version: 66.11
glider: 195
mission: 8
dive: 25
start: 10 29 113 8 0 34
data:
$ID,195
$MISSION,8
$DIVE,25
$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,390
$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,13
$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,350
$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,-4461.0225
$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,1
$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,51
$R_STBD_OVSHOOT,32
$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,0
$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
$GPS1,291013,075104,4728.872,-12510.768,27,0.8,27,16.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-61.1
$GPS2,291013,080006,4728.857,-12510.971,6,0.8,6,16.7
$SPEED_LIMITS,0.119,0.258
$TGT_NAME,SEARCH_A
$TGT_LATLONG,4750.000,-12525.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.036,0.255
$KALMAN_X,142.8,0.0,0.0,-13406.7,-249.4
$KALMAN_Y,-5850.3,0.0,0.0,31666.5,-2921.9
$MHEAD_RNG_PITCHd_Wd,335.3,42865,-17.6,-10.000,-21.21,2208
$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,-0.79,-146.6,179,2002,1488,1220,0.0,0.0,0,79,0.00,0.00,-62.72,0.000,16386,0.000,0.000,179,2003,2921,2931,2912,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.79,-146.6,179,2003,2933,2912,3.0,-4.8,6,110,7.82,2.28,-12.70,0.000,18692,0.210,0.057,2273,3443,3419,3431,3407,0,0,0,0,0,0,25.78,26.03,26.34
$GC,156,-0.66,-146.6,2273,3443,3432,3408,15.2,-17.7,13,165,0.17,2.17,0.00,0.000,3078,0.128,0.029,2329,2026,3420,3432,3408,0,0,0,0,0,0,25.94,26.11,28.83
$GC,463,-0.66,-146.6,2329,2025,3434,3408,57.4,-12.3,44,473,0.00,2.22,0.00,0.000,260,0.000,0.045,2321,3438,3421,3434,3408,0,0,0,0,0,0,28.83,26.20,28.83
$GC,670,-0.66,-146.6,2320,3438,3436,3408,84.0,-12.9,63,674,0.00,2.15,0.00,0.000,1030,0.000,0.028,2321,2030,3421,3435,3408,0,0,0,0,0,0,28.83,26.31,28.83
$GC,989,-0.68,-146.6,2320,2030,3436,3408,117.5,-8.9,79,995,0.00,2.17,0.00,0.000,260,0.000,0.046,2310,3438,3422,3436,3408,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1072,-0.68,-146.6,2310,3438,3436,3408,124.4,-8.6,83,1076,0.00,2.15,0.00,0.000,1030,0.000,0.029,2311,2030,3421,3436,3407,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1391,-0.71,-146.6,2310,2029,3436,3408,156.7,-11.0,98,1396,0.00,2.15,0.00,0.000,260,0.000,0.046,2300,3425,3422,3436,3408,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1482,-0.74,-146.6,2300,3425,3436,3408,167.4,-11.5,101,1486,0.00,2.12,0.00,0.000,1030,0.000,0.029,2300,2012,3422,3436,3408,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1814,-0.77,-146.6,2300,2012,3436,3408,205.4,-11.2,112,1819,0.00,2.22,0.00,0.000,260,0.000,0.046,2289,3434,3422,3436,3408,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1882,-0.80,-146.6,2289,3434,3436,3408,212.5,-11.3,114,1886,0.00,2.10,0.00,0.000,1030,0.000,0.029,2289,2015,3422,3436,3408,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2206,-0.83,-146.6,2289,2015,3436,3408,250.8,-11.2,125,2211,0.00,2.22,0.00,0.000,260,0.000,0.047,2279,3442,3422,3436,3408,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2357,-0.83,-146.6,2278,3442,3436,3408,268.2,-11.6,130,2362,0.00,2.15,0.00,0.000,1030,0.000,0.029,2279,2027,3422,3436,3408,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2717,-0.85,-146.6,2278,2027,3436,3408,309.1,-10.9,141,2718,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,2027,3421,3435,3408,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3017,-0.88,-146.6,2278,2027,3435,3408,340.1,-10.2,146,3023,0.00,2.15,0.00,0.000,260,0.000,0.047,2268,3429,3421,3435,3408,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3145,-0.91,-146.6,2268,3429,3435,3408,352.6,-10.2,148,3149,0.00,2.10,0.00,0.000,1030,0.000,0.030,2268,2014,3421,3435,3408,0,0,0,0,0,0,28.83,26.59,28.83
