version: 66.11
glider: 195
mission: 8
dive: 9
start: 10 26 113 11 31 35
data:
$ID,195
$MISSION,8
$DIVE,9
$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,-4043.4561
$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,50
$R_STBD_OVSHOOT,35
$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
$GPS1,261013,112119,4707.605,-12500.495,2,0.7,2,16.6
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-63.2
$GPS2,261013,113108,4707.655,-12500.519,5,0.7,5,16.6
$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,322.2,84122,-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,-146.6,178,2020,1698,1477,0.0,0.0,0,69,0.00,0.00,-52.83,0.000,16386,0.000,0.000,178,2021,2970,2982,2959,0,0,0,0,0,0,28.83,28.83,28.83
$GC,72,-0.75,-146.6,178,2020,2983,2959,3.2,-5.5,5,100,8.05,2.30,-11.07,0.000,18692,0.209,0.061,2323,3428,3418,3432,3405,0,0,0,0,0,0,25.69,25.93,26.25
$GC,397,-0.75,-146.6,2322,3428,3435,3406,48.0,-12.4,37,401,0.00,2.12,0.00,0.000,1030,0.000,0.028,2322,2019,3420,3434,3406,0,0,0,0,0,0,28.83,26.17,28.83
$GC,718,-0.75,-146.6,2322,2018,3437,3406,83.2,-10.6,68,724,0.00,2.12,0.00,0.000,516,0.000,0.042,2323,640,3421,3437,3406,0,0,0,0,0,0,28.83,26.22,28.83
$GC,800,-0.75,-146.6,2322,640,3438,3406,92.1,-11.0,72,806,0.00,2.10,0.00,0.000,1030,0.000,0.036,2314,2026,3421,3437,3406,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1119,-0.75,-146.6,2314,2026,3437,3406,124.5,-10.1,88,1125,0.00,2.20,0.00,0.000,260,0.000,0.047,2303,3438,3421,3437,3406,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1207,-0.75,-146.6,2303,3438,3437,3406,132.8,-10.3,92,1212,0.08,2.15,0.00,0.000,3078,0.116,0.029,2330,2024,3421,3437,3406,0,0,0,0,0,0,26.25,26.39,28.83
$GC,1542,-0.75,-146.6,2330,2024,3437,3406,160.5,-7.6,107,1543,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2024,3422,3438,3406,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1841,-0.75,-146.6,2331,2024,3437,3406,184.3,-7.6,117,1846,0.00,2.20,0.00,0.000,260,0.000,0.047,2323,3437,3421,3436,3406,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1950,-0.75,-146.6,2322,3436,3436,3406,191.4,-7.7,120,1954,0.00,2.10,0.00,0.000,1030,0.000,0.029,2323,2025,3421,3436,3406,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2257,-0.75,-146.6,2322,2024,3436,3406,217.8,-8.2,130,2258,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2023,3420,3435,3406,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2559,-0.75,-146.6,2322,2024,3435,3406,242.0,-8.0,140,2565,0.00,2.15,0.00,0.000,260,0.000,0.047,2312,3422,3420,3435,3406,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2709,-0.75,-146.6,2312,3421,3435,3406,255.2,-8.8,145,2715,0.00,2.08,0.00,0.000,1030,0.000,0.030,2313,2025,3420,3434,3406,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3039,-0.75,-146.6,2312,2025,3434,3406,284.0,-8.4,156,3045,0.00,2.12,0.00,0.000,516,0.000,0.044,2313,638,3420,3434,3406,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3093,-0.75,-146.6,2312,639,3434,3405,286.6,-8.4,157,3100,0.00,2.15,0.00,0.000,1030,0.000,0.037,2307,2025,3419,3434,3405,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3429,-0.75,-146.6,2307,2025,3434,3404,317.3,-8.5,166,3435,0.00,2.17,0.00,0.000,260,0.000,0.047,2297,3435,3419,3434,3404,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3630,-0.75,-146.6,2297,3435,3434,3404,332.8,-8.5,169,3635,0.15,2.10,0.00,0.000,3078,0.125,0.030,2341,2016,3419,3434,3404,0,0,0,0,0,0,26.47,26.60,28.83
