version: 66.11
glider: 195
mission: 8
dive: 26
start: 10 29 113 11 7 56
data:
$ID,195
$MISSION,8
$DIVE,26
$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,-4462.2856
$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,49
$R_STBD_OVSHOOT,37
$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
$GPS1,291013,105918,4730.301,-12511.307,28,0.8,28,16.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-61.7
$GPS2,291013,110728,4730.354,-12511.385,43,0.8,43,16.7
$SPEED_LIMITS,0.119,0.258
$TGT_NAME,SEARCH_A
$TGT_LATLONG,4750.000,-12525.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.023,0.257
$KALMAN_X,427.9,0.0,0.0,-14206.5,129.8
$KALMAN_Y,-8051.4,0.0,0.0,36597.4,-4379.2
$MHEAD_RNG_PITCHd_Wd,338.1,40129,-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,-146.6,179,2036,1500,1264,0.0,0.0,0,80,0.00,0.00,-63.58,0.000,16386,0.000,0.000,180,2036,3005,3017,2993,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-0.79,-146.6,179,2036,3016,2994,3.4,-5.5,6,111,7.78,2.17,-9.98,0.000,18692,0.207,0.058,2275,3423,3420,3431,3409,0,0,0,0,0,0,25.77,26.01,26.33
$GC,390,-0.71,-146.6,2274,3423,3433,3409,50.3,-13.7,36,400,0.12,2.10,0.00,0.000,3078,0.122,0.029,2316,2011,3421,3433,3409,0,0,0,0,0,0,26.06,26.22,28.83
$GC,708,-0.71,-146.6,2315,2011,3435,3409,90.3,-12.6,64,714,0.00,2.22,0.00,0.000,260,0.000,0.046,2308,3435,3422,3435,3409,0,0,0,0,0,0,28.83,26.27,28.83
$GC,809,-0.71,-146.6,2308,3435,3435,3409,102.3,-11.8,69,815,0.00,2.10,0.00,0.000,1030,0.000,0.028,2308,2024,3422,3435,3409,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1129,-0.71,-146.6,2307,2024,3434,3409,136.1,-10.1,85,1132,0.00,2.20,0.00,0.000,260,0.000,0.046,2297,3428,3422,3436,3409,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1317,-0.71,-146.6,2297,3428,3435,3409,155.7,-10.4,94,1321,0.00,2.10,0.00,0.000,1030,0.000,0.029,2297,2018,3422,3436,3409,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1639,-0.71,-146.6,2297,2018,3435,3409,185.9,-9.3,105,1645,0.00,2.20,0.00,0.000,260,0.000,0.046,2286,3434,3422,3435,3409,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1793,-0.71,-146.6,2286,3434,3435,3409,200.6,-9.7,110,1798,0.00,2.08,0.00,0.000,1030,0.000,0.029,2286,2027,3422,3435,3409,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2122,-0.73,-146.6,2286,2027,3435,3409,232.0,-9.5,121,2128,0.00,2.15,0.00,0.000,260,0.000,0.047,2276,3425,3422,3435,3409,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2214,-0.73,-146.6,2276,3425,3435,3408,240.8,-9.8,124,2219,0.10,2.12,0.00,0.000,3078,0.119,0.029,2311,2021,3422,3435,3409,0,0,0,0,0,0,26.39,26.53,28.83
$GC,2543,-0.79,-146.6,2310,2021,3435,3408,268.1,-7.7,135,2549,0.00,2.17,0.00,0.000,260,0.000,0.047,2303,3431,3422,3435,3409,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2592,-0.85,-146.6,2303,3430,3435,3409,270.4,-7.6,136,2596,0.00,2.10,0.00,0.000,1030,0.000,0.029,2303,2016,3422,3435,3409,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2901,-0.91,-146.6,2303,2016,3435,3409,296.7,-8.1,146,2906,0.12,2.17,0.00,0.000,4356,0.080,0.045,2217,3428,3422,3435,3409,0,0,0,0,0,0,26.62,26.53,28.83
$GC,2962,-0.91,-146.6,2217,3428,3434,3408,303.6,-9.7,148,2968,0.10,2.08,0.00,0.000,3078,0.125,0.030,2251,2015,3422,3435,3409,0,0,0,0,0,0,26.43,26.58,28.83
