version: 66.11
glider: 195
mission: 8
dive: 44
start: 10 31 113 16 41 22
data:
$ID,195
$MISSION,8
$DIVE,44
$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,-4510.5967
$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,41
$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,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
$GPS1,311013,162900,4752.822,-12534.482,39,0.9,39,16.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-59.8
$GPS2,311013,164054,4752.829,-12534.496,5,0.9,5,16.9
$SPEED_LIMITS,0.119,0.258
$TGT_NAME,SEARCH_B
$TGT_LATLONG,4815.000,-12600.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.125,0.225
$KALMAN_X,264.9,0.0,0.0,-43026.8,74.6
$KALMAN_Y,-16819.9,0.0,0.0,86972.0,-1381.0
$MHEAD_RNG_PITCHd_Wd,314.0,51723,-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,-146.6,171,2022,1491,1265,0.0,0.0,0,80,0.00,0.00,-62.62,0.000,16386,0.000,0.000,171,2022,2968,2974,2962,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.79,-146.6,170,2022,2974,2962,3.2,-4.9,6,111,7.82,2.25,-11.55,0.000,18948,0.205,0.057,2284,627,3420,3430,3410,0,0,0,0,0,0,25.68,25.94,26.25
$GC,147,-0.47,-146.6,2284,627,3431,3412,13.1,-15.5,12,156,0.32,2.20,0.00,0.000,3078,0.125,0.035,2391,2021,3421,3431,3411,0,0,0,0,0,0,25.83,26.01,28.83
$GC,454,-0.58,-146.6,2391,2021,3432,3412,44.4,-8.9,43,464,0.12,2.20,0.00,0.000,4356,0.080,0.044,2310,3434,3421,3432,3411,0,0,0,0,0,0,26.24,26.13,28.83
$GC,631,-0.49,-146.6,2310,3434,3434,3412,67.6,-13.4,60,640,0.22,2.17,0.00,0.000,3078,0.110,0.028,2386,2010,3422,3433,3412,0,0,0,0,0,0,26.10,26.27,28.83
$GC,939,-0.66,-146.6,2385,2009,3436,3412,95.5,-8.8,82,941,0.15,0.00,0.00,0.000,4102,0.070,0.000,2309,2010,3424,3436,3412,0,0,0,0,0,0,26.39,28.83,28.83
$GC,1239,-0.66,-146.6,2309,2009,3436,3411,125.4,-9.9,97,1240,0.00,0.00,0.00,0.000,6,0.000,0.000,2309,2009,3424,3436,3412,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1558,-0.70,-146.6,2309,2009,3436,3412,156.8,-9.3,112,1564,0.00,2.22,0.00,0.000,260,0.000,0.045,2298,3445,3423,3436,3411,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1717,-0.74,-146.6,2298,3445,3435,3412,171.5,-9.8,117,1721,0.00,2.12,0.00,0.000,1030,0.000,0.028,2299,2014,3423,3435,3411,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2034,-0.79,-146.6,2298,2014,3435,3411,204.0,-10.4,128,2037,0.00,2.12,0.00,0.000,516,0.000,0.041,2298,630,3423,3435,3411,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2097,-0.83,-146.6,1476,630,3428,3409,211.2,-11.2,130,2102,0.00,2.17,0.00,0.000,1030,0.000,0.034,2290,2033,3423,3435,3411,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2426,-0.89,-146.6,2289,2032,3434,3411,249.3,-11.5,141,2431,0.00,2.15,0.00,0.000,260,0.000,0.046,2279,3426,3422,3434,3411,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2548,-0.94,-146.6,2279,3426,3434,3411,262.9,-11.4,145,2552,0.12,2.12,0.00,0.000,5126,0.083,0.028,2212,2021,3422,3433,3411,0,0,0,0,0,0,26.54,26.56,28.83
$GC,2875,-0.82,-146.6,2212,2020,3433,3411,310.3,-14.9,155,2881,0.20,2.17,0.00,0.000,2308,0.134,0.044,2269,3428,3422,3433,3411,0,0,0,0,0,0,26.44,26.53,28.83
