version: 66.11
glider: 195
mission: 8
dive: 24
start: 10 29 113 4 43 13
data:
$ID,195
$MISSION,8
$DIVE,24
$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,-4459.7627
$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,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,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,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
$GPS1,291013,043628,4727.362,-12509.975,36,1.1,36,16.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-58.1
$GPS2,291013,044245,4727.296,-12510.054,5,1.5,6,16.7
$SPEED_LIMITS,0.119,0.258
$TGT_NAME,SEARCH_A
$TGT_LATLONG,4750.000,-12525.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.062,0.250
$KALMAN_X,55.2,0.0,0.0,-12130.6,-504.6
$KALMAN_Y,-3689.2,0.0,0.0,26622.3,-1088.5
$MHEAD_RNG_PITCHd_Wd,329.4,45970,-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,-146.6,182,2008,1279,1007,0.0,0.0,0,99,0.00,0.00,-82.55,0.000,16386,0.000,0.000,181,2009,3279,3279,3279,0,0,0,0,0,0,28.83,28.83,28.83
$GC,102,-0.79,-146.6,181,2009,3280,3281,4.4,-7.6,8,121,7.78,2.25,-2.92,0.000,18692,0.209,0.057,2277,3434,3421,3426,3416,0,0,0,0,0,0,25.86,26.10,26.38
$GC,154,-0.10,-146.6,2276,3434,3429,3416,18.8,-25.1,13,165,0.73,2.12,0.00,0.000,3078,0.125,0.029,2507,2016,3423,3430,3416,0,0,0,0,0,0,25.98,26.16,28.83
$GC,465,-0.55,-146.6,2507,2016,3432,3416,36.2,-3.5,44,475,0.35,2.20,0.00,0.000,4356,0.044,0.045,2334,3429,3423,3431,3416,0,0,0,0,0,0,26.31,26.24,28.83
$GC,579,-0.55,-146.6,2333,3429,3431,3416,46.1,-9.4,55,590,0.12,2.10,0.00,0.000,3078,0.142,0.028,2366,2016,3424,3432,3416,0,0,0,0,0,0,26.17,26.32,28.83
$GC,889,-0.66,-146.6,2366,2016,3433,3416,75.6,-10.1,86,890,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,2016,3424,3433,3416,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1199,-0.81,-146.6,2366,2016,3435,3416,102.3,-7.9,104,1206,0.20,2.17,0.00,0.000,4356,0.060,0.044,2256,3423,3425,3435,3416,0,0,0,0,0,0,26.47,26.39,28.83
$GC,1343,-0.69,-146.6,2256,3423,3434,3415,119.7,-12.6,111,1348,0.17,2.12,0.00,0.000,3078,0.119,0.028,2315,2022,3424,3434,3415,0,0,0,0,0,0,26.29,26.46,28.83
$GC,1663,-0.76,-146.6,2315,2022,3434,3416,149.7,-8.3,127,1668,0.00,2.17,0.00,0.000,260,0.000,0.047,2308,3435,3425,3435,3416,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1815,-0.82,-146.6,2307,3435,3435,3416,163.4,-9.1,133,1821,0.00,2.10,0.00,0.000,1030,0.000,0.029,2307,2024,3425,3435,3415,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2145,-0.89,-146.6,2307,2024,3434,3415,193.9,-9.8,144,2147,0.15,0.00,0.00,0.000,4102,0.073,0.000,2229,2024,3425,3434,3416,0,0,0,0,0,0,26.57,28.83,28.83
