version: 66.11
glider: 195
mission: 8
dive: 88
start: 11 10 113 1 24 40
data:
$ID,195
$MISSION,8
$DIVE,88
$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,440
$T_MISSION,480
$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,14
$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,-5429.2051
$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,2.5
$ROLL_MIN,224
$ROLL_MAX,3758
$ROLL_DEG,40
$C_ROLL_DIVE,2207
$C_ROLL_CLIMB,1972
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,55
$R_STBD_OVSHOOT,42
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2618
$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,400
$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
$GPS1,101113,011857,4753.543,-12537.178,18,0.8,18,16.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-63.5
$GPS2,101113,012413,4753.487,-12537.185,5,0.7,6,16.9
$SPEED_LIMITS,0.089,0.231
$TGT_NAME,SEARCH_B
$TGT_LATLONG,4754.000,-12536.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.285,0.056
$KALMAN_X,-45748.8,0.0,0.0,-8631.9,-1002.0
$KALMAN_Y,-3026.8,0.0,0.0,59514.5,330.6
$MHEAD_RNG_PITCHd_Wd,40.2,1751,-37.5,-7.500,-40.00,445
$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,-1.69,-21.9,177,2211,1685,1477,0.0,0.0,0,63,0.00,0.00,-45.70,0.000,16390,0.000,0.000,177,2211,2708,2714,2702,0,0,0,0,0,0,28.83,28.83,26.49
$GC,65,-1.69,-21.9,177,2211,2715,2703,2.6,-4.1,4,76,6.75,2.22,0.00,0.000,2308,0.208,0.040,1989,3613,2710,2721,2700,0,0,0,0,0,0,25.73,26.11,28.83
$GC,241,-1.61,-21.9,1988,3613,2728,2697,25.4,-15.4,21,250,0.12,2.15,0.00,0.000,3078,0.171,0.025,2023,2191,2712,2728,2696,0,0,0,0,0,0,25.89,26.25,28.83
$GC,549,-1.61,-45.6,2023,2191,2730,2695,41.2,-2.0,52,560,0.00,2.08,-1.02,0.000,16900,0.000,0.048,2023,823,2807,2837,2778,0,0,0,0,0,0,28.83,26.27,26.54
$GC,666,-1.61,-47.1,2023,824,2837,2778,47.0,-7.1,63,673,0.00,2.12,0.00,0.000,1030,0.000,0.031,2014,2233,2808,2838,2778,0,0,0,0,0,0,28.83,26.33,28.83
$GC,973,-1.61,-60.8,2014,2233,2840,2777,67.3,-4.4,94,984,0.00,2.15,-0.50,0.000,16900,0.000,0.047,2015,818,2869,2902,2836,0,0,0,0,0,0,28.83,26.35,26.55
$GC,1056,-1.61,-62.8,2014,818,2903,2836,72.2,-7.0,102,1060,0.00,2.08,0.00,0.000,1030,0.000,0.031,2004,2206,2869,2903,2836,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1371,-1.61,-62.8,2004,2206,2906,2836,93.3,-7.7,124,1372,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,2206,2870,2905,2836,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1672,-1.61,-67.8,2004,2206,2906,2836,112.6,-6.3,139,1679,0.00,2.10,-0.17,0.000,16900,0.000,0.048,2004,819,2900,2934,2866,0,0,0,0,0,0,28.83,26.44,26.43
$GC,1752,-1.61,-68.7,2004,819,2934,2866,118.5,-7.3,143,1759,0.15,2.08,0.00,0.000,3078,0.189,0.031,2027,2209,2900,2934,2866,0,0,0,0,0,0,26.13,26.47,28.83
$GC,2072,-1.61,-68.9,2027,2210,2935,2866,137.9,-7.4,159,2078,0.00,2.15,0.00,0.000,260,0.000,0.041,2019,3617,2900,2935,2866,0,0,0,0,0,0,28.83,26.45,28.83
