version: 66.11
glider: 195
mission: 8
dive: 45
start: 10 31 113 19 35 3
data:
$ID,195
$MISSION,8
$DIVE,45
$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,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,-4511.8574
$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,0.039999999
$PITCH_ADJ_DBAND,0.5
$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,46
$R_STBD_OVSHOOT,36
$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,700
$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
$GPS1,311013,192853,4754.337,-12537.034,18,0.9,18,16.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-63.0
$GPS2,311013,193435,4754.312,-12537.043,5,1.1,6,16.9
$SPEED_LIMITS,0.119,0.258
$TGT_NAME,SEARCH_B
$TGT_LATLONG,4815.000,-12600.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.031,0.256
$KALMAN_X,-600.3,0.0,0.0,-45404.2,-957.4
$KALMAN_Y,-18528.1,0.0,0.0,91466.0,-2992.9
$MHEAD_RNG_PITCHd_Wd,336.3,47638,-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,-0.79,-146.6,178,2017,1639,1393,0.0,0.0,0,79,0.00,0.00,-61.72,0.000,16386,0.000,0.000,178,2018,3119,3131,3107,0,0,0,0,0,0,28.83,28.83,28.83
$GC,81,-0.79,-146.6,178,2018,3133,3107,3.5,-5.1,6,102,7.78,2.22,-7.07,0.000,18948,0.207,0.056,2286,633,3421,3428,3414,0,0,0,0,0,0,25.82,26.08,26.38
$GC,142,-0.45,-146.6,2287,632,3431,3416,16.0,-19.4,12,151,0.35,2.17,0.00,0.000,3078,0.125,0.035,2391,2019,3423,3431,3416,0,0,0,0,0,0,25.96,26.13,28.83
$GC,450,-0.58,-146.6,2391,2019,3433,3415,54.3,-10.6,43,459,0.00,2.20,0.00,0.000,260,0.000,0.046,2383,3429,3424,3433,3415,0,0,0,0,0,0,28.83,26.22,28.83
$GC,686,-0.70,-146.6,1520,3428,3428,3414,75.4,-8.0,66,695,0.15,2.15,0.00,0.000,5126,0.038,0.028,2293,2018,3425,3435,3416,0,0,0,0,0,0,26.35,26.35,28.83
$GC,994,-0.64,-146.6,2292,2018,3436,3415,115.6,-13.4,84,1000,0.12,2.12,0.00,0.000,2564,0.147,0.040,2332,637,3426,3436,3416,0,0,0,0,0,0,26.29,26.36,28.83
$GC,1041,-0.64,-146.6,2331,637,3436,3415,120.2,-12.7,86,1046,0.00,2.15,0.00,0.000,1030,0.000,0.034,2325,2026,3426,3436,3416,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1354,-0.73,-146.6,2325,2026,3437,3416,149.9,-8.9,102,1360,0.00,2.17,0.00,0.000,260,0.000,0.045,2315,3432,3426,3437,3416,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1476,-0.80,-146.6,2315,3432,3437,3416,160.9,-9.2,107,1481,0.00,2.10,0.00,0.000,1030,0.000,0.028,2315,2017,3426,3437,3416,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1805,-0.90,-146.6,2315,2017,3437,3416,195.9,-10.3,118,1811,0.15,2.12,0.00,0.000,4612,0.071,0.041,2226,631,3426,3437,3415,0,0,0,0,0,0,26.56,26.46,28.83
$GC,1853,-0.95,-146.6,2226,631,3436,3416,199.5,-10.5,119,1857,0.00,2.10,0.00,0.000,1030,0.000,0.034,2216,2025,3425,3436,3415,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2165,-0.82,-146.6,2216,2025,3436,3415,245.5,-14.7,130,2172,0.17,2.17,0.00,0.000,2308,0.141,0.044,2265,3432,3426,3436,3416,0,0,0,0,0,0,26.39,26.49,28.83