$GC,2445,-0.79,-146.6,2229,2023,3434,3415,234.6,-13.6,154,2451,0.17,2.17,0.00,0.000,2308,0.139,0.045,2277,3432,3425,3434,3416,0,0,0,0,0,0,26.41,26.51,28.83
$GC,2575,-0.79,-146.6,2276,3432,3434,3415,248.8,-11.5,158,2579,0.00,2.12,0.00,0.000,1030,0.000,0.030,2276,2029,3424,3433,3415,0,0,0,0,0,0,28.83,26.57,28.83
$GC,2898,-0.79,-146.6,2276,2030,3434,3415,283.7,-10.8,169,2903,0.00,2.17,0.00,0.000,260,0.000,0.047,2266,3433,3424,3433,3416,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2951,-0.79,-146.6,2265,3434,3433,3415,286.9,-10.7,170,2960,0.00,2.12,0.00,0.000,1030,0.000,0.031,2266,2027,3424,3433,3415,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3260,-0.79,-146.6,2266,2027,3433,3415,320.4,-10.0,178,3265,0.00,2.15,0.00,0.000,260,0.000,0.047,2255,3425,3424,3433,3415,0,0,0,0,0,0,28.83,26.54,28.83
$GC,3319,-0.79,-146.6,2255,3425,3432,3415,326.6,-10.1,179,3325,0.08,2.12,0.00,0.000,3078,0.125,0.029,2281,2021,3423,3432,3415,0,0,0,0,0,0,26.46,26.60,28.83
$GC,3680,-0.87,-146.6,2281,2021,3433,3415,360.2,-9.3,185,3685,0.00,2.20,0.00,0.000,260,0.000,0.047,2273,3441,3423,3433,3414,0,0,0,0,0,0,28.83,26.56,28.83
$GC,3837,-0.95,-146.6,2273,3440,3432,3413,371.9,-9.6,187,3841,0.00,2.10,0.00,0.000,1030,0.000,0.031,2273,2020,3423,3433,3413,0,0,0,0,0,0,28.83,26.62,28.83
$GC,4155,-1.02,-146.6,2273,2020,3432,3413,407.8,-10.0,193,4161,0.15,2.17,0.00,0.000,4356,0.073,0.046,2180,3434,3422,3433,3412,0,0,0,0,0,0,26.66,26.58,28.83
$GC,4278,-1.02,-146.6,2179,3434,3432,3411,424.3,-11.6,195,4283,0.10,2.15,0.00,0.000,3078,0.129,0.030,2213,2014,3421,3432,3411,0,0,0,0,0,0,26.46,26.63,28.83
$GC,4637,-0.96,-146.6,2213,2014,3432,3411,467.7,-11.7,201,4643,0.00,2.10,0.00,0.000,516,0.000,0.044,2213,642,3421,3432,3411,0,0,0,0,0,0,28.83,26.59,28.83
$GC,4674,-0.89,-146.6,2213,642,3432,3412,467.7,-11.7,201,4679,0.17,2.10,0.00,0.000,3078,0.137,0.037,2256,2028,3421,3432,3411,0,0,0,0,0,0,26.48,26.62,28.83
$GC,4998,-0.96,-146.6,2256,2028,3432,3410,504.4,-9.7,207,5004,0.00,2.12,0.00,0.000,260,0.000,0.048,2248,3421,3421,3432,3410,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5167,-1.02,-146.6,2248,3421,3431,3410,516.9,-10.0,209,5171,0.00,2.08,0.00,0.000,1030,0.000,0.031,2248,2024,3421,3432,3410,0,0,0,0,0,0,28.83,26.65,28.83
$GC,5474,-1.08,-146.6,2248,2023,3432,3409,555.0,-10.9,214,5480,0.12,2.12,0.00,0.000,4612,0.083,0.043,2173,638,3420,3432,3409,0,0,0,0,0,0,26.69,26.60,28.83
$GC,5516,-1.13,-146.6,2173,637,3432,3409,555.0,-10.9,214,5520,0.00,2.10,0.00,0.000,1030,0.000,0.037,2164,2024,3420,3432,3409,0,0,0,0,0,0,28.83,26.63,28.83
$STATE,5833,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5833,begin apogee
$GC,5836,-0.23,0.0,2164,2024,3432,3408,607.1,-14.5,220,5956,0.90,0.00,113.88,0.925,10246,0.118,0.000,2465,2024,2820,2915,2725,0,0,0,0,0,0,26.49,28.83,24.20
