version: 66.11
glider: 195
mission: 8
dive: 30
start: 10 29 113 21 29 4
data:
$ID,195
$MISSION,8
$DIVE,30
$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,-4467.6533
$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,48
$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
$GPS1,291013,212034,4734.861,-12512.471,32,0.8,32,16.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-59.7
$GPS2,291013,212837,4734.774,-12512.569,5,0.8,5,16.8
$SPEED_LIMITS,0.119,0.258
$TGT_NAME,SEARCH_A
$TGT_LATLONG,4750.000,-12525.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.052,0.252
$KALMAN_X,2206.8,0.0,0.0,-17437.6,1367.0
$KALMAN_Y,-12857.9,0.0,0.0,49538.0,-5601.0
$MHEAD_RNG_PITCHd_Wd,331.5,32155,-17.6,-10.000,-21.21,2208
$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,15,-0.79,-146.6,177,2018,1511,1243,0.0,0.0,0,80,0.00,0.00,-62.33,0.000,16386,0.000,0.000,177,2018,2955,2964,2947,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.79,-146.6,177,2018,2964,2947,3.2,-4.9,6,111,7.78,2.30,-11.52,0.000,18692,0.205,0.061,2277,3429,3421,3431,3411,0,0,0,0,0,0,25.72,25.96,26.27
$GC,405,-0.70,-146.6,2277,3429,3434,3411,56.9,-13.8,38,416,0.15,2.12,0.00,0.000,3078,0.143,0.028,2316,2016,3422,3434,3411,0,0,0,0,0,0,26.03,26.19,28.83
$GC,716,-0.70,-146.6,2316,2016,3437,3411,87.2,-8.5,65,721,0.00,2.22,0.00,0.000,260,0.000,0.045,2309,3441,3423,3436,3411,0,0,0,0,0,0,28.83,26.25,28.83
$GC,925,-0.70,-146.6,2309,3441,3436,3411,105.8,-9.0,75,929,0.00,2.15,0.00,0.000,1030,0.000,0.028,2309,2032,3424,3437,3411,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1238,-0.70,-146.6,2309,2032,3437,3411,134.4,-9.5,91,1244,0.00,2.17,0.00,0.000,260,0.000,0.045,2299,3429,3424,3437,3411,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1310,-0.70,-146.6,2298,3429,3437,3411,140.6,-10.3,94,1318,0.00,2.15,0.00,0.000,1030,0.000,0.028,2298,2017,3423,3436,3411,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1637,-0.72,-146.6,2298,2017,3437,3411,177.8,-10.5,107,1641,0.00,2.20,0.00,0.000,260,0.000,0.046,2288,3434,3424,3437,3411,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1836,-0.72,-146.6,2287,3433,3436,3410,196.6,-10.7,113,1844,0.00,2.15,0.00,0.000,1030,0.000,0.029,2288,2017,3423,3436,3411,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2146,-0.72,-146.6,2287,2017,3436,3410,231.0,-10.3,124,2147,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,2017,3423,3436,3411,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2445,-0.75,-146.6,2288,2017,3436,3411,260.9,-10.2,134,2450,0.00,2.20,0.00,0.000,260,0.000,0.047,2277,3437,3423,3436,3411,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2607,-0.75,-146.6,2277,3436,3436,3410,277.1,-10.9,139,2612,0.00,2.15,0.00,0.000,1030,0.000,0.029,2277,2017,3423,3435,3411,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2956,-0.78,-146.6,2276,2016,3435,3410,315.7,-10.6,149,2961,0.00,2.20,0.00,0.000,260,0.000,0.047,2266,3438,3422,3435,3410,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3043,-0.80,-146.6,2266,3438,3435,3411,322.5,-10.8,150,3047,0.00,2.10,0.00,0.000,1030,0.000,0.029,2266,2021,3422,3435,3410,0,0,0,0,0,0,28.83,26.59,28.83
$GC,3377,-0.80,-146.6,2266,2020,3435,3410,362.3,-11.1,156,3382,0.00,2.15,0.00,0.000,260,0.000,0.047,2255,3423,3422,3435,3410,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3487,-0.80,-146.6,2255,3423,3434,3410,369.3,-11.3,157,3496,0.00,2.12,0.00,0.000,1030,0.000,0.030,2255,2021,3422,3434,3410,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3794,-0.80,-146.6,2255,2021,3434,3410,409.5,-11.1,163,3799,0.12,2.20,0.00,0.000,2308,0.149,0.046,2287,3439,3422,3434,3410,0,0,0,0,0,0,26.50,26.57,28.83
