version: 66.11
glider: 195
mission: 8
dive: 29
start: 10 29 113 18 13 44
data:
$ID,195
$MISSION,8
$DIVE,29
$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,-4466.3945
$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,47
$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,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
$GPS1,291013,180722,4733.485,-12511.876,40,0.9,40,16.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-60.3
$GPS2,291013,181316,4733.440,-12511.886,5,0.9,6,16.8
$SPEED_LIMITS,0.119,0.258
$TGT_NAME,SEARCH_A
$TGT_LATLONG,4750.000,-12525.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.066,0.249
$KALMAN_X,2093.6,0.0,0.0,-16478.0,2064.9
$KALMAN_Y,-11237.9,0.0,0.0,45447.1,-6343.1
$MHEAD_RNG_PITCHd_Wd,328.4,34733,-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,-146.6,179,2021,1503,1269,0.0,0.0,0,80,0.00,0.00,-63.53,0.000,16386,0.000,0.000,179,2021,3004,3012,2996,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-0.79,-146.6,179,2021,3013,2997,3.3,-5.1,6,111,7.78,2.20,-9.90,0.000,18692,0.206,0.058,2275,3420,3419,3430,3408,0,0,0,0,0,0,25.74,25.97,26.29
$GC,400,-0.71,-146.6,2275,3420,3432,3409,56.5,-14.0,37,410,0.10,2.15,0.00,0.000,3078,0.124,0.029,2308,2018,3420,3432,3409,0,0,0,0,0,0,26.05,26.20,28.83
$GC,709,-0.71,-146.6,2308,2018,3433,3409,90.7,-10.3,63,714,0.00,2.22,0.00,0.000,260,0.000,0.046,2300,3429,3421,3434,3409,0,0,0,0,0,0,28.83,26.25,28.83
$GC,892,-0.71,-146.6,2300,3429,3434,3409,110.6,-11.5,72,897,0.00,2.10,0.00,0.000,1030,0.000,0.028,2300,2016,3421,3434,3409,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1212,-0.71,-146.6,2300,2016,3434,3409,141.6,-9.1,88,1217,0.00,2.17,0.00,0.000,260,0.000,0.046,2289,3422,3421,3434,3409,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1279,-0.71,-146.6,2288,3422,3434,3409,147.4,-9.5,91,1283,0.00,2.12,0.00,0.000,1030,0.000,0.029,2289,2027,3421,3434,3408,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1611,-0.71,-146.6,2289,2027,3434,3409,184.4,-11.0,103,1617,0.00,2.17,0.00,0.000,260,0.000,0.046,2279,3428,3421,3434,3409,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1690,-0.71,-146.6,2278,3429,3434,3409,191.0,-10.9,105,1695,0.10,2.15,0.00,0.000,3078,0.116,0.029,2313,2013,3421,3434,3409,0,0,0,0,0,0,26.34,26.48,28.83
$GC,2006,-0.77,-146.6,2313,2012,3434,3409,222.1,-9.1,116,2011,0.00,2.17,0.00,0.000,260,0.000,0.047,2305,3424,3421,3434,3408,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2052,-0.83,-146.6,2305,3425,3434,3409,225.1,-9.2,117,2056,0.00,2.08,0.00,0.000,1030,0.000,0.029,2306,2027,3421,3434,3409,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2360,-0.88,-146.6,2305,2027,3433,3409,254.9,-9.3,127,2366,0.12,2.15,0.00,0.000,4356,0.083,0.045,2220,3426,3421,3434,3409,0,0,0,0,0,0,26.58,26.49,28.83
$GC,2527,-0.82,-146.6,2219,3426,3433,3409,274.9,-13.3,132,2531,0.20,2.08,0.00,0.000,3078,0.132,0.029,2279,2022,3421,3433,3409,0,0,0,0,0,0,26.40,26.55,28.83
$GC,2876,-0.85,-146.6,2278,2022,3433,3409,311.8,-9.9,142,2882,0.00,2.15,0.00,0.000,260,0.000,0.047,2270,3424,3420,3433,3408,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2996,-0.88,-146.6,2270,3425,3433,3408,324.2,-10.1,144,3002,0.00,2.05,0.00,0.000,1030,0.000,0.030,2270,2030,3421,3433,3409,0,0,0,0,0,0,28.83,26.59,28.83