$GC,2240,-1.61,-68.9,2019,3618,2935,2866,150.7,-8.4,167,2244,0.00,2.08,0.00,0.000,1030,0.000,0.025,2019,2203,2900,2935,2866,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2552,-1.61,-68.9,2018,2203,2935,2866,176.6,-7.6,178,2556,0.00,2.08,0.00,0.000,516,0.000,0.036,2019,818,2900,2935,2866,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2761,-1.61,-74.7,2019,818,2935,2866,190.7,-6.2,185,2766,0.00,2.12,-0.15,0.000,17414,0.000,0.031,2009,2205,2931,2965,2897,0,0,0,0,0,0,28.83,26.53,26.26
$GC,3088,-1.61,-74.7,2009,2204,2966,2897,217.7,-8.7,196,3092,0.00,2.17,0.00,0.000,260,0.000,0.042,1998,3620,2931,2965,2897,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3384,-1.61,-74.7,1998,3621,2966,2897,247.4,-10.0,206,3389,0.12,2.08,0.00,0.000,3078,0.190,0.026,2025,2198,2931,2966,2897,0,0,0,0,0,0,26.25,26.59,28.83
$GC,3713,-1.67,-74.7,2025,2198,2966,2897,277.5,-9.5,217,3718,0.00,2.20,0.00,0.000,260,0.000,0.043,2017,3622,2931,2966,2897,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4012,-1.67,-74.7,2016,3622,2965,2897,311.1,-11.4,226,4016,0.00,2.08,0.00,0.000,1030,0.000,0.026,2016,2209,2931,2966,2897,0,0,0,0,0,0,28.83,26.61,28.83
$GC,4368,-1.73,-74.7,2016,2208,2966,2897,352.2,-11.6,232,4372,0.00,2.17,0.00,0.000,260,0.000,0.043,2006,3618,2931,2966,2897,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4637,-1.73,-74.7,2006,3617,2965,2897,380.4,-11.9,236,4641,0.00,2.12,0.00,0.000,1030,0.000,0.026,2006,2203,2931,2966,2897,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4966,-1.79,-74.7,2005,2203,2966,2897,420.9,-11.2,242,4968,0.12,0.00,0.00,0.000,4102,0.089,0.000,1942,2203,2931,2966,2897,0,0,0,0,0,0,26.65,28.83,28.83
$GC,5264,-1.79,-74.7,1942,2203,2966,2897,459.8,-13.0,247,5268,0.00,2.10,0.00,0.000,516,0.000,0.037,1942,810,2931,2965,2897,0,0,0,0,0,0,28.83,26.56,28.83
$GC,5437,-1.79,-74.7,1942,810,2965,2897,474.2,-12.8,249,5446,0.15,2.10,0.00,0.000,3078,0.191,0.033,1967,2209,2931,2965,2897,0,0,0,0,0,0,26.23,26.59,28.83
$GC,5745,-1.79,-74.7,1966,2210,2965,2897,515.5,-11.2,255,5751,0.00,2.12,0.00,0.000,260,0.000,0.044,1958,3606,2930,2965,2896,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5899,-1.79,-74.7,1958,3607,2965,2896,532.1,-12.6,257,5904,0.00,2.10,0.00,0.000,1030,0.000,0.027,1958,2204,2930,2965,2896,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6227,-1.79,-74.7,1958,2205,2965,2896,573.2,-11.2,263,6228,0.00,0.00,0.00,0.000,6,0.000,0.000,1958,2205,2930,2965,2896,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6346,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6346,begin apogee
$GC,6350,-0.23,0.0,1958,1970,2964,2895,585.5,-10.6,265,6415,1.62,0.00,59.20,0.951,10246,0.151,0.000,2471,1969,2617,2693,2542,0,0,0,0,0,0,26.18,28.83,24.81
$STATE,6416,end apogee,CONTROL_FINISHED_OK
$STATE,6416,begin climb
$GC,6417,1.69,74.7,2470,1969,2693,2542,587.2,0.0,266,6485,1.70,2.30,59.28,0.937,10756,0.058,0.040,3098,597,2312,2406,2218,0,0,0,0,0,0,25.54,24.96,24.27
$GC,6515,1.69,74.7,3098,596,2404,2218,583.9,0.0,267,6522,0.00,2.17,0.00,0.000,1030,0.000,0.031,3099,1974,2311,2404,2218,0,0,0,0,0,0,28.83,25.29,28.83
$GC,6822,1.69,74.7,3098,1974,2401,2217,502.8,23.0,273,6823,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,1974,2309,2401,2217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7121,1.69,74.7,3098,1974,2399,2217,438.0,21.9,278,7126,0.00,2.15,0.00,0.000,516,0.000,0.039,3108,591,2308,2399,2217,0,0,0,0,0,0,28.83,26.05,28.83