$GC,2303,-0.78,-146.6,2265,3432,3436,3415,259.7,-11.8,134,2307,0.00,2.10,0.00,0.000,1030,0.000,0.029,2265,2015,3425,3436,3415,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2616,-0.81,-146.6,2265,2015,3436,3415,291.4,-8.1,145,2622,0.00,2.15,0.00,0.000,260,0.000,0.046,2254,3417,3425,3436,3415,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2668,-0.81,-146.6,2254,3417,3436,3415,293.8,-7.8,146,2675,0.00,2.05,0.00,0.000,1030,0.000,0.029,2254,2024,3425,3436,3415,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2975,-0.81,-146.6,2254,2024,3436,3415,329.1,-11.3,153,2981,0.00,2.17,0.00,0.000,260,0.000,0.047,2244,3426,3425,3435,3415,0,0,0,0,0,0,28.83,26.54,28.83
$GC,3113,-0.81,-146.6,2243,3426,3435,3415,345.7,-12.8,155,3118,0.15,2.08,0.00,0.000,3078,0.141,0.029,2286,2018,3425,3435,3415,0,0,0,0,0,0,26.44,26.60,28.83
$GC,3456,-0.93,-146.6,2286,2018,3435,3415,391.5,-12.4,161,3462,0.12,2.15,0.00,0.000,4356,0.080,0.045,2200,3419,3424,3435,3413,0,0,0,0,0,0,26.66,26.55,28.83
$GC,3613,-0.93,-146.6,2199,3419,3434,3413,409.0,-12.7,163,3618,0.12,2.10,0.00,0.000,3078,0.118,0.030,2243,2026,3423,3434,3413,0,0,0,0,0,0,26.46,26.63,28.83
$GC,3936,-0.97,-146.6,2243,2026,3434,3413,451.6,-11.1,169,3938,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,2026,3423,3434,3413,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4236,-1.24,-146.6,2243,2026,3434,3412,474.3,-6.9,174,4242,0.25,2.17,0.00,0.000,4356,0.059,0.046,2127,3429,3423,3434,3412,0,0,0,0,0,0,26.65,26.58,28.83
$STATE,4474,end dive,NO_VERTICAL_VELOCITY
$STATE,4474,begin apogee
$GC,4480,-0.23,0.0,2126,2021,3434,3410,474.2,0.0,178,4597,0.93,0.00,112.12,0.857,10246,0.058,0.000,2480,2020,2820,2914,2726,0,0,0,0,0,0,26.60,28.83,24.36
$STATE,4597,end apogee,CONTROL_FINISHED_OK
$STATE,4598,begin climb
$GC,4599,0.79,146.6,2479,2021,2914,2726,474.1,0.0,180,4723,0.88,2.38,114.43,0.832,10756,0.052,0.044,2811,642,2220,2336,2105,0,0,0,0,0,0,25.10,24.73,24.08
$GC,5016,0.65,146.6,2811,642,2333,2104,434.2,12.2,187,5023,0.20,2.17,0.00,0.000,5126,0.138,0.035,2758,2030,2218,2333,2104,0,0,0,0,0,0,25.66,25.79,28.83
$GC,5377,0.65,150.3,2757,2030,2333,2102,399.9,9.8,193,5385,0.00,2.20,3.53,0.467,8708,0.000,0.042,2766,634,2207,2321,2093,0,0,0,0,0,0,28.83,26.01,25.23
$GC,5425,0.65,154.0,2766,634,2321,2094,399.9,9.8,193,5436,0.00,2.15,4.68,0.555,9222,0.000,0.034,2766,2032,2190,2304,2076,0,0,0,0,0,0,28.83,26.08,25.23
$GC,5793,0.55,172.9,2766,2032,2305,2077,361.8,9.1,200,5812,0.12,0.00,15.95,0.738,12806,0.151,0.000,2726,2032,2114,2233,1995,0,0,0,0,0,0,26.11,28.83,25.19
$GC,6149,0.64,172.9,2726,2033,2233,1994,325.4,11.8,206,6153,0.00,2.20,0.00,0.000,516,0.000,0.044,2734,629,2113,2233,1994,0,0,0,0,0,0,28.83,26.14,28.83
$GC,6168,0.73,172.9,2734,630,2233,1994,325.4,11.8,206,6173,0.12,2.15,0.00,0.000,3078,0.080,0.034,2800,2030,2113,2233,1994,0,0,0,0,0,0,26.19,26.19,28.83
$GC,6501,0.62,172.9,2800,2030,2233,1993,285.2,11.8,214,6507,0.17,2.20,0.00,0.000,4356,0.136,0.044,2745,3436,2113,2233,1994,0,0,0,0,0,0,26.17,26.26,28.83
