version: 66.11
glider: 195
mission: 8
dive: 7
start: 10 26 113 7 22 47
data:
$ID,195
$MISSION,8
$DIVE,7
$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,330
$T_MISSION,360
$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,2
$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,300
$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,-4040.842
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,207
$PITCH_MAX,3915
$C_PITCH,2577
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,23.5
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,224
$ROLL_MAX,3758
$ROLL_DEG,40
$C_ROLL_DIVE,2025
$C_ROLL_CLIMB,2025
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,45
$R_STBD_OVSHOOT,33
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2820
$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,20
$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
$GPS1,261013,071634,4705.409,-12500.125,24,1.2,24,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-61.8
$GPS2,261013,072220,4705.402,-12500.107,4,1.6,4,16.6
$SPEED_LIMITS,0.119,0.258
$TGT_NAME,SEARCH_A
$TGT_LATLONG,4750.000,-12525.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,322.9,88202,-17.6,-10.000,-21.21,2209
$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,14,-0.75,-146.6,182,2029,1690,1450,0.0,0.0,0,80,0.00,0.00,-63.58,0.000,16386,0.000,0.000,182,2030,3291,3289,3293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-0.75,-146.6,181,2030,3289,3293,4.2,-7.0,6,102,8.10,2.25,-2.62,0.000,18692,0.211,0.060,2324,3435,3419,3422,3417,0,0,0,0,0,0,25.66,25.91,26.22
$GC,228,-0.75,-146.6,2324,3435,3427,3417,31.6,-13.5,20,237,0.00,2.20,0.00,0.000,1030,0.000,0.029,2324,2016,3422,3427,3417,0,0,0,0,0,0,28.83,26.06,28.83
$GC,537,-0.75,-146.6,2324,2015,3431,3417,67.9,-12.0,51,546,0.00,2.15,0.00,0.000,516,0.000,0.043,2324,631,3423,3430,3417,0,0,0,0,0,0,28.83,26.15,28.83
$GC,672,-0.75,-146.6,2324,631,3431,3417,82.3,-11.3,62,681,0.00,2.20,0.00,0.000,1030,0.000,0.036,2315,2032,3424,3431,3417,0,0,0,0,0,0,28.83,26.23,28.83
$GC,981,-0.75,-146.6,2315,2032,3432,3417,112.9,-8.6,78,986,0.00,2.17,0.00,0.000,260,0.000,0.047,2305,3428,3424,3432,3417,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1033,-0.75,-146.6,2305,3428,3432,3417,116.4,-8.4,80,1042,0.00,2.15,0.00,0.000,1030,0.000,0.029,2304,2018,3424,3432,3417,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1342,-0.75,-146.6,2305,2018,3431,3417,145.3,-9.4,96,1348,0.12,2.20,0.00,0.000,2308,0.144,0.045,2337,3428,3424,3431,3417,0,0,0,0,0,0,26.29,26.34,28.83
$GC,1465,-0.75,-146.6,2337,3427,3432,3417,155.1,-7.9,101,1470,0.00,2.12,0.00,0.000,1030,0.000,0.029,2337,2028,3424,3432,3417,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1794,-0.75,-146.6,2337,2028,3432,3417,182.5,-8.4,112,1795,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2028,3424,3432,3417,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2094,-0.75,-146.6,2337,2028,3432,3417,206.4,-7.8,122,2100,0.00,2.17,0.00,0.000,260,0.000,0.047,2327,3427,3424,3432,3417,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2199,-0.75,-146.6,2326,3428,3431,3417,214.1,-8.3,125,2203,0.00,2.10,0.00,0.000,1030,0.000,0.029,2327,2016,3424,3432,3416,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2517,-0.75,-146.6,2326,2015,3432,3416,240.5,-7.7,136,2523,0.00,2.17,0.00,0.000,260,0.000,0.047,2316,3423,3424,3432,3417,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2570,-0.75,-146.6,2316,3423,3432,3417,242.8,-7.7,137,2578,0.00,2.12,0.00,0.000,1030,0.000,0.030,2316,2022,3424,3431,3417,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2877,-0.75,-146.6,2316,2022,3431,3417,269.1,-7.8,148,2882,0.00,2.20,0.00,0.000,260,0.000,0.047,2307,3437,3424,3431,3417,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2945,-0.75,-146.6,2307,3436,3431,3417,273.8,-7.8,150,2949,0.00,2.10,0.00,0.000,1030,0.000,0.030,2307,2022,3424,3431,3417,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3270,-0.75,-146.6,2307,2022,3431,3417,301.8,-9.0,161,3275,0.00,2.15,0.00,0.000,260,0.000,0.048,2297,3423,3424,3431,3417,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3365,-0.75,-146.6,2297,3423,3431,3416,307.8,-9.5,162,3370,0.15,2.08,0.00,0.000,3078,0.129,0.031,2340,2022,3423,3431,3416,0,0,0,0,0,0,26.42,26.58,28.83
