version: 66.11
glider: 195
mission: 8
dive: 51
start: 11 1 113 17 20 7
data:
$ID,195
$MISSION,8
$DIVE,51
$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,-4527.835
$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,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,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
$GPS1,011113,171134,4805.706,-12546.295,31,0.8,31,17.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-58.2
$GPS2,011113,171938,4805.752,-12546.268,5,0.8,5,17.0
$SPEED_LIMITS,0.119,0.258
$TGT_NAME,SEARCH_B
$TGT_LATLONG,4815.000,-12600.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.152,0.208
$KALMAN_X,-361.8,0.0,0.0,-57307.9,858.2
$KALMAN_Y,-22932.0,0.0,0.0,117057.2,-1984.0
$MHEAD_RNG_PITCHd_Wd,306.9,24086,-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,15,-0.79,-146.6,180,2026,1325,1047,0.0,0.0,0,90,0.00,0.00,-72.93,0.000,16386,0.000,0.000,180,2026,3051,3065,3037,0,0,0,0,0,0,28.83,28.83,28.83
$GC,93,-0.79,-146.6,180,2026,3066,3037,3.4,-5.0,7,120,7.75,2.17,-8.90,0.000,18948,0.205,0.054,2285,633,3420,3430,3411,0,0,0,0,0,0,25.81,26.06,26.39
$GC,235,-0.50,-146.6,2285,632,3431,3412,32.4,-21.2,21,244,0.30,2.20,0.00,0.000,3078,0.128,0.034,2374,2032,3421,3431,3412,0,0,0,0,0,0,25.98,26.17,28.83
$GC,544,-0.55,-146.6,2373,2032,3433,3412,64.3,-8.7,52,553,0.00,2.17,0.00,0.000,260,0.000,0.045,2366,3428,3422,3433,3412,0,0,0,0,0,0,28.83,26.24,28.83
$GC,617,-0.58,-146.6,2365,3428,3433,3412,71.2,-9.9,59,626,0.00,2.10,0.00,0.000,1030,0.000,0.028,2366,2014,3422,3433,3412,0,0,0,0,0,0,28.83,26.32,28.83
$GC,927,-0.66,-146.6,2365,2014,3435,3412,103.2,-10.4,79,932,0.00,2.20,0.00,0.000,260,0.000,0.045,2355,3428,3423,3435,3412,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1007,-0.75,-146.6,2355,3428,3435,3412,111.1,-9.8,83,1013,0.15,2.10,0.00,0.000,5126,0.069,0.028,2273,2015,3423,3435,3412,0,0,0,0,0,0,26.39,26.40,28.83
$GC,1327,-0.65,-146.6,2273,2015,3435,3412,151.8,-13.1,99,1333,0.17,2.17,0.00,0.000,2308,0.133,0.044,2321,3428,3423,3435,3412,0,0,0,0,0,0,26.29,26.39,28.83
$GC,1396,-0.61,-146.6,2321,3428,3435,3412,158.9,-12.4,101,1400,0.00,2.08,0.00,0.000,1030,0.000,0.028,2321,2025,3423,3435,3412,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1712,-0.68,-146.6,2321,2024,3435,3412,195.5,-10.9,112,1713,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2024,3423,3435,3412,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2012,-0.76,-146.6,2321,2024,3435,3412,225.4,-9.9,122,2018,0.00,2.17,0.00,0.000,260,0.000,0.046,2311,3428,3423,3435,3412,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2150,-0.84,-146.6,2311,3428,3435,3412,237.9,-10.4,126,2155,0.12,2.08,0.00,0.000,5126,0.080,0.029,2240,2022,3423,3435,3411,0,0,0,0,0,0,26.51,26.53,28.83