$GC,2938,-0.74,-146.6,2269,3428,3433,3410,317.6,-13.9,156,2943,0.12,2.08,0.00,0.000,3078,0.137,0.029,2304,2024,3421,3433,3410,0,0,0,0,0,0,26.44,26.58,28.83
$GC,3290,-0.88,-146.6,2304,2023,3433,3410,354.0,-10.4,162,3292,0.12,0.00,0.00,0.000,4102,0.080,0.000,2233,2023,3421,3433,3410,0,0,0,0,0,0,26.65,28.83,28.83
$GC,3590,-0.85,-146.6,2233,2023,3433,3408,393.6,-13.2,167,3592,0.12,0.00,0.00,0.000,2054,0.145,0.000,2267,2023,3420,3433,3408,0,0,0,0,0,0,26.51,28.83,28.83
$GC,3890,-0.93,-146.6,2267,2023,3433,3408,424.8,-10.2,172,3894,0.00,2.17,0.00,0.000,260,0.000,0.047,2259,3428,3420,3433,3407,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4044,-1.00,-146.6,2259,3427,3433,3407,436.8,-10.1,174,4048,0.12,2.08,0.00,0.000,5126,0.082,0.030,2190,2019,3420,3433,3407,0,0,0,0,0,0,26.61,26.63,28.83
$GC,4366,-0.89,-146.6,2190,2019,3433,3406,484.4,-14.0,180,4372,0.20,2.20,0.00,0.000,2308,0.134,0.046,2247,3438,3419,3433,3405,0,0,0,0,0,0,26.49,26.59,28.83
$GC,4486,-0.85,-146.6,2247,3439,3433,3405,497.7,-12.5,182,4492,0.00,2.10,0.00,0.000,1030,0.000,0.030,2247,2024,3419,3433,3405,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4846,-0.92,-146.6,2247,2024,3433,3404,536.7,-11.0,188,4850,0.00,2.20,0.00,0.000,260,0.000,0.047,2236,3435,3418,3433,3404,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5143,-1.51,-146.6,2236,3435,3433,3404,538.0,-0.0,193,5150,0.43,2.08,0.00,0.000,5126,0.034,0.031,2038,2030,3418,3432,3404,0,0,0,0,0,0,26.67,26.66,28.83
$STATE,5201,end dive,NO_VERTICAL_VELOCITY
$STATE,5201,begin apogee
$GC,5204,-0.23,0.0,2037,2030,3433,3403,538.1,0.0,194,5323,1.17,0.00,111.70,0.894,10246,0.063,0.000,2479,2030,2820,2915,2726,0,0,0,0,0,0,26.60,28.83,24.30
$STATE,5324,end apogee,CONTROL_FINISHED_OK
$STATE,5324,begin climb
$GC,5325,0.79,146.6,2479,2030,2915,2726,538.0,0.0,196,5450,0.88,2.40,115.15,0.877,10756,0.046,0.044,2820,638,2221,2337,2106,0,0,0,0,0,0,25.10,24.70,24.02
$GC,5624,0.57,146.6,2820,638,2334,2105,510.2,11.0,201,5630,0.30,2.20,0.00,0.000,5126,0.127,0.035,2729,2028,2219,2333,2105,0,0,0,0,0,0,25.46,25.58,28.83
$GC,5983,0.61,185.7,2729,2028,2333,2103,480.1,8.2,207,6016,0.00,0.00,30.73,0.831,8454,0.000,0.000,2729,2028,2061,2185,1938,0,0,0,0,0,0,28.83,28.83,24.77
$GC,6339,0.67,218.7,2729,2028,2185,1933,449.9,8.5,213,6371,0.00,2.30,26.50,0.811,8452,0.000,0.046,2729,3418,1927,2063,1792,0,0,0,0,0,0,28.83,25.52,24.84
$GC,6416,0.72,248.1,2729,3418,2063,1792,444.4,8.6,214,6447,0.12,2.15,24.80,0.797,11270,0.077,0.031,2801,2026,1807,1943,1671,0,0,0,0,0,0,25.69,25.69,24.63
$GC,6755,0.62,248.1,2801,2026,1942,1667,396.9,13.8,220,6757,0.20,0.00,0.00,0.000,4102,0.129,0.000,2743,2026,1804,1942,1667,0,0,0,0,0,0,25.81,28.83,28.83
$GC,7056,0.70,266.3,2743,2026,1942,1664,368.8,9.2,225,7077,0.00,2.28,14.68,0.734,8708,0.000,0.045,2752,634,1733,1873,1594,0,0,0,0,0,0,28.83,25.86,25.15
$GC,7134,0.77,280.5,2752,634,1872,1593,362.7,9.3,226,7153,0.12,2.15,12.65,0.721,11270,0.081,0.034,2817,2021,1675,1813,1537,0,0,0,0,0,0,25.96,25.96,25.03
$GC,7475,0.66,280.5,2817,2021,1812,1535,310.0,14.9,232,7477,0.20,0.00,0.00,0.000,4102,0.127,0.000,2760,2021,1673,1812,1535,0,0,0,0,0,0,25.96,28.83,28.83