$STATE,5956,end apogee,CONTROL_FINISHED_OK
$STATE,5957,begin climb
$GC,5958,0.79,146.6,2464,2024,2915,2725,610.5,0.0,222,6083,0.93,2.33,116.97,0.916,10756,0.058,0.043,2808,641,2221,2339,2103,0,0,0,0,0,0,24.98,24.63,23.93
$GC,6158,0.79,146.6,2808,641,2335,2102,598.2,9.0,225,6162,0.00,2.25,0.00,0.000,1030,0.000,0.035,2809,2021,2218,2335,2102,0,0,0,0,0,0,28.83,25.27,28.83
$GC,6491,0.57,146.6,2808,2021,2335,2098,554.5,12.1,231,6498,0.25,2.28,0.00,0.000,4356,0.138,0.045,2732,3439,2217,2336,2099,0,0,0,0,0,0,25.75,25.84,28.83
$GC,6599,0.38,146.6,2731,3440,2335,2098,547.9,11.8,232,6604,0.22,2.17,0.00,0.000,5126,0.122,0.031,2672,2020,2217,2335,2099,0,0,0,0,0,0,25.85,25.96,28.83
$GC,6907,0.54,217.2,2671,2020,2335,2097,521.6,6.7,237,6969,0.12,2.35,55.03,0.861,10756,0.081,0.045,2757,628,1933,2073,1794,0,0,0,0,0,0,26.17,25.22,24.54
$GC,7049,0.62,252.6,2757,628,2072,1790,508.9,8.4,239,7083,0.00,2.22,28.88,0.835,9222,0.000,0.035,2757,2035,1791,1933,1649,0,0,0,0,0,0,28.83,25.58,24.46
$GC,7391,0.62,252.6,2757,2035,1932,1642,464.3,12.6,245,7397,0.00,2.22,0.00,0.000,260,0.000,0.047,2757,3433,1787,1932,1642,0,0,0,0,0,0,28.83,25.84,28.83
$GC,7433,0.62,252.6,2757,3433,1932,1642,464.3,12.6,245,7438,0.00,2.20,0.00,0.000,1030,0.000,0.032,2759,2032,1786,1931,1642,0,0,0,0,0,0,28.83,25.91,28.83
$GC,7751,0.62,252.6,2759,2031,1932,1640,419.4,12.0,251,7757,0.00,2.20,0.00,0.000,516,0.000,0.044,2769,626,1785,1931,1640,0,0,0,0,0,0,28.83,26.07,28.83
$GC,7833,0.62,252.6,2769,627,1929,1640,412.2,11.9,252,7838,0.00,2.20,0.00,0.000,1030,0.000,0.036,2770,2023,1785,1930,1640,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8173,0.62,252.6,2770,2023,1930,1640,370.5,11.5,258,8178,0.00,2.20,0.00,0.000,260,0.000,0.047,2770,3441,1784,1930,1639,0,0,0,0,0,0,28.83,26.23,28.83
$GC,8233,0.62,252.6,2769,3441,1930,1640,362.9,11.8,259,8239,0.10,2.20,0.00,0.000,5126,0.127,0.031,2744,2023,1784,1929,1640,0,0,0,0,0,0,26.15,26.28,28.83
$GC,8593,0.68,267.4,2744,2023,1929,1639,328.2,9.3,265,8610,0.00,2.20,12.00,0.698,8708,0.000,0.044,2745,625,1729,1873,1586,0,0,0,0,0,0,28.83,26.13,25.39
$GC,8635,0.75,282.2,2745,624,1873,1586,328.2,9.3,265,8655,0.12,2.17,13.45,0.701,11270,0.083,0.036,2808,2035,1667,1810,1525,0,0,0,0,0,0,26.18,26.18,25.25
$GC,8978,0.65,282.2,2808,2035,1810,1522,276.2,14.6,274,8985,0.15,2.17,0.00,0.000,4356,0.143,0.044,2761,3427,1666,1810,1522,0,0,0,0,0,0,26.08,26.15,28.83
$GC,9020,0.59,282.2,2761,3427,1809,1522,272.1,14.2,275,9025,0.12,2.12,0.00,0.000,5126,0.143,0.031,2734,2022,1666,1810,1522,0,0,0,0,0,0,26.09,26.21,28.83
