version: 66.11
glider: 195
mission: 8
dive: 50
start: 11 1 113 13 58 27
data:
$ID,195
$MISSION,8
$DIVE,50
$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,-4518.2505
$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,47
$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,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
$GPS1,011113,134958,4804.082,-12545.109,37,0.8,37,16.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-61.9
$GPS2,011113,135759,4804.106,-12545.082,6,0.8,6,16.9
$SPEED_LIMITS,0.119,0.258
$TGT_NAME,SEARCH_B
$TGT_LATLONG,4815.000,-12600.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.132,0.221
$KALMAN_X,-1672.2,0.0,0.0,-54460.9,-507.7
$KALMAN_Y,-21584.6,0.0,0.0,112635.5,-1015.6
$MHEAD_RNG_PITCHd_Wd,312.2,27304,-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,-146.6,181,2026,1478,1195,0.0,0.0,0,79,0.00,0.00,-61.80,0.000,16386,0.000,0.000,181,2026,2888,2894,2882,0,0,0,0,0,0,28.83,28.83,28.83
$GC,81,-0.79,-146.6,181,2026,2896,2883,3.2,-4.6,6,110,7.72,2.20,-13.73,0.000,18948,0.205,0.053,2283,625,3416,3425,3407,0,0,0,0,0,0,25.82,26.09,26.41
$GC,263,-0.54,-146.6,2283,624,3430,3409,36.6,-17.6,24,274,0.32,2.17,0.00,0.000,3078,0.130,0.035,2371,2040,3419,3429,3409,0,0,0,0,0,0,26.03,26.19,28.83
$GC,575,-0.61,-146.6,2371,2040,3432,3409,69.5,-9.7,55,583,0.00,2.15,0.00,0.000,260,0.000,0.045,2364,3428,3420,3431,3409,0,0,0,0,0,0,28.83,26.26,28.83
$GC,750,-0.68,-146.6,2363,3428,3432,3409,85.7,-9.6,69,757,0.12,2.10,0.00,0.000,5126,0.079,0.028,2295,2012,3420,3432,3409,0,0,0,0,0,0,26.34,26.36,28.83
$GC,1057,-0.63,-146.6,2295,2012,3433,3409,122.6,-10.1,85,1064,0.12,2.17,0.00,0.000,2308,0.145,0.043,2326,3421,3421,3433,3409,0,0,0,0,0,0,26.29,26.36,28.83
$GC,1125,-0.63,-146.6,2326,3421,3433,3408,128.0,-9.0,88,1129,0.00,2.12,0.00,0.000,1030,0.000,0.028,2327,2026,3421,3433,3409,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1447,-0.70,-146.6,2326,2025,3432,3408,158.4,-9.2,103,1453,0.00,2.17,0.00,0.000,260,0.000,0.045,2316,3426,3421,3433,3409,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1550,-0.77,-146.6,2315,3426,3433,3409,168.0,-10.3,106,1554,0.00,2.10,0.00,0.000,1030,0.000,0.028,2316,2015,3420,3433,3408,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1868,-0.85,-146.6,2315,2014,3433,3409,200.0,-9.1,117,1874,0.12,2.10,0.00,0.000,4612,0.080,0.041,2237,634,3420,3432,3409,0,0,0,0,0,0,26.55,26.46,28.83
$GC,1934,-0.85,-146.6,2237,634,3432,3409,207.1,-10.4,119,1939,0.12,2.15,0.00,0.000,3078,0.124,0.034,2270,2023,3420,3432,3409,0,0,0,0,0,0,26.34,26.50,28.83