$GC,7775,0.73,280.5,2760,2021,1812,1534,275.6,11.5,240,7779,0.00,2.17,0.00,0.000,516,0.000,0.044,2769,632,1672,1812,1533,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7820,0.80,280.5,2769,632,1812,1532,272.6,11.6,241,7824,0.00,2.12,0.00,0.000,1030,0.000,0.034,2769,2026,1672,1812,1532,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8126,0.86,280.5,2769,2026,1812,1532,231.9,13.0,251,8132,0.12,2.20,0.00,0.000,2308,0.082,0.044,2841,3436,1672,1812,1532,0,0,0,0,0,0,26.34,26.27,28.83
$GC,8168,0.86,280.5,2841,3436,1812,1532,226.9,14.0,252,8174,0.08,2.17,0.00,0.000,5126,0.132,0.031,2826,2030,1671,1812,1531,0,0,0,0,0,0,26.18,26.33,28.83
$GC,8486,0.78,280.5,2826,2030,1812,1532,172.1,15.6,263,8490,0.00,2.17,0.00,0.000,516,0.000,0.044,2834,627,1672,1812,1532,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8550,0.71,280.5,2834,626,1810,1531,164.0,14.7,265,8555,0.20,2.12,0.00,0.000,5126,0.125,0.034,2776,2026,1670,1810,1530,0,0,0,0,0,0,26.27,26.39,28.83
$GC,8869,0.81,280.5,2776,2026,1811,1531,129.8,10.1,279,8874,0.00,2.17,0.00,0.000,260,0.000,0.045,2776,3432,1670,1810,1531,0,0,0,0,0,0,28.83,26.40,28.83
$GC,8930,0.89,280.5,1856,3431,1784,1528,123.4,10.4,282,8935,0.10,2.17,0.00,0.000,3078,0.048,0.031,2850,2017,1670,1810,1531,0,0,0,0,0,0,26.44,26.44,28.83
$GC,9238,0.83,280.5,2850,2017,1810,1531,75.8,14.9,298,9248,0.12,2.15,0.00,0.000,4612,0.145,0.043,2818,625,1670,1810,1530,0,0,0,0,0,0,26.38,26.44,28.83
$GC,9381,0.90,280.5,2818,625,1810,1531,58.6,10.6,312,9386,0.00,2.12,0.00,0.000,1030,0.000,0.034,2818,2030,1670,1810,1531,0,0,0,0,0,0,28.83,26.49,28.83
$GC,9687,1.01,315.8,2818,2030,1811,1531,30.7,8.4,342,9719,0.12,2.25,22.27,0.569,10500,0.082,0.045,2893,3433,1531,1668,1394,0,0,0,0,0,0,26.56,26.22,25.58
$GC,9852,0.89,315.8,2893,3433,1664,1391,8.3,14.5,358,9856,0.25,2.12,0.00,0.000,5126,0.123,0.030,2828,2019,1527,1664,1390,0,0,0,0,0,0,26.17,26.31,28.83
$STATE,9915,end climb,SURFACE_DEPTH_REACHED
$STATE,9915,begin surface coast
$FINISH,0.4,1.024167
$STATE,9927,end surface coast,CONTROL_FINISHED_OK
$STATE,9927,begin surface
$SM_CCo,10000,0.00,0.000,0,0,1524,317.91
$SM_GC,0.93,6.82,0.00,0.00,0.030,0.000,0.000,179,2019,1524,-7.26,-0.17,317.91,0,0,0,0,0,0,26.36,28.83,28.83
$IRIDIUM_FIX,4738.89,-12534.50,311013,161612
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.95
$INTERNAL_PRESSURE,8.91764
$TCM_TEMP,12.40
$XPDR_PINGS,0
$24V_AH,24.0,6.176
$10V_AH,10.2,5.331
$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,20.925,78.275,358.475,0.000,0.000,0.000,0.000,559.650,0.000,0.000,6.504,1140.557,7238.974,378.851,1902.889,63.500,0.388,1665.733,0.000,1324.827,0.000,1.003,0.000
$DEVICE_MAMPS,205.020,56.610,893.520,0.000,0.000,0.000,0.000,76.500,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,69.140,14.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,249.967,483.615,285.548,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,11.230,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,314292
$DATA_FILE_SIZE,26916,365
$CAP_FILE_SIZE,104824,0
$CFSIZE,2097872896,2090139648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,311013,192853,4754.337,-12537.034,18,0.9,18,16.9