$GC,3322,-0.91,-146.6,2251,2016,3434,3409,341.0,-10.3,154,3328,0.00,2.17,0.00,0.000,260,0.000,0.047,2243,3429,3421,3434,3409,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3393,-0.91,-146.6,2242,3429,3433,3409,347.8,-10.5,155,3398,0.00,2.12,0.00,0.000,1030,0.000,0.030,2242,2030,3421,3434,3409,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3741,-0.91,-146.6,2242,2030,3433,3409,387.9,-11.1,161,3747,0.00,2.17,0.00,0.000,260,0.000,0.047,2232,3436,3421,3433,3409,0,0,0,0,0,0,28.83,26.56,28.83
$GC,3865,-0.91,-146.6,2232,3436,3433,3409,401.8,-11.2,163,3870,0.00,2.08,0.00,0.000,1030,0.000,0.030,2232,2027,3420,3433,3408,0,0,0,0,0,0,28.83,26.62,28.83
$GC,4225,-0.91,-146.6,2232,2027,3433,3409,443.0,-11.5,169,4226,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,2027,3420,3433,3408,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4524,-0.91,-146.6,2232,2027,3433,3408,477.6,-11.5,174,4529,0.00,2.17,0.00,0.000,260,0.000,0.048,2221,3431,3420,3433,3408,0,0,0,0,0,0,28.83,26.59,28.83
$GC,4607,-0.91,-146.6,2221,3431,3433,3407,484.7,-11.5,175,4612,0.08,2.12,0.00,0.000,3078,0.126,0.031,2247,2022,3420,3433,3407,0,0,0,0,0,0,26.49,26.64,28.83
$GC,4945,-0.93,-146.6,2247,2022,3433,3407,523.4,-10.5,181,4947,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2022,3420,3433,3407,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5245,-0.96,-146.6,2247,2022,3433,3407,554.7,-10.3,186,5251,0.00,2.17,0.00,0.000,260,0.000,0.048,2239,3428,3419,3432,3406,0,0,0,0,0,0,28.83,26.60,28.83
$STATE,5364,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5364,begin apogee
$GC,5369,-0.23,0.0,2239,2020,3433,3406,567.6,-10.4,188,5489,0.68,0.00,113.32,0.897,10246,0.108,0.000,2469,2021,2819,2914,2724,0,0,0,0,0,0,26.51,28.83,24.24
$STATE,5490,end apogee,CONTROL_FINISHED_OK
$STATE,5490,begin climb
$GC,5491,0.79,146.6,2469,2020,2914,2724,569.9,0.0,190,5617,0.90,2.38,116.22,0.887,10756,0.047,0.044,2815,642,2221,2338,2104,0,0,0,0,0,0,25.06,24.67,23.96
$GC,5657,0.79,146.6,2814,641,2337,2103,565.3,5.7,192,5666,0.00,2.25,0.00,0.000,1030,0.000,0.034,2814,2011,2220,2337,2103,0,0,0,0,0,0,28.83,25.15,28.83
$GC,5965,0.68,146.6,2814,2011,2335,2101,522.4,12.2,198,5972,0.15,2.28,0.00,0.000,4356,0.150,0.044,2771,3438,2218,2336,2100,0,0,0,0,0,0,25.72,25.80,28.83
$GC,6025,0.57,146.6,2770,3438,2335,2100,515.9,11.9,199,6032,0.17,2.17,0.00,0.000,5126,0.142,0.031,2731,2026,2217,2335,2100,0,0,0,0,0,0,25.77,25.89,28.83
$GC,6385,0.57,178.5,2730,2025,2335,2099,485.2,8.5,205,6417,0.00,2.28,24.92,0.819,8708,0.000,0.044,2739,640,2091,2215,1967,0,0,0,0,0,0,28.83,25.67,24.96
$GC,6532,0.57,206.6,2739,640,2215,1966,474.6,8.7,207,6566,0.00,2.17,23.20,0.802,9222,0.000,0.035,2739,2033,1978,2116,1840,0,0,0,0,0,0,28.83,25.89,24.79
$GC,6865,0.57,206.6,2739,2033,2115,1835,438.4,10.3,213,6871,0.00,2.22,0.00,0.000,260,0.000,0.046,2739,3438,1975,2115,1835,0,0,0,0,0,0,28.83,25.94,28.83
$GC,6927,0.57,206.6,2739,3438,2115,1835,431.6,10.5,214,6932,0.00,2.20,0.00,0.000,1030,0.000,0.031,2745,2028,1975,2116,1835,0,0,0,0,0,0,28.83,26.03,28.83
$GC,7285,0.57,206.6,2745,2028,2115,1833,393.3,10.4,220,7291,0.00,2.20,0.00,0.000,516,0.000,0.044,2755,617,1974,2115,1833,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7367,0.57,206.6,2755,618,2115,1832,386.6,10.6,221,7372,0.00,2.22,0.00,0.000,1030,0.000,0.035,2755,2030,1974,2115,1833,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7707,0.57,206.6,2755,2030,2115,1832,346.8,10.9,227,7708,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2030,1973,2114,1832,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8005,0.57,206.6,2755,2030,2115,1832,315.8,10.4,232,8011,0.00,2.17,0.00,0.000,260,0.000,0.046,2755,3429,1973,2115,1832,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8067,0.57,206.6,2755,3429,2115,1832,309.0,10.5,233,8073,0.08,2.17,0.00,0.000,5126,0.129,0.031,2736,2016,1973,2115,1832,0,0,0,0,0,0,26.26,26.40,28.83