$GC,2256,-0.85,-146.6,2270,2023,3432,3409,243.5,-11.1,130,2260,0.00,2.17,0.00,0.000,260,0.000,0.046,2262,3429,3420,3432,3408,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2427,-0.81,-146.6,2262,3430,3432,3408,261.1,-12.0,135,2434,0.00,2.08,0.00,0.000,1030,0.000,0.028,2262,2023,3420,3431,3409,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2733,-0.79,-146.6,2262,2023,3432,3409,302.3,-12.5,146,2734,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,2023,3420,3432,3409,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3032,-0.79,-146.6,2262,2023,3432,3409,338.3,-11.9,151,3036,0.00,2.17,0.00,0.000,260,0.000,0.046,2251,3428,3420,3431,3409,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3163,-0.79,-146.6,2251,3428,3431,3408,352.5,-12.1,153,3168,0.15,2.08,0.00,0.000,3078,0.136,0.029,2294,2018,3420,3432,3408,0,0,0,0,0,0,26.44,26.60,28.83
$GC,3505,-0.89,-146.6,2294,2018,3431,3408,385.8,-8.9,159,3512,0.12,2.10,0.00,0.000,4612,0.082,0.041,2217,645,3419,3431,3408,0,0,0,0,0,0,26.65,26.54,28.83
$GC,3548,-0.99,-146.6,2217,645,3431,3408,385.8,-8.9,159,3552,0.00,2.10,0.00,0.000,1030,0.000,0.036,2208,2035,3419,3431,3408,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3860,-0.88,-146.6,2207,2036,3431,3407,433.0,-13.7,165,3867,0.15,2.15,0.00,0.000,2308,0.146,0.045,2246,3426,3419,3431,3407,0,0,0,0,0,0,26.46,26.55,28.83
$GC,4058,-0.84,-146.6,2246,3426,3431,3406,454.5,-12.3,168,4062,0.00,2.08,0.00,0.000,1030,0.000,0.030,2246,2026,3418,3431,3406,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4400,-0.84,-146.6,2246,2026,3431,3406,490.3,-9.5,174,4404,0.00,2.17,0.00,0.000,260,0.000,0.047,2235,3429,3418,3431,3405,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4509,-0.84,-146.6,2235,3429,3431,3405,496.0,-9.5,175,4517,0.12,2.08,0.00,0.000,3078,0.144,0.030,2270,2024,3417,3431,3404,0,0,0,0,0,0,26.48,26.63,28.83
$GC,4816,-0.93,-146.6,2270,2024,3431,3405,526.4,-8.2,181,4822,0.00,2.17,0.00,0.000,260,0.000,0.047,2263,3426,3417,3431,3404,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4876,-1.03,-146.6,2262,3427,3431,3404,532.2,-8.6,182,4883,0.15,2.08,0.00,0.000,5126,0.072,0.030,2184,2026,3417,3431,3404,0,0,0,0,0,0,26.63,26.64,28.83
$GC,5236,-0.92,-146.6,2183,2026,3431,3404,581.7,-14.0,188,5242,0.20,2.17,0.00,0.000,2308,0.135,0.046,2241,3428,3418,3432,3404,0,0,0,0,0,0,26.48,26.59,28.83
$GC,5284,-0.80,-146.6,2240,3428,3431,3403,581.7,-14.0,188,5289,0.15,2.08,0.00,0.000,3078,0.133,0.030,2284,2021,3418,3432,3404,0,0,0,0,0,0,26.49,26.65,28.83
$GC,5593,-0.95,-146.6,2284,2021,3431,3403,609.6,-7.8,193,5599,0.12,2.10,0.00,0.000,4612,0.084,0.043,2210,643,3417,3431,3403,0,0,0,0,0,0,26.70,26.59,28.83
$GC,5654,-1.06,-146.6,2210,643,3431,3403,616.3,-8.4,194,5659,0.00,2.10,0.00,0.000,1030,0.000,0.037,2208,2029,3417,3431,3403,0,0,0,0,0,0,28.83,26.63,28.83