$GC,9339,0.74,329.8,2734,2022,1810,1520,242.7,7.8,286,9380,0.15,0.00,38.22,0.692,10246,0.073,0.000,2809,2022,1474,1616,1333,0,0,0,0,0,0,26.34,28.83,25.07
$GC,9668,0.68,329.8,2809,2022,1614,1325,195.5,15.0,297,9675,0.15,2.20,0.00,0.000,4612,0.138,0.044,2771,632,1469,1614,1325,0,0,0,0,0,0,25.96,26.02,28.83
$GC,9720,0.68,329.8,2770,632,1613,1324,191.4,14.6,298,9729,0.00,2.20,0.00,0.000,1030,0.000,0.034,2771,2022,1468,1612,1324,0,0,0,0,0,0,28.83,26.10,28.83
$GC,10029,0.77,329.8,2770,2023,1613,1322,150.3,13.2,309,10034,0.00,2.22,0.00,0.000,260,0.000,0.047,2771,3435,1467,1613,1322,0,0,0,0,0,0,28.83,26.19,28.83
$GC,10060,0.85,329.8,2770,3435,1613,1322,146.1,13.5,310,10069,0.08,2.17,0.00,0.000,3078,0.053,0.031,2837,2027,1467,1612,1322,0,0,0,0,0,0,26.20,26.23,28.83
$GC,10369,0.77,329.8,2837,2027,1613,1321,88.0,18.8,326,10376,0.12,2.17,0.00,0.000,4356,0.147,0.044,2798,3430,1466,1612,1321,0,0,0,0,0,0,26.22,26.28,28.83
$GC,10408,0.77,329.8,2798,3429,1612,1322,81.9,17.1,328,10414,0.00,2.12,0.00,0.000,1030,0.000,0.031,2804,2022,1467,1613,1321,0,0,0,0,0,0,28.83,26.33,28.83
$GC,10719,0.86,329.8,2804,2022,1613,1321,46.1,10.4,358,10720,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2022,1466,1612,1321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11019,1.05,356.5,2804,2022,1613,1321,16.4,8.8,388,11040,0.20,2.22,12.52,0.477,10500,0.061,0.044,2904,3436,1365,1512,1219,0,0,0,0,0,0,26.47,26.27,25.68
$STATE,11123,end climb,SURFACE_DEPTH_REACHED
$STATE,11123,begin surface coast
$FINISH,-0.0,1.018427
$STATE,11137,end surface coast,CONTROL_FINISHED_OK
$STATE,11137,begin surface
$SM_CCo,11212,0.00,0.000,0,0,1361,357.89
$SM_GC,1.16,7.07,2.20,0.00,0.034,0.029,0.000,180,2009,1361,-7.26,1.13,357.89,0,0,0,0,0,0,26.36,26.35,28.83
$IRIDIUM_FIX,4710.21,-12509.69,291013,000050
$TT8_MAMPS,0.026964,0.026964
$HUMID,43.50
$INTERNAL_PRESSURE,8.86881
$TCM_TEMP,12.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,541.9,73.3
$24V_AH,23.9,4.314
$10V_AH,10.3,4.202
$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,21.000,104.400,390.950,0.000,0.000,0.000,0.000,312.225,11.500,0.000,6.509,1262.047,7823.519,430.909,2008.652,72.602,0.388,1557.474,0.000,1652.069,0.000,74.676,0.000
$DEVICE_MAMPS,208.845,56.610,924.885,0.000,0.000,0.000,0.000,78.030,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,69.140,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,273.712,528.522,856.872,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,11.230,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,314516
$DATA_FILE_SIZE,30328,399
$CAP_FILE_SIZE,117434,0
$CFSIZE,2097872896,2092400640
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,1819.61,0x212c64,0,24
$GPS,291013,075104,4728.872,-12510.768,27,0.8,27,16.7