$GC,3356,-0.91,-146.6,2270,2030,3433,3408,361.4,-10.2,150,3357,0.00,0.00,0.00,0.000,6,0.000,0.000,2270,2030,3421,3433,3409,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3656,-0.94,-146.6,2270,2030,3432,3409,391.0,-9.7,155,3661,0.00,2.15,0.00,0.000,260,0.000,0.047,2260,3429,3420,3432,3408,0,0,0,0,0,0,28.83,26.56,28.83
$GC,3828,-0.98,-146.6,2260,3429,3432,3408,403.8,-10.3,157,3839,0.00,2.12,0.00,0.000,1030,0.000,0.030,2260,2029,3420,3432,3408,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4137,-1.01,-146.6,2260,2029,3432,3408,440.4,-10.1,163,4139,0.12,0.00,0.00,0.000,4102,0.083,0.000,2192,2029,3420,3432,3408,0,0,0,0,0,0,26.66,28.83,28.83
$GC,4437,-0.96,-146.6,2192,2029,3432,3407,480.4,-13.5,168,4443,0.12,2.17,0.00,0.000,2308,0.148,0.047,2224,3445,3419,3432,3407,0,0,0,0,0,0,26.51,26.57,28.83
$GC,4620,-0.93,-146.6,2224,3444,3432,3407,502.4,-12.4,171,4625,0.00,2.08,0.00,0.000,1030,0.000,0.031,2224,2032,3419,3432,3407,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4979,-0.93,-146.6,2224,2032,3432,3406,542.9,-11.0,177,4985,0.00,2.17,0.00,0.000,260,0.000,0.048,2214,3435,3419,3432,3406,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5076,-0.93,-146.6,2213,3435,3432,3406,550.2,-11.2,178,5081,0.12,2.15,0.00,0.000,3078,0.143,0.031,2248,2016,3419,3432,3406,0,0,0,0,0,0,26.51,26.65,28.83
$STATE,5278,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5278,begin apogee
$GC,5281,-0.23,0.0,2247,2015,3432,3406,574.2,-10.0,182,5400,0.62,0.00,113.22,0.900,10246,0.105,0.000,2465,2015,2819,2914,2724,0,0,0,0,0,0,26.53,28.83,24.22
$STATE,5401,end apogee,CONTROL_FINISHED_OK
$STATE,5402,begin climb
$GC,5403,0.79,146.6,2465,2015,2914,2725,577.3,0.0,184,5527,0.95,2.33,117.38,0.900,10756,0.056,0.044,2814,630,2221,2338,2105,0,0,0,0,0,0,25.04,24.67,23.95
$GC,5566,0.79,146.6,2814,630,2337,2104,571.5,6.9,186,5571,0.00,2.28,0.00,0.000,1030,0.000,0.034,2814,2017,2220,2337,2104,0,0,0,0,0,0,28.83,25.14,28.83
$GC,5880,0.67,146.6,2814,2017,2336,2102,524.5,13.3,192,5882,0.20,0.00,0.00,0.000,4102,0.142,0.000,2760,2017,2218,2335,2102,0,0,0,0,0,0,25.71,28.83,28.83
$GC,6180,0.63,154.9,2760,2017,2335,2100,494.4,9.6,197,6192,0.00,2.28,7.05,0.697,8452,0.000,0.047,2760,3442,2188,2305,2071,0,0,0,0,0,0,28.83,25.94,25.15
$GC,6235,0.59,164.4,2760,3442,2305,2072,488.8,9.6,198,6252,0.12,2.20,9.38,0.742,13318,0.154,0.031,2736,2019,2148,2267,2030,0,0,0,0,0,0,25.89,26.01,25.06
$GC,6595,0.59,193.2,2735,2019,2267,2029,457.1,8.7,204,6621,0.00,0.00,23.80,0.810,8198,0.000,0.000,2735,2019,2032,2163,1901,0,0,0,0,0,0,28.83,28.83,24.96
$GC,6895,0.59,196.4,2735,2019,2163,1896,428.0,9.9,209,6900,0.00,0.00,3.53,0.480,8198,0.000,0.000,2736,2019,2019,2152,1886,0,0,0,0,0,0,28.83,28.83,25.16
$GC,7195,0.61,196.4,2735,2019,2152,1886,395.5,10.9,214,7196,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2019,2019,2152,1886,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7495,0.63,196.4,2735,2019,2152,1886,364.7,10.3,219,7496,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2019,2019,2152,1886,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7795,0.66,199.6,2735,2019,2152,1885,335.0,9.8,224,7806,0.00,2.30,4.05,0.507,8452,0.000,0.046,2735,3438,2005,2140,1871,0,0,0,0,0,0,28.83,26.27,25.41
$GC,7837,0.69,202.9,2735,3438,2140,1872,335.0,9.8,224,7847,0.00,2.15,4.53,0.539,9222,0.000,0.031,2743,2016,1991,2128,1854,0,0,0,0,0,0,28.83,26.32,25.39