$GC,3921,-0.84,-146.6,2287,3440,3434,3409,419.8,-9.8,165,3925,0.00,2.10,0.00,0.000,1030,0.000,0.031,2287,2019,3421,3434,3409,0,0,0,0,0,0,28.83,26.62,28.83
$GC,4269,-0.91,-146.6,2287,2019,3434,3409,451.5,-8.9,171,4275,0.10,2.17,0.00,0.000,4356,0.094,0.046,2218,3434,3421,3434,3408,0,0,0,0,0,0,26.67,26.59,28.83
$GC,4381,-0.96,-146.6,2218,3434,3434,3407,458.5,-9.5,172,4391,0.00,2.10,0.00,0.000,1030,0.000,0.031,2218,2015,3421,3434,3408,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4688,-0.96,-146.6,2218,2015,3434,3408,503.9,-12.4,178,4689,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,2015,3420,3434,3407,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4987,-0.96,-146.6,2218,2015,3434,3407,537.7,-11.1,183,4991,0.00,2.20,0.00,0.000,260,0.000,0.048,2208,3434,3420,3434,3407,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5045,-0.96,-146.6,2207,3434,3434,3406,543.9,-10.9,184,5050,0.00,2.15,0.00,0.000,1030,0.000,0.031,2207,2019,3420,3434,3406,0,0,0,0,0,0,28.83,26.65,28.83
$GC,5403,-0.96,-146.6,2207,2019,3434,3406,589.6,-13.3,190,5407,0.00,2.20,0.00,0.000,260,0.000,0.048,2196,3440,3419,3434,3405,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5437,-0.96,-146.6,2196,3440,3434,3405,589.6,-13.3,190,5442,0.10,2.15,0.00,0.000,3078,0.121,0.031,2232,2019,3419,3434,3405,0,0,0,0,0,0,26.51,26.66,28.83
$STATE,5638,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5638,begin apogee
$GC,5641,-0.23,0.0,2231,2019,3434,3405,617.8,-11.9,194,5760,0.68,0.00,114.18,0.931,10246,0.105,0.000,2466,2019,2820,2915,2725,0,0,0,0,0,0,26.53,28.83,24.19
$STATE,5761,end apogee,CONTROL_FINISHED_OK
$STATE,5762,begin climb
$GC,5763,0.79,146.6,2466,2019,2915,2725,618.7,0.0,196,5884,0.93,0.00,116.82,0.919,10502,0.057,0.000,2801,2019,2222,2339,2105,0,0,0,0,0,0,25.00,28.83,23.94
$GC,6179,0.69,146.6,2800,2018,2335,2101,573.2,11.9,203,6186,0.12,2.20,0.00,0.000,4612,0.156,0.043,2773,640,2218,2335,2101,0,0,0,0,0,0,25.65,25.72,28.83
$GC,6257,0.60,146.6,2772,640,2334,2101,566.7,11.6,204,6262,0.12,2.17,0.00,0.000,5126,0.149,0.035,2741,2033,2217,2333,2101,0,0,0,0,0,0,25.73,25.84,28.83
$GC,6595,0.57,153.8,2741,2033,2333,2099,532.8,9.7,210,6603,0.00,0.00,6.15,0.682,8198,0.000,0.000,2740,2033,2192,2309,2076,0,0,0,0,0,0,28.83,28.83,25.18
$GC,6895,0.55,154.9,2740,2033,2309,2076,502.7,9.9,215,6900,0.00,2.20,0.00,0.000,260,0.000,0.047,2741,3433,2192,2309,2076,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6984,0.53,154.9,2741,3433,2309,2076,496.1,10.1,216,6989,0.12,2.12,0.00,0.000,5126,0.149,0.031,2714,2028,2192,2309,2076,0,0,0,0,0,0,26.08,26.21,28.83
$GC,7311,0.55,187.3,2714,2028,2309,2075,463.9,8.5,222,7343,0.00,2.22,27.23,0.825,8708,0.000,0.045,2722,635,2056,2183,1929,0,0,0,0,0,0,28.83,25.79,25.03
$GC,7409,0.58,218.3,2722,636,2183,1925,459.0,8.6,223,7440,0.00,2.17,25.62,0.809,9222,0.000,0.035,2722,2034,1929,2067,1792,0,0,0,0,0,0,28.83,25.93,24.76
$GC,7782,0.61,220.8,2722,2034,2066,1786,418.0,9.9,230,7788,0.00,2.20,0.00,0.000,260,0.000,0.047,2722,3427,1926,2067,1786,0,0,0,0,0,0,28.83,25.98,28.83
$GC,7820,0.65,223.3,2722,3427,2067,1786,418.0,9.9,230,7830,0.00,2.15,5.00,0.588,9222,0.000,0.031,2730,2019,1908,2048,1769,0,0,0,0,0,0,28.83,26.05,25.15
$GC,8137,0.68,223.3,2730,2019,2047,1768,381.1,10.6,236,8142,0.10,2.22,0.00,0.000,2308,0.094,0.044,2788,3429,1907,2047,1768,0,0,0,0,0,0,26.22,26.13,28.83