$GC,6609,0.58,172.9,2744,3437,2233,1993,274.7,12.3,217,6613,0.00,2.12,0.00,0.000,1030,0.000,0.031,2752,2020,2113,2233,1993,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6921,0.63,196.4,2752,2020,2233,1992,240.7,8.9,228,6945,0.00,2.17,18.75,0.682,8708,0.000,0.043,2762,634,2018,2148,1889,0,0,0,0,0,0,28.83,26.08,25.38
$GC,7001,0.67,226.6,2761,634,2147,1888,235.6,8.6,229,7030,0.00,2.12,24.33,0.685,9222,0.000,0.034,2762,2020,1895,2031,1760,0,0,0,0,0,0,28.83,26.16,25.12
$GC,7333,0.75,268.3,2761,2020,2030,1757,203.2,8.1,240,7371,0.00,2.28,33.38,0.674,8452,0.000,0.044,2762,3438,1725,1864,1587,0,0,0,0,0,0,28.83,25.63,25.00
$GC,7427,0.82,293.8,2761,3438,1861,1587,195.3,8.8,243,7456,0.12,2.17,21.10,0.650,11270,0.079,0.030,2835,2023,1621,1758,1485,0,0,0,0,0,0,25.79,25.79,24.87
$GC,7760,0.74,293.8,2835,2023,1756,1477,143.9,15.3,255,7766,0.15,2.17,0.00,0.000,4612,0.139,0.043,2797,634,1616,1755,1477,0,0,0,0,0,0,25.87,25.95,28.83
$GC,7859,0.79,293.8,2797,634,1754,1475,131.0,12.2,260,7865,0.00,2.15,0.00,0.000,1030,0.000,0.034,2797,2025,1614,1754,1475,0,0,0,0,0,0,28.83,26.06,28.83
$GC,8179,0.85,293.8,2797,2025,1755,1475,93.4,11.2,276,8183,0.00,2.20,0.00,0.000,260,0.000,0.045,2797,3432,1615,1755,1475,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8228,0.91,293.8,2797,3432,1754,1475,89.1,11.7,278,8237,0.08,2.17,0.00,0.000,3078,0.050,0.030,2860,2026,1614,1754,1474,0,0,0,0,0,0,26.20,26.24,28.83
$GC,8535,0.85,293.8,2860,2026,1754,1475,47.5,12.1,306,8540,0.12,2.17,0.00,0.000,4612,0.150,0.042,2829,625,1614,1754,1475,0,0,0,0,0,0,26.21,26.27,28.83
$GC,8582,0.89,293.8,2829,625,1754,1473,42.3,10.9,310,8586,0.00,2.12,0.00,0.000,1030,0.000,0.034,2829,2026,1614,1755,1473,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8888,1.00,303.7,2829,2026,1754,1471,12.5,9.5,340,8900,0.10,2.20,3.70,0.321,10500,0.093,0.044,2887,3435,1581,1720,1442,0,0,0,0,0,0,26.44,26.32,25.67
$STATE,8971,end climb,SURFACE_DEPTH_REACHED
$STATE,8971,begin surface coast
$FINISH,0.1,1.024305
$STATE,8983,end surface coast,CONTROL_FINISHED_OK
$STATE,8983,begin surface
$SM_CCo,9058,0.00,0.000,0,0,1578,304.66
$SM_GC,1.25,6.93,2.17,0.00,0.025,0.029,0.000,181,2024,1578,-7.27,1.50,304.66,0,0,0,0,0,0,26.41,26.39,28.83
$IRIDIUM_FIX,4735.69,-12532.63,311013,161639
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.48
$INTERNAL_PRESSURE,8.90787
$TCM_TEMP,12.40
$XPDR_PINGS,0
$24V_AH,24.1,6.260
$10V_AH,10.3,5.382
$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,19.300,86.525,351.950,0.000,0.000,0.000,0.000,282.325,0.000,0.000,7.502,1088.906,6273.022,371.737,1619.449,61.341,0.387,1376.999,0.000,1316.309,0.000,1.002,0.000
$DEVICE_MAMPS,207.315,55.845,856.800,0.000,0.000,0.000,0.000,74.205,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,69.140,14.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,238.591,462.407,281.265,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,11.230,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,314280
$DATA_FILE_SIZE,27096,349
$CAP_FILE_SIZE,97688,0
$CFSIZE,2097872896,2090074112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,311013,220705,4755.670,-12538.373,32,0.9,32,16.9