$GC,7160,1.69,74.7,3107,590,2398,2217,438.0,21.9,278,7164,0.00,2.17,0.00,0.000,1030,0.000,0.031,3108,1977,2308,2399,2217,0,0,0,0,0,0,28.83,26.12,28.83
$GC,7477,1.69,74.7,3108,1977,2397,2216,359.9,22.5,284,7478,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,1977,2306,2397,2216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7778,1.69,74.7,3108,1977,2397,2215,291.4,22.8,289,7779,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,1977,2306,2397,2215,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8077,1.69,74.7,3108,1977,2397,2215,224.7,22.6,299,8081,0.00,2.15,0.00,0.000,260,0.000,0.040,3109,3378,2306,2397,2215,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8106,1.69,74.7,3108,3378,2397,2215,218.7,22.6,300,8111,0.12,2.10,0.00,0.000,5126,0.181,0.028,3091,1972,2306,2398,2215,0,0,0,0,0,0,26.10,26.38,28.83
$GC,8433,1.69,74.7,3090,1971,2397,2214,146.2,21.6,311,8437,0.00,2.17,0.00,0.000,260,0.000,0.041,3091,3376,2306,2397,2215,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8550,1.69,74.7,3090,3376,2397,2214,121.6,20.9,317,8555,0.00,2.10,0.00,0.000,1030,0.000,0.028,3099,1967,2306,2397,2215,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8859,1.69,74.7,3099,1967,2397,2214,67.0,17.6,336,8863,0.00,2.15,0.00,0.000,516,0.000,0.040,3110,572,2305,2397,2214,0,0,0,0,0,0,28.83,26.40,28.83
$GC,8916,1.69,74.7,3109,572,2397,2214,57.8,15.7,341,8925,0.00,2.12,0.00,0.000,1030,0.000,0.030,3109,1983,2306,2397,2215,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9225,1.69,76.7,3109,1984,2397,2215,29.4,7.0,372,9229,0.00,2.12,0.00,0.000,260,0.000,0.040,3110,3377,2306,2397,2215,0,0,0,0,0,0,28.83,26.44,28.83
$GC,9525,1.69,76.7,3109,3377,2397,2214,8.1,8.9,401,9535,0.12,2.08,0.00,0.000,5126,0.181,0.027,3092,1965,2305,2397,2214,0,0,0,0,0,0,26.22,26.53,28.83
$STATE,9593,end climb,SURFACE_DEPTH_REACHED
$STATE,9593,begin surface coast
$FINISH,0.3,1.024885
$STATE,9614,end surface coast,CONTROL_FINISHED_OK
$STATE,9614,begin surface
$SM_CCo,9629,72.20,0.054,0,0,1596,250.21
$SM_GC,2.05,7.62,0.35,72.20,0.041,0.050,0.054,175,2206,1596,-7.28,-1.36,250.21,0,0,0,0,0,0,26.53,26.52,26.35
$IRIDIUM_FIX,4707.04,-12542.24,091113,222238
$TT8_MAMPS,0.026215,0.026215
$HUMID,42.24
$INTERNAL_PRESSURE,8.88834
$TCM_TEMP,16.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,560.2,31.5
$24V_AH,24.3,11.649
$10V_AH,10.3,8.653
$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,18.625,73.100,118.475,72.200,0.000,0.000,0.000,255.500,5.000,0.000,6.943,1236.247,6743.745,271.870,1711.240,70.547,0.000,1216.898,0.000,1415.850,0.000,44.319,0.000
$DEVICE_MAMPS,208.080,50.490,950.895,53.550,0.000,0.000,0.000,74.205,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,281.959,543.501,345.636,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,11.230,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,314252
$DATA_FILE_SIZE,30380,410
$CAP_FILE_SIZE,96544,0
$CFSIZE,2097872896,2084732928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,101113,040734,4753.744,-12537.028,38,1.1,38,16.9