$GC,8177,0.71,223.3,2788,3429,2047,1768,381.1,10.6,236,8181,0.00,2.15,0.00,0.000,1030,0.000,0.031,2797,2012,1907,2047,1768,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8494,0.66,223.3,2797,2013,2047,1767,331.6,13.8,242,8499,0.12,2.15,0.00,0.000,4612,0.153,0.044,2767,631,1907,2047,1767,0,0,0,0,0,0,26.17,26.24,28.83
$GC,8524,0.61,223.3,2767,631,2047,1766,331.6,13.8,242,8528,0.00,2.12,0.00,0.000,1030,0.000,0.035,2767,2024,1906,2047,1766,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8851,0.61,223.3,2767,2024,2047,1766,290.9,11.2,249,8853,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2024,1906,2047,1766,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9151,0.61,223.3,2767,2024,2047,1766,260.0,10.0,259,9155,0.00,2.20,0.00,0.000,260,0.000,0.046,2767,3441,1906,2047,1766,0,0,0,0,0,0,28.83,26.38,28.83
$GC,9239,0.61,223.3,2767,3441,2047,1765,250.7,10.8,262,9244,0.10,2.17,0.00,0.000,5126,0.125,0.031,2741,2026,1906,2047,1766,0,0,0,0,0,0,26.30,26.42,28.83
$GC,9568,0.66,247.8,2741,2025,2047,1765,221.6,8.9,273,9590,0.00,0.00,20.40,0.672,8198,0.000,0.000,2741,2026,1808,1949,1668,0,0,0,0,0,0,28.83,28.83,25.44
$GC,9868,0.72,289.8,2741,2026,1948,1665,196.4,8.1,283,9904,0.10,0.00,33.85,0.675,10246,0.093,0.000,2797,2026,1637,1778,1497,0,0,0,0,0,0,26.35,28.83,25.13
$GC,10197,0.72,289.8,2797,2026,1776,1488,158.8,11.0,294,10198,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2025,1632,1775,1489,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10507,0.72,289.8,2797,2026,1776,1487,113.8,15.7,308,10511,0.00,2.20,0.00,0.000,260,0.000,0.046,2797,3429,1631,1776,1487,0,0,0,0,0,0,28.83,26.20,28.83
$GC,10571,0.72,289.8,2797,3429,1776,1487,104.8,16.0,311,10575,0.00,2.17,0.00,0.000,1030,0.000,0.030,2805,2021,1631,1776,1487,0,0,0,0,0,0,28.83,26.27,28.83
$GC,10885,0.74,301.3,2805,2022,1775,1487,67.7,9.5,333,10905,0.00,2.28,9.40,0.537,8452,0.000,0.045,2805,3434,1590,1732,1448,0,0,0,0,0,0,28.83,26.20,25.52
$GC,10957,0.74,301.3,2805,3433,1732,1448,60.0,10.4,340,10961,0.00,2.15,0.00,0.000,1030,0.000,0.031,2809,2016,1589,1731,1448,0,0,0,0,0,0,28.83,26.26,28.83
$GC,11262,0.79,304.6,2808,2016,1731,1445,30.3,9.8,370,11274,0.00,2.17,3.53,0.373,8708,0.000,0.044,2809,629,1576,1718,1435,0,0,0,0,0,0,28.83,26.27,25.58
$GC,11289,0.85,326.0,2810,629,1718,1435,28.5,9.0,372,11307,0.00,2.17,12.00,0.525,9222,0.000,0.034,2810,2025,1490,1631,1349,0,0,0,0,0,0,28.83,26.32,25.52
$STATE,11604,end climb,SURFACE_DEPTH_REACHED
$STATE,11605,begin surface coast
$FINISH,-0.1,1.011923
$STATE,11626,end surface coast,CONTROL_FINISHED_OK
$STATE,11626,begin surface
$SM_CCo,11638,33.72,0.241,3,0,1392,350.04
$SM_GC,0.88,6.78,0.00,33.72,0.027,0.000,0.241,178,2025,1392,-7.28,0.00,350.04,0,0,0,0,3,0,26.33,28.83,25.62
$IRIDIUM_FIX,4719.74,-12519.65,291013,212140
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.17
$INTERNAL_PRESSURE,8.88834
$TCM_TEMP,16.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,565.2,60.1
$24V_AH,23.9,4.847
$10V_AH,10.2,4.596
$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,17.425,91.300,374.175,33.725,0.000,0.000,0.000,378.675,12.000,0.000,6.512,1258.772,8576.860,475.201,1811.854,62.664,0.387,1607.915,0.000,1385.681,0.000,77.768,0.000
$DEVICE_MAMPS,205.020,61.200,931.005,240.975,0.000,0.000,0.000,75.735,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,69.140,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,277.850,537.772,302.669,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,11.230,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,314552
$DATA_FILE_SIZE,30287,406
$CAP_FILE_SIZE,113111,0
$CFSIZE,2097872896,2091778048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$GPS,301013,004504,4736.405,-12513.270,38,0.9,38,16.8