$GC,3973,-0.75,-146.6,2341,2016,3433,3404,357.3,-6.5,175,3979,0.00,2.20,0.00,0.000,260,0.000,0.048,2333,3435,3418,3434,3403,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4107,-0.75,-146.6,2333,3435,3434,3403,366.8,-7.3,177,4111,0.00,2.10,0.00,0.000,1030,0.000,0.030,2333,2018,3418,3433,3403,0,0,0,0,0,0,28.83,26.62,28.83
$GC,4450,-0.75,-146.6,2333,2018,3434,3403,395.0,-7.9,183,4456,0.00,2.17,0.00,0.000,260,0.000,0.048,2323,3435,3418,3434,3402,0,0,0,0,0,0,28.83,26.57,28.83
$GC,4542,-0.75,-146.6,2323,3435,3433,3402,399.4,-7.7,184,4546,0.00,2.10,0.00,0.000,1030,0.000,0.031,2323,2017,3417,3433,3402,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4870,-0.75,-146.6,2323,2017,3434,3401,426.2,-7.4,190,4876,0.00,2.20,0.00,0.000,260,0.000,0.048,2314,3436,3416,3433,3400,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4963,-0.75,-146.6,2313,3436,3433,3400,430.4,-7.1,191,4968,0.00,2.12,0.00,0.000,1030,0.000,0.031,2314,2031,3416,3433,3400,0,0,0,0,0,0,28.83,26.65,28.83
$GC,5292,-0.75,-146.6,2313,2031,3433,3400,453.4,-6.2,197,5297,0.00,2.15,0.00,0.000,260,0.000,0.049,2306,3426,3416,3434,3399,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5333,-0.75,-146.6,2306,3427,3433,3399,453.4,-6.2,197,5337,0.00,2.10,0.00,0.000,1030,0.000,0.030,2306,2015,3416,3433,3399,0,0,0,0,0,0,28.83,26.65,28.83
$GC,5651,-0.75,-146.6,2306,2014,3433,3398,479.0,-7.3,203,5657,0.00,2.20,0.00,0.000,260,0.000,0.048,2296,3435,3415,3433,3398,0,0,0,0,0,0,28.83,26.59,28.83
$GC,5740,-0.75,-146.6,2295,3435,3433,3398,483.9,-7.6,204,5744,0.15,2.10,0.00,0.000,3078,0.123,0.031,2340,2019,3415,3433,3398,0,0,0,0,0,0,26.52,26.65,28.83
$GC,6073,-0.75,-146.6,2340,2019,3433,3398,506.9,-6.2,210,6078,0.00,2.17,0.00,0.000,260,0.000,0.048,2332,3436,3415,3433,3397,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6134,-0.75,-146.6,2332,3436,3433,3397,511.4,-6.6,211,6139,0.00,2.15,0.00,0.000,1030,0.000,0.031,2332,2017,3415,3433,3397,0,0,0,0,0,0,28.83,26.67,28.83
$STATE,6432,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6432,begin apogee
$GC,6435,-0.21,0.0,2332,2017,3433,3397,538.2,-9.0,216,6554,0.50,0.00,111.12,0.893,10246,0.089,0.000,2512,2016,2820,2916,2725,0,0,0,0,0,0,26.56,28.83,24.25
$STATE,6555,end apogee,CONTROL_FINISHED_OK
$STATE,6555,begin climb
$GC,6557,0.75,146.6,2511,2017,2916,2726,541.6,0.0,218,6680,0.82,2.30,116.07,0.871,10756,0.037,0.044,2854,640,2221,2338,2105,0,0,0,0,0,0,25.13,24.67,23.97
$GC,6826,0.75,146.6,2854,640,2335,2104,528.2,7.5,222,6831,0.10,2.22,0.00,0.000,5126,0.138,0.036,2824,2018,2219,2335,2104,0,0,0,0,0,0,25.41,25.53,28.83
$GC,7154,0.75,146.6,2824,2018,2335,2102,483.2,13.7,228,7155,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2018,2218,2335,2102,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7453,0.75,146.6,2824,2018,2335,2101,442.7,13.7,233,7459,0.00,2.22,0.00,0.000,260,0.000,0.046,2824,3436,2218,2335,2101,0,0,0,0,0,0,28.83,26.11,28.83
$GC,7561,0.75,146.6,2824,3436,2335,2101,433.5,14.4,234,7565,0.00,2.17,0.00,0.000,1030,0.000,0.031,2833,2030,2217,2334,2101,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7874,0.75,146.6,2832,2029,2333,2101,382.6,13.9,240,7879,0.00,2.20,0.00,0.000,260,0.000,0.046,2832,3436,2217,2333,2101,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7926,0.75,146.6,2832,3436,2332,2101,382.6,13.9,240,7934,0.00,2.17,0.00,0.000,1030,0.000,0.031,2843,2029,2217,2333,2101,0,0,0,0,0,0,28.83,26.31,28.83