$GC,3493,-0.93,-146.6,2268,2014,3434,3408,388.8,-10.2,154,3498,0.00,2.20,0.00,0.000,260,0.000,0.047,2257,3434,3421,3434,3408,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3601,-0.96,-146.6,2257,3434,3434,3408,394.9,-10.1,155,3605,0.00,2.10,0.00,0.000,1030,0.000,0.030,2257,2018,3421,3434,3408,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3909,-0.96,-146.6,2257,2018,3434,3408,430.9,-10.3,160,3915,0.00,2.17,0.00,0.000,260,0.000,0.047,2246,3430,3420,3433,3408,0,0,0,0,0,0,28.83,26.57,28.83
$GC,3960,-0.96,-146.6,2246,3431,3433,3408,430.9,-10.3,160,3969,0.00,2.12,0.00,0.000,1030,0.000,0.030,2246,2027,3420,3433,3407,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4269,-0.96,-146.6,2246,2027,3433,3407,470.4,-10.8,166,4275,0.00,2.17,0.00,0.000,260,0.000,0.048,2236,3436,3420,3433,3407,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4371,-0.96,-146.6,2236,3437,3433,3407,477.2,-10.9,167,4375,0.00,2.15,0.00,0.000,1030,0.000,0.031,2236,2016,3420,3433,3407,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4689,-0.96,-146.6,2236,2016,3433,3406,518.6,-11.5,173,4694,0.00,2.12,0.00,0.000,516,0.000,0.044,2236,627,3419,3433,3406,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4753,-0.96,-146.6,2236,627,3433,3406,526.1,-11.8,174,4759,0.00,2.10,0.00,0.000,1030,0.000,0.037,2227,2023,3419,3433,3406,0,0,0,0,0,0,28.83,26.62,28.83
$GC,5112,-0.96,-146.6,2227,2023,3433,3404,568.9,-11.7,180,5118,0.00,2.15,0.00,0.000,260,0.000,0.048,2217,3423,3419,3433,3405,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5208,-0.96,-146.6,2217,3423,3433,3404,575.7,-11.6,181,5213,0.00,2.12,0.00,0.000,1030,0.000,0.031,2217,2021,3419,3433,3405,0,0,0,0,0,0,28.83,26.65,28.83
$STATE,5230,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5231,begin apogee
$GC,5234,-0.23,0.0,2217,2021,3433,3405,582.8,-11.6,182,5353,0.73,0.00,113.28,0.908,10246,0.110,0.000,2464,2020,2820,2915,2725,0,0,0,0,0,0,26.50,28.83,24.22
$STATE,5353,end apogee,CONTROL_FINISHED_OK
$STATE,5354,begin climb
$GC,5355,0.79,146.6,2463,2020,2915,2725,586.4,0.0,184,5476,0.93,0.00,117.10,0.903,10758,0.058,0.000,2799,2020,2222,2341,2104,0,0,0,0,0,0,25.01,28.83,23.95
$GC,5772,0.70,146.6,2799,2021,2336,2101,546.4,11.6,191,5773,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2021,2218,2336,2101,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6071,0.61,146.6,2799,2020,2335,2101,512.9,11.1,196,6078,0.17,2.25,0.00,0.000,4356,0.144,0.044,2746,3439,2218,2335,2101,0,0,0,0,0,0,25.91,26.00,28.83
$GC,6109,0.52,146.6,2745,3439,2335,2101,512.9,11.1,196,6114,0.15,2.15,0.00,0.000,5126,0.141,0.031,2711,2028,2217,2335,2100,0,0,0,0,0,0,25.94,26.05,28.83
$GC,6427,0.56,211.3,2711,2027,2335,2099,486.2,7.0,202,6487,0.00,2.33,50.40,0.848,8708,0.000,0.045,2717,631,1958,2097,1819,0,0,0,0,0,0,28.83,25.34,24.65
$GC,6582,0.59,269.5,2717,631,2096,1814,476.9,7.3,204,6637,0.00,2.22,47.28,0.833,9222,0.000,0.036,2717,2034,1721,1864,1578,0,0,0,0,0,0,28.83,25.68,24.36
$GC,6972,0.66,285.4,2717,2034,1861,1569,439.7,9.3,211,6992,0.12,2.30,13.07,0.753,10500,0.081,0.046,2789,3427,1656,1799,1513,0,0,0,0,0,0,25.93,25.65,24.95
$GC,7058,0.69,285.4,2789,3427,1799,1513,431.6,10.2,212,7062,0.00,2.17,0.00,0.000,1030,0.000,0.031,2798,2023,1656,1799,1513,0,0,0,0,0,0,28.83,25.81,28.83
$GC,7386,0.65,285.4,2798,2023,1798,1508,378.6,14.9,218,7388,0.15,0.00,0.00,0.000,4102,0.144,0.000,2758,2023,1653,1798,1508,0,0,0,0,0,0,25.96,28.83,28.83