$GC,8397,0.62,222.0,2735,2016,2115,1831,277.9,9.3,242,8411,0.00,0.00,12.88,0.649,8198,0.000,0.000,2735,2016,1913,2055,1772,0,0,0,0,0,0,28.83,28.83,25.47
$GC,8696,0.67,242.7,2735,2016,2055,1772,250.3,9.0,252,8719,0.00,2.17,17.42,0.676,8708,0.000,0.044,2744,631,1829,1970,1688,0,0,0,0,0,0,28.83,26.05,25.36
$GC,8752,0.72,262.0,2743,631,1969,1688,245.2,9.1,253,8774,0.10,2.15,16.60,0.666,11270,0.094,0.035,2801,2025,1750,1893,1608,0,0,0,0,0,0,26.10,26.13,25.18
$GC,9082,0.70,262.0,2801,2025,1891,1604,198.3,15.6,264,9088,0.00,2.20,0.00,0.000,260,0.000,0.045,2801,3429,1747,1891,1603,0,0,0,0,0,0,28.83,26.11,28.83
$GC,9129,0.68,262.0,2801,3429,1891,1603,193.6,15.7,265,9134,0.17,2.15,0.00,0.000,5126,0.135,0.031,2760,2017,1747,1891,1603,0,0,0,0,0,0,26.04,26.17,28.83
$GC,9442,0.72,262.0,2760,2017,1891,1602,154.8,10.6,276,9447,0.00,2.17,0.00,0.000,516,0.000,0.045,2760,622,1746,1891,1602,0,0,0,0,0,0,28.83,26.23,28.83
$GC,9494,0.77,262.0,2760,622,1890,1601,152.1,10.2,277,9502,0.00,2.20,0.00,0.000,1030,0.000,0.035,2760,2026,1745,1890,1601,0,0,0,0,0,0,28.83,26.29,28.83
$GC,9802,0.82,284.1,2760,2026,1890,1601,123.1,9.0,293,9826,0.12,2.28,17.60,0.604,10500,0.083,0.045,2835,3435,1660,1803,1518,0,0,0,0,0,0,26.41,26.10,25.44
$GC,9871,0.82,284.1,2834,3435,1802,1518,114.5,12.7,296,9875,0.00,2.17,0.00,0.000,1030,0.000,0.031,2839,2030,1660,1803,1518,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10185,0.80,284.1,2839,2030,1802,1515,65.2,13.7,317,10195,0.12,2.15,0.00,0.000,4612,0.150,0.042,2808,637,1659,1803,1515,0,0,0,0,0,0,26.19,26.25,28.83
$GC,10291,0.84,284.1,2808,637,1802,1514,53.6,10.6,327,10300,0.00,2.12,0.00,0.000,1030,0.000,0.034,2808,2032,1658,1802,1514,0,0,0,0,0,0,28.83,26.32,28.83
$GC,10600,0.89,335.5,2808,2032,1802,1514,25.0,7.6,358,10633,0.00,2.25,26.67,0.533,8708,0.000,0.044,2811,638,1450,1594,1307,0,0,0,0,0,0,28.83,26.05,25.46
$GC,10722,0.98,384.9,2811,638,1592,1299,16.2,7.7,370,10753,0.12,2.15,24.40,0.491,11270,0.081,0.034,2886,2037,1249,1398,1100,0,0,0,0,0,0,26.15,26.15,25.32
$STATE,10840,end climb,SURFACE_DEPTH_REACHED
$STATE,10840,begin surface coast
$FINISH,-0.0,1.012022
$STATE,10851,end surface coast,CONTROL_FINISHED_OK
$STATE,10851,begin surface
$SM_CCo,10924,0.00,0.000,0,0,1241,387.33
$SM_GC,1.04,7.10,0.00,0.00,0.033,0.000,0.000,179,2038,1241,-7.27,0.37,387.33,0,0,0,0,0,0,26.04,28.83,28.83
$IRIDIUM_FIX,4713.38,-12514.13,291013,111122
$TT8_MAMPS,0.026964,0.026964
$HUMID,43.69
$INTERNAL_PRESSURE,8.86881
$TCM_TEMP,12.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,504.5,67.1
$24V_AH,24.0,4.512
$10V_AH,10.2,4.352
$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,18.025,100.050,393.250,0.000,0.000,0.000,0.000,347.800,10.500,0.000,44.798,1201.821,7678.392,411.370,2063.464,73.014,0.387,1571.394,0.000,1636.980,0.000,68.393,0.000
$DEVICE_MAMPS,207.315,58.140,896.580,0.000,0.000,0.000,0.000,75.735,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,69.140,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,262.543,507.230,822.115,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,11.230,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,314520
$DATA_FILE_SIZE,27058,383
$CAP_FILE_SIZE,110781,0
$CFSIZE,2097872896,2092171264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,291013,141053,4731.895,-12511.357,21,0.8,21,16.7