$STATE,6005,end dive,NO_VERTICAL_VELOCITY
$STATE,6005,begin apogee
$GC,6008,-0.23,0.0,2209,2029,3431,3402,616.7,0.0,200,6127,0.70,0.00,112.68,0.950,10246,0.067,0.000,2473,2029,2820,2914,2726,0,0,0,0,0,0,26.60,28.83,24.23
$STATE,6128,end apogee,CONTROL_FINISHED_OK
$STATE,6128,begin climb
$GC,6129,0.79,146.6,2474,2029,2914,2726,616.6,0.0,202,6254,0.90,2.38,116.65,0.925,10756,0.061,0.045,2798,652,2221,2338,2105,0,0,0,0,0,0,25.01,24.63,23.96
$GC,6294,0.79,146.6,2797,652,2336,2103,615.2,1.9,204,6299,0.00,2.25,0.00,0.000,1030,0.000,0.034,2798,2020,2219,2336,2103,0,0,0,0,0,0,28.83,25.10,28.83
$GC,6607,0.92,227.5,2797,2020,2334,2100,594.0,6.3,210,6680,0.12,2.38,64.47,0.916,10756,0.081,0.044,2878,637,1890,2027,1754,0,0,0,0,0,0,25.83,24.88,24.21
$GC,6755,0.92,287.6,2878,637,2025,1750,583.6,7.2,212,6811,0.15,2.20,49.55,0.896,13318,0.143,0.034,2840,2023,1647,1785,1509,0,0,0,0,0,0,25.27,25.38,24.13
$GC,7148,0.92,287.6,2839,2023,1781,1499,538.3,11.0,219,7152,0.00,2.25,0.00,0.000,260,0.000,0.046,2840,3432,1640,1781,1499,0,0,0,0,0,0,28.83,25.76,28.83
$GC,7238,0.92,287.6,2839,3432,1781,1499,531.4,11.3,220,7242,0.00,2.15,0.00,0.000,1030,0.000,0.031,2847,2036,1640,1781,1499,0,0,0,0,0,0,28.83,25.88,28.83
$GC,7559,0.87,287.6,2846,2036,1781,1496,488.7,12.0,226,7563,0.00,2.22,0.00,0.000,516,0.000,0.045,2857,624,1638,1780,1496,0,0,0,0,0,0,28.83,26.04,28.83
$GC,7684,0.81,287.6,2857,623,1777,1496,472.4,13.7,228,7689,0.17,2.17,0.00,0.000,5126,0.129,0.034,2808,2031,1636,1778,1495,0,0,0,0,0,0,26.02,26.14,28.83
$GC,8031,0.89,287.6,2807,2031,1778,1494,432.5,11.1,234,8035,0.00,2.20,0.00,0.000,260,0.000,0.046,2808,3429,1636,1778,1495,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8090,0.96,287.6,2807,3429,1778,1495,425.7,11.4,235,8095,0.12,2.12,0.00,0.000,3078,0.082,0.031,2877,2020,1636,1777,1495,0,0,0,0,0,0,26.26,26.27,28.83
$GC,8448,0.80,287.6,2877,2019,1778,1495,364.8,17.4,241,8450,0.25,0.00,0.00,0.000,4102,0.130,0.000,2805,2019,1636,1778,1495,0,0,0,0,0,0,26.21,28.83,28.83
$GC,8747,0.88,287.6,2805,2019,1778,1494,328.7,11.7,246,8751,0.00,2.17,0.00,0.000,516,0.000,0.045,2812,625,1635,1777,1494,0,0,0,0,0,0,28.83,26.35,28.83
$GC,8776,0.95,287.6,2811,625,1778,1493,328.7,11.7,246,8781,0.12,2.15,0.00,0.000,3078,0.082,0.034,2877,2031,1636,1778,1494,0,0,0,0,0,0,26.39,26.40,28.83
$GC,9103,0.81,287.6,2878,2031,1777,1494,274.4,15.4,254,9109,0.22,2.20,0.00,0.000,4356,0.135,0.044,2807,3436,1636,1778,1494,0,0,0,0,0,0,26.29,26.40,28.83
$GC,9141,0.70,287.6,2807,3436,1777,1494,270.1,15.3,255,9146,0.12,2.17,0.00,0.000,5126,0.111,0.031,2750,2021,1635,1778,1493,0,0,0,0,0,0,26.32,26.45,28.83