$GC,7686,0.67,285.4,2758,2023,1798,1507,344.0,11.3,223,7687,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,2023,1653,1799,1507,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7986,0.70,285.4,2758,2024,1799,1505,310.1,11.3,228,7987,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,2023,1651,1798,1505,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8286,0.74,285.4,2757,2023,1798,1505,275.6,11.5,236,8291,0.00,2.20,0.00,0.000,260,0.000,0.046,2758,3431,1651,1798,1505,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8308,0.78,285.4,2758,3431,1799,1505,275.6,11.5,236,8316,0.00,2.17,0.00,0.000,1030,0.000,0.031,2765,2017,1651,1798,1505,0,0,0,0,0,0,28.83,26.37,28.83
$GC,8616,0.81,285.4,2765,2018,1798,1504,238.3,10.8,247,8622,0.12,2.15,0.00,0.000,2564,0.083,0.043,2847,630,1651,1798,1504,0,0,0,0,0,0,26.45,26.37,28.83
$GC,8652,0.81,285.4,2847,629,1796,1504,234.1,11.5,248,8657,0.12,2.17,0.00,0.000,5126,0.121,0.035,2806,2025,1650,1796,1504,0,0,0,0,0,0,26.29,26.41,28.83
$GC,8976,0.79,285.4,2805,2025,1796,1504,189.5,13.5,259,8982,0.00,2.17,0.00,0.000,260,0.000,0.046,2806,3436,1650,1796,1504,0,0,0,0,0,0,28.83,26.43,28.83
$GC,8998,0.76,285.4,2805,3436,1796,1504,189.5,13.5,259,9006,0.00,2.17,0.00,0.000,1030,0.000,0.031,2811,2019,1650,1796,1504,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9306,0.74,285.4,2811,2019,1796,1504,140.8,14.8,271,9307,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2019,1650,1796,1504,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9606,0.74,285.4,2811,2019,1796,1504,98.6,12.7,286,9611,0.00,2.20,0.00,0.000,260,0.000,0.045,2811,3438,1650,1796,1504,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9645,0.74,285.4,2811,3438,1796,1504,93.3,13.0,288,9652,0.12,2.12,0.00,0.000,5126,0.146,0.031,2787,2020,1650,1796,1504,0,0,0,0,0,0,26.39,26.52,28.83
$GC,9956,0.80,297.8,2786,2020,1796,1504,60.2,9.4,313,9969,0.00,0.00,10.32,0.513,8198,0.000,0.000,2787,2020,1604,1750,1459,0,0,0,0,0,0,28.83,28.83,25.71
$GC,10267,0.88,320.2,2787,2020,1749,1458,33.5,9.0,344,10291,0.12,2.17,18.55,0.558,10756,0.082,0.044,2866,625,1513,1656,1371,0,0,0,0,0,0,26.52,26.21,25.58
$GC,10365,0.88,320.2,2865,625,1655,1366,20.7,13.8,353,10376,0.15,2.15,0.00,0.000,5126,0.134,0.034,2824,2035,1510,1655,1366,0,0,0,0,0,0,26.17,26.29,28.83
$STATE,10574,end climb,SURFACE_DEPTH_REACHED
$STATE,10574,begin surface coast
$FINISH,0.0,1.013792
$STATE,10595,end surface coast,CONTROL_FINISHED_OK
$STATE,10595,begin surface
$SM_CCo,10607,39.55,0.270,3,0,1393,350.04
$SM_GC,0.68,6.88,0.00,39.55,0.035,0.000,0.270,180,2037,1393,-7.27,0.31,350.04,0,0,0,0,3,0,26.38,28.83,25.63
$IRIDIUM_FIX,4710.21,-12516.73,291013,070708
$TT8_MAMPS,0.026964,0.026964
$HUMID,42.55
$INTERNAL_PRESSURE,8.86881
$TCM_TEMP,12.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,526.1,66.0
$24V_AH,24.0,4.416
$10V_AH,10.2,4.276
$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,17.775,86.925,370.000,39.550,0.000,0.000,0.000,436.150,11.000,0.000,6.586,1160.067,7598.719,462.323,1924.515,72.411,0.387,1609.342,0.000,1452.496,0.000,71.533,0.000
$DEVICE_MAMPS,209.610,57.375,908.055,270.045,0.000,0.000,0.000,68.850,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,69.140,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,257.815,498.123,807.260,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,11.230,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,314488
$DATA_FILE_SIZE,27144,376
$CAP_FILE_SIZE,103771,0
$CFSIZE,2097872896,2092269568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$GPS,291013,105918,4730.301,-12511.307,28,0.8,28,16.7