$GC,3688,-0.75,-146.6,2340,2022,3431,3416,336.5,-7.8,168,3689,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2022,3423,3431,3416,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3988,-0.75,-146.6,2340,2022,3432,3416,359.1,-7.5,173,3994,0.00,2.17,0.00,0.000,260,0.000,0.048,2333,3428,3423,3431,3415,0,0,0,0,0,0,28.83,26.54,28.83
$GC,4057,-0.75,-146.6,2333,3428,3431,3414,364.3,-7.9,174,4061,0.00,2.08,0.00,0.000,1030,0.000,0.031,2333,2030,3423,3431,3415,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4409,-0.75,-146.6,2333,2030,3431,3415,397.3,-9.1,180,4415,0.00,2.17,0.00,0.000,260,0.000,0.048,2322,3431,3422,3431,3414,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4483,-0.75,-146.6,2322,3431,3431,3413,402.8,-9.1,181,4487,0.00,2.10,0.00,0.000,1030,0.000,0.031,2322,2017,3422,3431,3413,0,0,0,0,0,0,28.83,26.62,28.83
$GC,4831,-0.75,-146.6,2322,2017,3431,3413,435.5,-9.0,187,4836,0.00,2.20,0.00,0.000,260,0.000,0.049,2317,3438,3422,3431,3413,0,0,0,0,0,0,28.83,26.56,28.83
$GC,4953,-0.75,-146.6,2317,3438,3431,3412,446.7,-9.1,189,4959,0.00,2.10,0.00,0.000,1030,0.000,0.031,2317,2026,3421,3431,3412,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5313,-0.75,-146.6,2317,2026,3431,3412,474.9,-7.3,195,5319,0.00,2.17,0.00,0.000,260,0.000,0.049,2307,3428,3421,3431,3411,0,0,0,0,0,0,28.83,26.58,28.83
$GC,5416,-0.75,-146.6,2307,3428,3431,3411,479.0,-7.0,196,5420,0.00,2.12,0.00,0.000,1030,0.000,0.031,2307,2027,3420,3430,3411,0,0,0,0,0,0,28.83,26.65,28.83
$GC,5733,-0.75,-146.6,2307,2027,3431,3411,506.0,-7.8,202,5735,0.00,0.00,0.00,0.000,6,0.000,0.000,2307,2027,3421,3431,3411,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6033,-0.75,-146.6,2307,2027,3431,3411,529.3,-7.7,207,6039,0.00,2.17,0.00,0.000,260,0.000,0.049,2297,3428,3420,3431,3410,0,0,0,0,0,0,28.83,26.59,28.83
$GC,6146,-0.75,-146.6,2297,3428,3431,3410,533.7,-7.5,208,6154,0.10,2.12,0.00,0.000,3078,0.103,0.031,2335,2024,3420,3431,3410,0,0,0,0,0,0,26.51,26.66,28.83
$STATE,6332,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6332,begin apogee
$GC,6335,-0.21,0.0,2335,2024,3431,3410,549.9,-6.7,212,6455,0.47,0.00,112.78,0.898,10246,0.088,0.000,2508,2024,2820,2916,2724,0,0,0,0,0,0,26.55,28.83,24.22
$STATE,6455,end apogee,CONTROL_FINISHED_OK
$STATE,6456,begin climb
$GC,6457,0.75,146.6,2508,2024,2916,2725,552.4,0.0,214,6581,0.82,2.33,116.20,0.884,10756,0.041,0.044,2843,638,2221,2339,2104,0,0,0,0,0,0,25.06,24.65,23.94
$GC,6621,0.75,146.6,2843,638,2337,2103,548.0,6.6,216,6625,0.00,2.28,0.00,0.000,1030,0.000,0.035,2843,2021,2220,2337,2103,0,0,0,0,0,0,28.83,25.13,28.83
$GC,6934,0.75,146.6,2843,2021,2336,2099,496.9,14.7,222,6935,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,2021,2217,2336,2099,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7234,0.75,146.6,2843,2021,2335,2099,455.1,13.5,227,7239,0.00,2.22,0.00,0.000,260,0.000,0.046,2843,3433,2217,2335,2099,0,0,0,0,0,0,28.83,26.03,28.83
$GC,7311,0.75,146.6,2843,3433,2335,2100,446.7,13.3,228,7316,0.10,2.17,0.00,0.000,5126,0.146,0.031,2823,2035,2217,2335,2100,0,0,0,0,0,0,25.94,26.13,28.83
$GC,7654,0.75,146.6,2823,2034,2335,2098,402.1,12.3,234,7660,0.00,2.20,0.00,0.000,516,0.000,0.044,2831,622,2217,2335,2099,0,0,0,0,0,0,28.83,26.18,28.83
