version: 66.11
glider: 195
mission: 8
dive: 54
start: 11 2 113 4 59 25
data:
$ID,195
$MISSION,8
$DIVE,54
$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,-4531.6157
$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,50
$R_STBD_OVSHOOT,40
$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
$GPS1,021113,044929,4810.549,-12551.945,38,1.3,38,17.0
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-55.3
$GPS2,021113,045858,4810.677,-12551.918,5,0.9,5,17.0
$SPEED_LIMITS,0.119,0.258
$TGT_NAME,SEARCH_B
$TGT_LATLONG,4815.000,-12600.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.211,0.147
$KALMAN_X,2280.4,0.0,0.0,-66977.5,1186.5
$KALMAN_Y,-23817.6,0.0,0.0,127018.5,-546.0
$MHEAD_RNG_PITCHd_Wd,287.8,12784,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-0.79,-146.6,178,2028,1527,1275,0.0,0.0,0,80,0.00,0.00,-61.85,0.000,16386,0.000,0.000,178,2028,2943,2950,2937,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.79,-146.6,178,2028,2952,2937,3.1,-4.7,6,111,7.72,2.22,-12.10,0.000,18948,0.203,0.057,2283,642,3420,3430,3411,0,0,0,0,0,0,25.73,25.99,26.32
$GC,307,-0.60,-146.6,2283,642,3432,3413,42.7,-18.0,28,316,0.22,2.17,0.00,0.000,3078,0.122,0.034,2348,2029,3422,3432,3413,0,0,0,0,0,0,25.98,26.15,28.83
$GC,615,-0.60,-146.6,2348,2029,3435,3413,74.6,-8.0,59,624,0.00,2.15,0.00,0.000,516,0.000,0.040,2348,634,3424,3435,3413,0,0,0,0,0,0,28.83,26.22,28.83
$GC,648,-0.60,-146.6,1512,634,3427,3411,77.3,-8.2,62,657,0.00,2.17,0.00,0.000,1030,0.000,0.034,2341,2028,3424,3435,3414,0,0,0,0,0,0,28.83,26.27,28.83
$GC,966,-0.65,-146.6,2340,2028,3436,3413,110.6,-10.7,80,970,0.00,2.17,0.00,0.000,260,0.000,0.045,2331,3428,3424,3436,3413,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1155,-0.70,-146.6,2330,3428,3436,3413,129.6,-10.9,89,1163,0.00,2.15,0.00,0.000,1030,0.000,0.028,2330,2015,3424,3436,3413,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1483,-0.79,-146.6,2330,2015,3436,3413,163.5,-10.4,104,1489,0.12,2.20,0.00,0.000,4356,0.082,0.044,2238,3429,3424,3436,3413,0,0,0,0,0,0,26.50,26.39,28.83
$GC,1573,-0.75,-146.6,2237,3429,3435,3413,176.0,-13.2,107,1580,0.22,2.10,0.00,0.000,3078,0.129,0.028,2305,2014,3424,3435,3413,0,0,0,0,0,0,26.28,26.46,28.83
$GC,1903,-0.81,-146.6,2304,2014,3435,3413,208.6,-9.4,118,1905,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2014,3424,3436,3413,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2203,-0.88,-146.6,2304,2014,3435,3413,237.6,-9.8,128,2209,0.12,2.20,0.00,0.000,4356,0.083,0.044,2222,3433,3424,3435,3413,0,0,0,0,0,0,26.57,26.47,28.83
$GC,2341,-0.78,-146.6,2222,3432,3434,3413,254.2,-13.9,132,2345,0.22,2.08,0.00,0.000,3078,0.131,0.028,2289,2023,3423,3434,3413,0,0,0,0,0,0,26.35,26.54,28.83
$GC,2653,-0.83,-146.6,2288,2023,3434,3413,289.4,-9.9,143,2659,0.00,2.10,0.00,0.000,516,0.000,0.042,2288,646,3423,3434,3413,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2706,-0.88,-146.6,2288,646,3434,3413,292.6,-10.0,144,2714,0.00,2.12,0.00,0.000,1030,0.000,0.035,2282,2022,3423,3434,3413,0,0,0,0,0,0,28.83,26.54,28.83
$GC,3013,-0.92,-146.6,2283,2022,3434,3412,324.6,-9.5,151,3019,0.00,2.17,0.00,0.000,260,0.000,0.046,2272,3435,3423,3434,3412,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3246,-0.96,-146.6,2272,3435,3434,3411,341.8,-9.5,154,3254,0.12,2.10,0.00,0.000,5126,0.080,0.029,2204,2018,3422,3434,3411,0,0,0,0,0,0,26.57,26.59,28.83