$GC,2457,-0.73,-146.6,2240,2021,3434,3412,280.7,-13.7,136,2459,0.22,0.00,0.00,0.000,2054,0.129,0.000,2308,2021,3423,3434,3412,0,0,0,0,0,0,26.39,28.83,28.83
$GC,2757,-0.82,-146.6,2307,2021,3433,3412,315.0,-11.2,144,2763,0.00,2.17,0.00,0.000,260,0.000,0.047,2300,3428,3422,3434,3411,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2886,-0.91,-146.6,2300,3428,3433,3411,329.2,-11.4,146,2890,0.15,2.08,0.00,0.000,5126,0.070,0.029,2219,2025,3422,3433,3411,0,0,0,0,0,0,26.58,26.58,28.83
$GC,3232,-0.80,-146.6,2219,2025,3434,3411,384.4,-15.5,152,3235,0.22,0.00,0.00,0.000,2054,0.129,0.000,2286,2023,3421,3433,3410,0,0,0,0,0,0,26.44,28.83,28.83
$GC,3533,-0.85,-146.6,2286,2024,3433,3410,414.4,-9.6,157,3538,0.00,2.17,0.00,0.000,260,0.000,0.047,2279,3427,3421,3433,3409,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3576,-0.91,-146.6,2278,3426,3433,3409,414.4,-9.6,157,3580,0.00,2.08,0.00,0.000,1030,0.000,0.030,2279,2027,3421,3434,3409,0,0,0,0,0,0,28.83,26.61,28.83
$GC,3887,-0.95,-146.6,2278,2026,3433,3408,459.7,-13.3,163,3889,0.12,0.00,0.00,0.000,4102,0.082,0.000,2210,2026,3420,3432,3409,0,0,0,0,0,0,26.67,28.83,28.83
$GC,4188,-1.24,-146.6,2209,2026,3433,3408,482.5,-5.3,168,4194,0.15,2.17,0.00,0.000,4356,0.080,0.046,2131,3428,3420,3433,3407,0,0,0,0,0,0,26.65,26.57,28.83
$STATE,4426,end dive,NO_VERTICAL_VELOCITY
$STATE,4426,begin apogee
$GC,4432,-0.23,0.0,2131,2019,3433,3407,482.6,0.0,172,4549,0.90,0.00,112.07,0.857,10246,0.056,0.000,2480,2019,2820,2914,2726,0,0,0,0,0,0,26.60,28.83,24.37
$STATE,4550,end apogee,CONTROL_FINISHED_OK
$STATE,4550,begin climb
$GC,4551,0.79,146.6,2479,2019,2914,2726,482.5,0.0,174,4675,0.88,2.30,114.35,0.833,10756,0.049,0.042,2817,642,2221,2337,2106,0,0,0,0,0,0,25.10,24.72,24.09
$GC,4968,0.61,146.6,2816,642,2333,2104,447.9,10.0,181,4975,0.25,2.17,0.00,0.000,5126,0.123,0.034,2744,2031,2218,2333,2104,0,0,0,0,0,0,25.66,25.77,28.83
$GC,5329,0.63,215.6,2744,2031,2333,2102,421.8,6.8,187,5389,0.00,2.28,53.65,0.805,8708,0.000,0.043,2745,638,1939,2074,1804,0,0,0,0,0,0,28.83,25.25,24.63
$GC,5514,0.70,256.1,1824,638,2042,1795,405.6,8.1,190,5553,0.00,2.22,32.47,0.779,9222,0.000,0.034,2745,2025,1776,1914,1638,0,0,0,0,0,0,28.83,25.70,24.59
$GC,5872,0.81,258.1,2745,2025,1913,1632,369.5,9.9,196,5874,0.17,0.00,0.00,0.000,2054,0.064,0.000,2832,2025,1772,1913,1632,0,0,0,0,0,0,25.94,28.83,28.83
$GC,6173,0.67,258.1,2832,2025,1911,1632,324.6,15.3,201,6179,0.20,2.17,0.00,0.000,4612,0.129,0.042,2777,635,1771,1911,1631,0,0,0,0,0,0,25.98,26.07,28.83
$GC,6234,0.57,258.1,1856,635,1882,1628,317.2,14.9,202,6239,0.12,2.20,0.00,0.000,5126,0.109,0.034,2733,2028,1769,1909,1630,0,0,0,0,0,0,26.03,26.13,28.83
$GC,6562,0.75,258.1,2732,2028,1909,1630,284.9,10.1,210,6564,0.17,0.00,0.00,0.000,2054,0.065,0.000,2819,2029,1769,1909,1630,0,0,0,0,0,0,26.29,28.83,28.83