$GC,9463,0.95,346.4,2750,2020,1778,1494,244.3,7.3,266,9513,0.25,0.00,46.08,0.715,10758,0.054,0.000,2872,2020,1406,1547,1266,0,0,0,0,0,0,26.51,28.83,25.12
$GC,9794,0.80,346.4,2872,2020,1545,1258,189.9,17.7,277,9800,0.22,2.17,0.00,0.000,4612,0.132,0.043,2811,632,1401,1545,1258,0,0,0,0,0,0,25.96,26.05,28.83
$GC,9826,0.68,346.4,2810,632,1544,1257,185.2,17.3,278,9831,0.17,2.15,0.00,0.000,5126,0.122,0.034,2760,2025,1400,1544,1257,0,0,0,0,0,0,25.99,26.10,28.83
$GC,10149,0.92,361.5,2759,2025,1543,1254,155.6,9.3,289,10164,0.22,0.00,12.30,0.614,10246,0.057,0.000,2866,2025,1345,1491,1200,0,0,0,0,0,0,26.27,28.83,25.36
$GC,10449,0.84,361.5,2865,2025,1490,1198,108.2,14.9,303,10451,0.17,0.00,0.00,0.000,4102,0.131,0.000,2817,2025,1343,1490,1197,0,0,0,0,0,0,26.10,28.83,28.83
$GC,10748,0.98,361.5,2816,2025,1490,1195,75.6,10.3,320,10758,0.12,2.17,0.00,0.000,2564,0.080,0.043,2891,632,1342,1490,1195,0,0,0,0,0,0,26.35,26.26,28.83
$GC,10803,0.93,361.5,2891,632,1490,1195,68.0,14.9,325,10811,0.12,2.17,0.00,0.000,5126,0.116,0.034,2848,2025,1342,1490,1195,0,0,0,0,0,0,26.17,26.32,28.83
$GC,11111,1.01,361.5,2848,2025,1490,1195,30.1,12.4,356,11112,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,2025,1342,1490,1195,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11411,1.17,397.1,2848,2025,1489,1192,3.5,8.3,386,11432,0.20,0.00,15.88,0.057,10246,0.060,0.000,2947,2025,1199,1346,1052,0,0,0,0,0,0,26.46,28.83,26.36
$STATE,11440,end climb,SURFACE_DEPTH_REACHED
$STATE,11440,begin surface coast
$FINISH,0.1,1.023983
$STATE,11450,end surface coast,CONTROL_FINISHED_OK
$STATE,11450,begin surface
$SM_CCo,11524,0.00,0.000,0,0,1194,398.86
$SM_GC,1.18,7.15,0.00,0.00,0.032,0.000,0.000,182,2026,1194,-7.26,0.03,398.86,0,0,0,0,0,0,26.44,28.83,28.83
$IRIDIUM_FIX,4745.30,-12544.61,011113,131314
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.09
$INTERNAL_PRESSURE,8.87857
$TCM_TEMP,16.40
$XPDR_PINGS,0
$24V_AH,24.0,6.789
$10V_AH,10.2,5.682
$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,21.275,95.025,417.600,0.000,0.000,0.000,0.000,370.950,0.000,0.000,6.510,1221.778,8487.614,449.773,1789.325,65.341,0.388,1601.305,0.000,1398.693,0.000,1.003,0.000
$DEVICE_MAMPS,205.020,52.785,950.130,0.000,0.000,0.000,0.000,76.500,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,69.140,14.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,266.771,516.595,287.796,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,11.230,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,314288
$DATA_FILE_SIZE,27067,390
$CAP_FILE_SIZE,113199,0
$CFSIZE,2097872896,2089451520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,011113,171134,4805.706,-12546.295,31,0.8,31,17.0