$GC,3553,-0.83,-146.6,2204,2018,3434,3410,386.9,-13.4,160,3555,0.22,0.00,0.00,0.000,2054,0.130,0.000,2272,2018,3422,3434,3410,0,0,0,0,0,0,26.42,28.83,28.83
$GC,3853,-0.89,-146.6,2272,2018,3434,3410,418.1,-10.2,165,3857,0.00,2.20,0.00,0.000,260,0.000,0.047,2264,3438,3422,3434,3410,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3932,-0.95,-146.6,2264,3438,3434,3409,423.8,-10.1,166,3936,0.00,2.10,0.00,0.000,1030,0.000,0.029,2264,2018,3421,3434,3409,0,0,0,0,0,0,28.83,26.61,28.83
$GC,4269,-1.00,-146.6,2264,2018,3434,3408,462.7,-11.1,172,4271,0.12,0.00,0.00,0.000,4102,0.082,0.000,2195,2018,3421,3434,3408,0,0,0,0,0,0,26.67,28.83,28.83
$GC,4570,-0.89,-146.6,2195,2017,3434,3408,506.6,-14.8,177,4577,0.17,2.20,0.00,0.000,2308,0.137,0.045,2244,3436,3420,3434,3407,0,0,0,0,0,0,26.46,26.58,28.83
$GC,4644,-0.81,-146.6,2243,3436,3433,3407,513.8,-14.2,178,4648,0.15,2.10,0.00,0.000,3078,0.134,0.030,2288,2015,3420,3434,3407,0,0,0,0,0,0,26.48,26.63,28.83
$GC,4986,-0.96,-146.6,2288,2014,3434,3407,547.2,-9.3,184,4988,0.15,0.00,0.00,0.000,4102,0.070,0.000,2212,2015,3419,3433,3406,0,0,0,0,0,0,26.69,28.83,28.83
$GC,5285,-0.92,-146.6,2212,2015,3434,3405,588.2,-13.9,189,5292,0.12,2.20,0.00,0.000,2308,0.144,0.046,2243,3432,3419,3433,3405,0,0,0,0,0,0,26.52,26.59,28.83
$GC,5323,-0.87,-146.6,2243,3432,3433,3404,588.2,-13.9,189,5327,0.00,2.10,0.00,0.000,1030,0.000,0.031,2243,2017,3419,3433,3405,0,0,0,0,0,0,28.83,26.65,28.83
$GC,5646,-1.21,-146.6,2243,2017,3433,3404,599.8,-0.0,195,5648,0.25,0.00,0.00,0.000,4102,0.054,0.000,2125,2017,3418,3433,3404,0,0,0,0,0,0,26.69,28.83,28.83
$STATE,5764,end dive,NO_VERTICAL_VELOCITY
$STATE,5764,begin apogee
$GC,5767,-0.23,0.0,2124,2017,3433,3404,599.9,0.0,197,5886,0.90,0.00,113.05,0.942,10246,0.052,0.000,2479,2017,2820,2914,2726,0,0,0,0,0,0,26.63,28.83,24.27
$STATE,5887,end apogee,CONTROL_FINISHED_OK
$STATE,5888,begin climb
$GC,5889,0.79,146.6,2479,2017,2914,2726,600.0,0.0,199,6013,0.85,2.42,115.93,0.915,11012,0.039,0.045,2813,3420,2221,2336,2107,0,0,0,0,0,0,25.06,24.65,23.99
$GC,6224,0.53,146.6,2813,3420,2331,2106,574.7,10.1,204,6229,0.38,2.17,0.00,0.000,5126,0.129,0.031,2713,2022,2218,2331,2106,0,0,0,0,0,0,25.49,25.63,28.83
$GC,6542,0.60,163.4,2713,2022,2331,2104,540.7,9.2,210,6558,0.00,0.00,14.07,0.819,8198,0.000,0.000,2713,2022,2152,2269,2036,0,0,0,0,0,0,28.83,28.83,24.99
$GC,6842,0.69,249.6,2713,2022,2269,2035,521.5,6.0,215,6917,0.12,2.38,68.65,0.890,10756,0.080,0.044,2798,627,1801,1936,1667,0,0,0,0,0,0,26.07,25.00,24.34
$GC,6952,0.75,322.6,2798,627,1934,1662,515.6,6.6,216,7020,0.00,2.28,60.20,0.860,9222,0.000,0.034,2798,2019,1502,1639,1366,0,0,0,0,0,0,28.83,25.32,24.15
$GC,7319,0.70,322.6,2798,2019,1635,1356,453.8,14.5,223,7320,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2019,1495,1635,1356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7619,0.67,322.6,2798,2020,1634,1352,408.2,15.4,228,7625,0.12,2.20,0.00,0.000,4612,0.147,0.043,2767,630,1493,1634,1352,0,0,0,0,0,0,25.93,25.98,28.83
$GC,7678,0.67,322.6,2768,629,1632,1351,399.5,15.5,229,7683,0.00,2.17,0.00,0.000,1030,0.000,0.034,2768,2031,1491,1632,1351,0,0,0,0,0,0,28.83,26.06,28.83