$GC,7691,0.75,146.6,2831,622,2333,2099,402.1,12.3,234,7695,0.00,2.20,0.00,0.000,1030,0.000,0.036,2831,2025,2216,2333,2099,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8014,0.75,146.6,2831,2025,2333,2099,356.0,12.6,240,8015,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2025,2215,2333,2098,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8314,0.75,146.6,2831,2025,2333,2099,317.7,12.8,245,8315,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2025,2216,2333,2099,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8614,0.75,146.6,2831,2025,2333,2099,278.0,13.2,252,8620,0.00,2.17,0.00,0.000,516,0.000,0.045,2842,624,2215,2332,2099,0,0,0,0,0,0,28.83,26.37,28.83
$GC,8692,0.75,146.6,2842,624,2331,2099,269.8,13.5,254,8696,0.00,2.17,0.00,0.000,1030,0.000,0.035,2842,2018,2215,2332,2099,0,0,0,0,0,0,28.83,26.44,28.83
$GC,9005,0.75,146.6,2842,2018,2332,2099,224.7,14.0,265,9010,0.00,2.20,0.00,0.000,260,0.000,0.046,2842,3439,2215,2331,2099,0,0,0,0,0,0,28.83,26.43,28.83
$GC,9057,0.75,146.6,2842,3440,2331,2099,220.4,14.1,266,9066,0.10,2.17,0.00,0.000,5126,0.143,0.031,2821,2024,2215,2331,2099,0,0,0,0,0,0,26.28,26.47,28.83
$GC,9365,0.75,146.6,2821,2024,2331,2099,181.6,10.9,277,9371,0.00,2.15,0.00,0.000,516,0.000,0.045,2829,630,2215,2331,2099,0,0,0,0,0,0,28.83,26.44,28.83
$GC,9485,0.75,146.6,2828,630,2331,2099,167.2,12.0,281,9491,0.00,2.12,0.00,0.000,1030,0.000,0.036,2829,2026,2215,2331,2099,0,0,0,0,0,0,28.83,26.51,28.83
$GC,9795,0.75,146.6,2828,2026,2331,2099,130.1,11.8,294,9801,0.00,2.17,0.00,0.000,260,0.000,0.046,2829,3433,2215,2331,2099,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9917,0.75,146.6,2829,3433,2331,2099,113.1,14.1,300,9922,0.00,2.10,0.00,0.000,1030,0.000,0.031,2839,2023,2215,2331,2099,0,0,0,0,0,0,28.83,26.54,28.83
$GC,10227,0.75,168.5,2839,2023,2331,2099,78.4,9.0,316,10248,0.00,2.25,16.25,0.562,8708,0.000,0.044,2849,622,2133,2254,2013,0,0,0,0,0,0,28.83,26.30,25.65
$GC,10545,0.75,168.5,2848,622,2254,2013,49.0,10.9,347,10556,0.12,2.15,0.00,0.000,5126,0.150,0.036,2817,2032,2133,2254,2013,0,0,0,0,0,0,26.28,26.43,28.83
$GC,10856,0.75,284.2,2816,2032,2253,2013,27.6,4.6,378,10927,0.00,2.30,60.88,0.562,8452,0.000,0.046,2817,3432,1658,1800,1517,0,0,0,0,0,0,28.83,25.76,25.18
$GC,10993,0.75,304.9,2816,3432,1797,1514,18.3,9.0,391,11013,0.00,2.20,9.75,0.459,9222,0.000,0.030,2824,2027,1574,1716,1433,0,0,0,0,0,0,28.83,25.91,25.22
$STATE,11191,end climb,SURFACE_DEPTH_REACHED
$STATE,11191,begin surface coast
$FINISH,0.0,1.023938
$STATE,11211,end surface coast,CONTROL_FINISHED_OK
$STATE,11211,begin surface
$SM_CCo,11284,0.00,0.000,0,0,1566,307.61
$SM_GC,1.07,6.97,0.00,0.00,0.037,0.000,0.000,184,2025,1566,-7.36,0.03,307.61,0,0,0,0,0,0,26.06,28.83,28.83
$IRIDIUM_FIX,4648.08,-12500.30,261013,030303
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.56
$INTERNAL_PRESSURE,8.90787
$TCM_TEMP,12.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,19.1
$ALTIM_BOTTOM_PING,492.0,64.5
$24V_AH,23.9,2.729
$10V_AH,10.2,2.633
$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,17.075,95.550,315.850,0.000,0.000,0.000,0.000,285.550,10.500,0.000,5.328,1248.233,8010.332,357.024,1955.173,70.136,0.000,1430.771,0.000,1631.615,0.000,68.445,0.000
$DEVICE_MAMPS,211.140,60.435,898.110,0.000,0.000,0.000,0.000,75.735,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,282.630,546.924,886.695,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,11.230,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,314500
$DATA_FILE_SIZE,30292,413
$CAP_FILE_SIZE,106657,0
$CFSIZE,2097872896,2094399488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,261013,103157,4707.174,-12500.665,34,0.7,34,16.6