0.000,260,0.000,0.037,2759,3423,1287,1459,1115,0,0,0,0,0,0,28.83,26.19,28.83
$GC,8476,0.64,324.7,2760,3424,1459,1115,59.6,7.0,417,8480,0.00,2.05,0.00,0.000,1030,0.000,0.023,2759,2022,1287,1459,1115,0,0,0,0,0,0,28.83,26.35,28.83
$GC,8781,0.64,324.7,2760,2022,1459,1114,40.6,6.1,447,8785,0.00,2.10,0.00,0.000,516,0.000,0.035,2760,647,1286,1459,1114,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8840,0.64,327.8,1812,647,1444,1112,37.5,5.9,452,8848,0.00,2.05,0.00,0.000,1030,0.000,0.024,2759,2036,1285,1458,1113,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9148,0.70,415.3,2759,2036,1458,1113,23.4,3.5,483,9198,0.00,0.00,47.75,0.591,8198,0.000,0.000,2760,2036,924,1088,760,0,0,0,0,0,0,28.83,28.83,24.85
$STATE,9447,end climb,SURFACE_DEPTH_REACHED
$STATE,9447,begin surface coast
$FINISH,0.9,1.012056
$STATE,9457,end surface coast,CONTROL_FINISHED_OK
$STATE,9457,begin surface
$SM_CCo,9531,0.00,0.000,0,0,916,417.75
$SM_GC,1.64,6.70,0.22,0.00,0.028,0.057,0.000,168,2211,916,-7.26,-1.53,417.75,0,0,0,0,0,0,26.22,26.20,28.83
$IRIDIUM_FIX,4827.28,-12414.02,220114,020204
$TT8_MAMPS,0.026964,0.026964
$HUMID,43.73
$INTERNAL_PRESSURE,8.83951
$TCM_TEMP,16.60
$XPDR_PINGS,0
$24V_AH,23.8,43.313
$10V_AH,10.1,30.240
$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,16.975,71.825,423.400,0.000,0.000,0.000,0.000,250.175,0.000,0.000,5.602,1367.892,6502.002,427.776,1464.120,100.251,0.000,1402.032,0.000,1196.769,0.000,1.005,0.000
$DEVICE_MAMPS,198.135,56.610,750.465,0.000,0.000,0.000,0.000,74.205,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,349.394,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,314880
$DATA_FILE_SIZE,30299,514
$CAP_FILE_SIZE,94032,0
$CFSIZE,2097872896,2057699328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,220114,080900,4849.994,-12632.122,15,0.8,15,17.2