$GC,8155,0.71,202.9,2743,2016,2127,1854,297.4,10.3,230,8156,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2016,1990,2127,1854,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8455,0.75,202.9,2743,2016,2128,1854,266.3,10.2,240,8461,0.12,2.22,0.00,0.000,2308,0.082,0.044,2818,3434,1991,2128,1854,0,0,0,0,0,0,26.45,26.37,28.83
$GC,8486,0.75,202.9,2818,3434,2128,1854,262.5,10.5,241,8492,0.12,2.17,0.00,0.000,5126,0.125,0.031,2787,2016,1991,2128,1854,0,0,0,0,0,0,26.27,26.42,28.83
$GC,8815,0.73,202.9,2787,2016,2128,1854,225.7,10.8,252,8821,0.00,2.22,0.00,0.000,260,0.000,0.046,2787,3446,1991,2128,1854,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8847,0.70,202.9,2787,3447,2127,1854,222.3,10.7,253,8851,0.00,2.20,0.00,0.000,1030,0.000,0.031,2795,2016,1991,2128,1854,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9175,0.67,202.9,2794,2016,2128,1854,184.2,11.7,264,9177,0.12,0.00,0.00,0.000,4102,0.149,0.000,2761,2016,1991,2128,1854,0,0,0,0,0,0,26.40,28.83,28.83
$GC,9475,0.70,218.9,2761,2016,2127,1854,155.2,9.3,274,9496,0.00,2.30,13.65,0.618,8452,0.000,0.045,2761,3438,1926,2064,1788,0,0,0,0,0,0,28.83,26.29,25.58
$GC,9576,0.72,222.2,2761,3438,2063,1788,145.2,9.8,278,9587,0.00,2.15,4.05,0.444,9222,0.000,0.031,2768,2009,1912,2051,1774,0,0,0,0,0,0,28.83,26.36,25.54
$GC,9896,0.76,230.5,2767,2009,2050,1774,112.7,9.6,294,9909,0.00,2.15,7.88,0.508,8708,0.000,0.043,2777,625,1879,2019,1740,0,0,0,0,0,0,28.83,26.27,25.56
$GC,9980,0.80,239.5,2777,625,2018,1740,105.1,9.6,297,9994,0.00,2.15,8.43,0.548,9222,0.000,0.034,2777,2034,1843,1982,1704,0,0,0,0,0,0,28.83,26.34,25.51
$GC,10293,0.86,246.5,2777,2034,1982,1704,73.4,9.7,316,10307,0.12,2.25,7.15,0.514,10500,0.082,0.045,2850,3432,1815,1954,1676,0,0,0,0,0,0,26.38,26.22,25.52
$GC,10457,0.80,246.5,2850,3432,1954,1676,51.7,13.0,332,10468,0.20,2.12,0.00,0.000,5126,0.133,0.031,2803,2016,1815,1954,1676,0,0,0,0,0,0,26.18,26.32,28.83
$GC,10768,0.85,337.0,2803,2016,1954,1675,24.7,5.8,363,10821,0.00,2.30,46.83,0.548,8452,0.000,0.045,2803,3422,1445,1587,1303,0,0,0,0,0,0,28.83,25.82,25.25
$GC,11005,0.93,350.1,2803,3422,1581,1294,5.9,9.4,386,11015,0.00,2.17,5.35,0.065,9222,0.000,0.031,2810,2019,1391,1534,1248,0,0,0,0,0,0,28.83,26.07,25.98
$STATE,11051,end climb,SURFACE_DEPTH_REACHED
$STATE,11052,begin surface coast
$FINISH,0.0,1.012653
$STATE,11073,end surface coast,CONTROL_FINISHED_OK
$STATE,11073,begin surface
$SM_CCo,11146,0.00,0.000,0,0,1385,352.01
$SM_GC,1.05,6.90,0.00,0.00,0.033,0.000,0.000,178,2019,1385,-7.28,-0.17,352.01,0,0,0,0,0,0,26.13,28.83,28.83
$IRIDIUM_FIX,4713.38,-12508.92,291013,151504
$TT8_MAMPS,0.026964,0.026964
$HUMID,43.50
$INTERNAL_PRESSURE,8.88834
$TCM_TEMP,11.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,516.1,65.0
$24V_AH,24.0,4.747
$10V_AH,10.3,4.537
$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,18.175,82.775,376.250,0.000,0.000,0.000,0.000,294.825,10.750,0.000,6.820,1217.982,7945.371,416.880,1862.525,70.549,0.388,1438.182,0.000,1531.523,0.000,70.355,0.000
$DEVICE_MAMPS,205.785,58.140,900.405,0.000,0.000,0.000,0.000,75.735,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,69.140,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,269.682,520.676,843.469,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,11.230,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,314496
$DATA_FILE_SIZE,30521,393
$CAP_FILE_SIZE,107446,0
$CFSIZE,2097872896,2091876352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,291013,212034,4734.861,-12512.471,32,0.8,32,16.8