$GC,6862,0.68,258.1,2819,2029,1909,1630,239.5,15.1,220,6868,0.17,2.17,0.00,0.000,4612,0.129,0.042,2772,634,1769,1909,1630,0,0,0,0,0,0,26.20,26.28,28.83
$GC,6900,0.63,258.1,2772,632,1909,1629,235.6,14.6,221,6904,0.00,2.12,0.00,0.000,1030,0.000,0.034,2772,2029,1768,1909,1628,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7222,0.72,258.1,2772,2028,1909,1629,195.4,11.8,232,7223,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2029,1769,1909,1629,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7522,0.81,261.9,2771,2028,1909,1628,163.8,9.8,242,7530,0.10,0.00,4.90,0.499,10246,0.096,0.000,2831,2029,1751,1890,1613,0,0,0,0,0,0,26.49,28.83,25.56
$GC,7823,0.76,261.9,2830,2029,1889,1613,124.7,13.7,255,7825,0.15,0.00,0.00,0.000,4102,0.135,0.000,2789,2029,1751,1889,1613,0,0,0,0,0,0,26.32,28.83,28.83
$GC,8122,0.88,261.9,2789,2029,1889,1613,91.1,11.4,270,8127,0.12,2.15,0.00,0.000,2564,0.081,0.042,2866,640,1751,1889,1613,0,0,0,0,0,0,26.52,26.42,28.83
$GC,8208,0.84,261.9,2866,640,1890,1613,81.0,13.3,274,8213,0.17,2.10,0.00,0.000,5126,0.131,0.034,2816,2027,1751,1889,1613,0,0,0,0,0,0,26.34,26.48,28.83
$GC,8515,0.93,279.9,2816,2027,1890,1613,49.1,9.2,303,8536,0.00,2.25,15.38,0.566,8708,0.000,0.044,2825,632,1677,1815,1540,0,0,0,0,0,0,28.83,26.27,25.64
$GC,8559,1.03,319.1,2823,632,1814,1537,45.5,8.2,307,8600,0.15,2.12,31.30,0.580,11270,0.071,0.034,2900,2029,1518,1655,1381,0,0,0,0,0,0,26.34,26.34,25.33
$STATE,8887,end climb,SURFACE_DEPTH_REACHED
$STATE,8887,begin surface coast
$FINISH,0.2,1.013712
$STATE,8899,end surface coast,CONTROL_FINISHED_OK
$STATE,8899,begin surface
$SM_CCo,8972,0.00,0.000,0,0,1509,321.59
$SM_GC,1.05,7.10,0.00,0.00,0.032,0.000,0.000,178,2029,1509,-7.27,0.11,321.59,0,0,0,0,0,0,26.22,28.83,28.83
$IRIDIUM_FIX,4748.51,-12546.49,011113,171741
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.48
$INTERNAL_PRESSURE,8.90787
$TCM_TEMP,12.10
$XPDR_PINGS,0
$24V_AH,24.1,6.878
$10V_AH,10.2,5.732
$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,20.050,60.550,364.125,0.000,0.000,0.000,0.000,378.500,0.000,0.000,8.954,1024.715,6454.280,381.302,1553.401,57.694,0.388,1400.732,0.000,1158.412,0.000,1.003,0.000
$DEVICE_MAMPS,205.020,53.550,856.800,0.000,0.000,0.000,0.000,74.970,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,69.140,14.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,232.873,451.583,272.682,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,11.230,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,314284
$DATA_FILE_SIZE,23707,341
$CAP_FILE_SIZE,88588,0
$CFSIZE,2097872896,2089385984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,011113,195029,4806.997,-12547.191,18,1.1,18,17.0