$GC,8234,0.75,146.6,2843,2029,2332,2101,331.6,14.0,246,8239,0.00,2.17,0.00,0.000,516,0.000,0.044,2853,625,2216,2332,2101,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8301,0.75,146.6,2853,625,2331,2101,323.1,14.1,247,8306,0.12,2.15,0.00,0.000,5126,0.161,0.036,2822,2035,2216,2331,2101,0,0,0,0,0,0,26.22,26.37,28.83
$GC,8624,0.75,146.6,2822,2035,2331,2101,280.4,12.9,255,8625,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2035,2215,2330,2101,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8924,0.75,146.6,2822,2035,2331,2101,242.9,12.5,265,8925,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2035,2215,2330,2101,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9224,0.75,146.6,2822,2035,2331,2100,208.2,11.5,275,9229,0.00,2.15,0.00,0.000,260,0.000,0.047,2822,3429,2215,2330,2101,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9261,0.75,146.6,2822,3429,2330,2101,204.6,11.6,276,9265,0.00,2.15,0.00,0.000,1030,0.000,0.031,2830,2022,2215,2330,2101,0,0,0,0,0,0,28.83,26.51,28.83
$GC,9584,0.75,146.6,2830,2022,2331,2101,163.2,12.6,287,9585,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,2022,2215,2330,2101,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9884,0.75,146.6,2830,2022,2330,2101,124.4,12.5,300,9885,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,2022,2215,2330,2100,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10184,0.75,146.6,2830,2022,2331,2100,86.3,12.4,315,10185,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,2022,2215,2330,2100,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10485,0.75,174.1,2830,2021,2331,2101,53.1,8.7,342,10515,0.00,2.28,20.48,0.552,8452,0.000,0.046,2830,3435,2109,2230,1989,0,0,0,0,0,0,28.83,26.30,25.66
$GC,10632,0.75,218.8,2830,3435,2231,1988,41.2,7.9,356,10672,0.00,2.17,34.62,0.568,9222,0.000,0.031,2840,2017,1926,2063,1789,0,0,0,0,0,0,28.83,26.39,25.32
$GC,10970,0.75,262.6,2840,2017,2063,1782,10.5,8.0,390,10992,0.00,0.00,20.00,0.456,8198,0.000,0.000,2840,2018,1747,1890,1605,0,0,0,0,0,0,28.83,28.83,25.44
$STATE,11079,end climb,SURFACE_DEPTH_REACHED
$STATE,11079,begin surface coast
$FINISH,0.1,1.023810
$STATE,11100,end surface coast,CONTROL_FINISHED_OK
$STATE,11100,begin surface
$SM_CCo,11112,45.55,0.273,4,0,1596,300.00
$SM_GC,1.06,6.95,0.00,45.55,0.032,0.000,0.273,186,2016,1596,-7.36,-0.23,300.00,0,0,0,0,4,0,26.12,28.83,25.37
$IRIDIUM_FIX,4651.23,-12502.11,261013,111117
$TT8_MAMPS,0.026215,0.026215
$HUMID,44.01
$INTERNAL_PRESSURE,8.89811
$TCM_TEMP,12.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,18.8
$ALTIM_BOTTOM_PING,502.8,42.7
$24V_AH,24.0,2.864
$10V_AH,10.3,2.746
$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,16.925,82.225,302.300,45.550,0.000,0.000,0.000,405.800,10.750,0.000,6.358,1230.607,8051.131,385.475,2052.869,73.538,0.000,1546.553,0.000,1612.173,0.000,69.969,0.000
$DEVICE_MAMPS,208.845,61.200,892.755,273.105,0.000,0.000,0.000,73.440,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,276.566,533.900,865.208,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,11.230,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,314456
$DATA_FILE_SIZE,30359,403
$CAP_FILE_SIZE,103705,0
$CFSIZE,2097872896,2094202880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,1,0
$GPS,261013,143904,4709.555,-12501.045,35,0.8,35,16.6