$GC,8035,0.72,322.6,2768,2031,1632,1351,352.8,13.0,235,8036,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,2031,1491,1632,1351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8335,0.79,322.6,2767,2031,1632,1351,316.0,12.1,240,8337,0.10,0.00,0.00,0.000,2054,0.094,0.000,2825,2031,1491,1632,1350,0,0,0,0,0,0,26.35,28.83,28.83
$GC,8635,0.73,322.6,2825,2032,1632,1351,266.9,16.4,248,8641,0.12,2.20,0.00,0.000,4612,0.143,0.043,2794,620,1491,1632,1350,0,0,0,0,0,0,26.25,26.31,28.83
$GC,8673,0.69,322.6,2794,620,1632,1349,262.5,15.9,249,8677,0.00,2.15,0.00,0.000,1030,0.000,0.034,2794,2028,1490,1632,1349,0,0,0,0,0,0,28.83,26.35,28.83
$GC,8995,0.72,322.6,2794,2028,1632,1349,219.0,12.7,260,8996,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2028,1490,1632,1349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9295,0.78,322.6,2794,2028,1632,1349,178.4,13.5,270,9296,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2028,1490,1632,1348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9596,0.85,322.6,2794,2028,1632,1349,141.6,12.1,281,9597,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2028,1490,1632,1349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9895,0.95,322.6,2794,2028,1632,1348,104.4,12.6,296,9901,0.12,2.17,0.00,0.000,2564,0.081,0.042,2878,623,1489,1632,1347,0,0,0,0,0,0,26.55,26.46,28.83
$GC,9956,0.95,322.6,2878,623,1632,1348,94.7,15.3,299,9961,0.00,2.12,0.00,0.000,1030,0.000,0.034,2879,2030,1489,1631,1348,0,0,0,0,0,0,28.83,26.50,28.83
$GC,10266,0.89,322.6,2878,2030,1632,1348,44.0,15.9,325,10276,0.12,2.12,0.00,0.000,4356,0.150,0.043,2839,3421,1490,1632,1348,0,0,0,0,0,0,26.41,26.48,28.83
$GC,10310,0.89,322.6,2838,3421,1632,1348,38.1,13.7,329,10319,0.00,2.15,0.00,0.000,1030,0.000,0.030,2845,2015,1490,1632,1348,0,0,0,0,0,0,28.83,26.54,28.83
$GC,10618,0.98,322.6,2845,2015,1632,1347,7.0,10.6,360,10622,0.00,2.15,0.00,0.000,516,0.000,0.044,2856,623,1489,1632,1347,0,0,0,0,0,0,28.83,26.50,28.83
$STATE,10663,end climb,SURFACE_DEPTH_REACHED
$STATE,10663,begin surface coast
$FINISH,0.9,1.024240
$STATE,10675,end surface coast,CONTROL_FINISHED_OK
$STATE,10675,begin surface
$SM_CCo,10750,0.00,0.000,0,0,1483,327.97
$SM_GC,0.91,6.85,2.17,0.00,0.029,0.034,0.000,191,2024,1483,-7.28,-1.33,327.97,0,0,0,0,0,0,26.55,26.55,28.83
$IRIDIUM_FIX,4754.94,-12552.15,021113,040446
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.48
$INTERNAL_PRESSURE,8.89811
$TCM_TEMP,12.30
$XPDR_PINGS,0
$24V_AH,24.0,7.227
$10V_AH,10.2,5.914
$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,19.675,73.900,371.900,0.000,0.000,0.000,0.000,460.750,0.000,0.000,6.522,1108.852,8071.609,407.501,1681.149,60.401,0.388,1544.650,0.000,1208.002,0.000,1.003,0.000
$DEVICE_MAMPS,202.725,56.610,941.715,0.000,0.000,0.000,0.000,78.795,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,69.140,14.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,249.557,483.399,272.679,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,11.230,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,314236
$DATA_FILE_SIZE,27102,365
$CAP_FILE_SIZE,100483,0
$CFSIZE,2097872896,2088992768
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,4574.34,0x212c64,0,24
$GPS,021113,075934,4812.204,-12554.246,27,1.0,27,17.0