version: 66.11
glider: 195
mission: 8
dive: 91
start: 11 10 113 14 37 9
data:
$ID,195
$MISSION,8
$DIVE,91
$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,-5432.9863
$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,51
$R_STBD_OVSHOOT,39
$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
$GPS1,101113,142934,4753.798,-12544.940,36,0.8,36,16.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-59.1
$GPS2,101113,143642,4753.800,-12544.903,5,0.8,5,16.9
$SPEED_LIMITS,0.089,0.231
$TGT_NAME,SEARCH_B
$TGT_LATLONG,4754.000,-12545.000
$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,325.2,390,-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,-21.9,182,2208,1698,1476,0.0,0.0,0,62,0.00,0.00,-45.50,0.000,16390,0.000,0.000,181,2208,2708,2714,2703,0,0,0,0,0,0,28.83,28.83,26.36
$GC,64,-1.69,-21.9,181,2208,2714,2703,2.6,-3.8,4,76,6.80,2.25,0.00,0.000,2308,0.208,0.040,1990,3615,2710,2719,2702,0,0,0,0,0,0,25.58,25.97,28.83
$GC,220,-1.59,-21.9,1990,3614,2725,2698,22.1,-13.5,19,229,0.17,2.12,0.00,0.000,3078,0.184,0.024,2031,2183,2711,2726,2697,0,0,0,0,0,0,25.72,26.13,28.83
$GC,529,-1.59,-42.1,2030,2182,2730,2696,47.5,-2.8,50,540,0.00,2.08,-0.80,0.000,16900,0.000,0.047,2031,822,2792,2822,2763,0,0,0,0,0,0,28.83,26.18,26.44
$GC,836,-1.59,-51.7,2031,822,2825,2763,61.2,-5.3,80,846,0.00,2.08,-0.35,0.000,17414,0.000,0.031,2023,2208,2833,2867,2799,0,0,0,0,0,0,28.83,26.29,26.39
$GC,1156,-1.59,-67.2,2023,2208,2869,2799,80.9,-3.9,111,1162,0.00,2.15,-0.47,0.000,16644,0.000,0.054,2012,3613,2896,2931,2862,0,0,0,0,0,0,28.83,26.30,26.51
$GC,1456,-1.59,-77.3,2012,3613,2931,2862,96.7,-5.2,126,1462,0.00,2.05,-0.32,0.000,17414,0.000,0.024,2012,2203,2941,2974,2908,0,0,0,0,0,0,28.83,26.44,26.48
$GC,1775,-1.59,-77.3,2012,2202,2976,2909,121.8,-8.6,142,1779,0.00,2.08,0.00,0.000,516,0.000,0.034,2012,827,2942,2976,2909,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2073,-1.59,-77.3,2012,827,2976,2908,149.3,-9.7,157,2079,0.12,2.08,0.00,0.000,3078,0.191,0.031,2028,2215,2942,2976,2909,0,0,0,0,0,0,26.11,26.46,28.83
$GC,2392,-1.59,-77.3,2028,2215,2976,2909,178.7,-9.4,168,2396,0.00,2.10,0.00,0.000,516,0.000,0.034,2028,825,2942,2976,2908,0,0,0,0,0,0,28.83,26.45,28.83
$GC,2688,-1.59,-77.3,2028,825,2975,2909,207.3,-10.2,178,2692,0.00,2.08,0.00,0.000,1030,0.000,0.031,2020,2206,2942,2976,2908,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3015,-1.64,-77.3,2020,2207,2976,2908,236.8,-9.2,189,3017,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,2207,2942,2976,2908,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3315,-1.69,-77.3,2020,2206,2976,2909,269.3,-11.3,199,3316,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,2206,2942,2976,2908,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3615,-1.76,-77.3,2020,2207,2976,2908,302.8,-11.2,209,3617,0.12,0.00,0.00,0.000,4102,0.087,0.000,1956,2206,2942,2976,2908,0,0,0,0,0,0,26.63,28.83,28.83
$GC,3914,-1.76,-77.3,1956,2206,2975,2908,338.5,-11.8,214,3918,0.00,2.08,0.00,0.000,516,0.000,0.034,1956,821,2941,2975,2908,0,0,0,0,0,0,28.83,26.52,28.83
$GC,4098,-1.76,-77.3,1955,821,2975,2908,359.0,-11.7,217,4103,0.10,2.12,0.00,0.000,3078,0.171,0.032,1974,2212,2941,2975,2908,0,0,0,0,0,0,26.19,26.56,28.83
$GC,4450,-1.76,-77.3,1974,2212,2975,2908,398.9,-10.8,223,4454,0.00,2.15,0.00,0.000,260,0.000,0.042,1965,3616,2941,2975,2908,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4643,-1.76,-77.3,1965,3616,2975,2908,421.8,-12.3,226,4647,0.00,2.10,0.00,0.000,1030,0.000,0.024,1965,2207,2941,2975,2908,0,0,0,0,0,0,28.83,26.62,28.83
$GC,4993,-1.76,-77.3,1965,2207,2975,2908,466.8,-12.7,232,4995,0.00,0.00,0.00,0.000,6,0.000,0.000,1965,2207,2941,2975,2908,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5292,-1.76,-77.3,1965,2207,2975,2907,504.0,-12.4,237,5297,0.00,2.08,0.00,0.000,516,0.000,0.034,1965,818,2941,2975,2907,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5597,-1.76,-77.3,1965,818,2975,2907,544.5,-13.2,242,5603,0.00,2.10,0.00,0.000,1030,0.000,0.033,1955,2214,2940,2975,2906,0,0,0,0,0,0,28.83,26.57,28.83
$GC,5957,-1.76,-77.3,1955,2214,2975,2906,590.8,-12.7,248,5961,0.00,2.10,0.00,0.000,516,0.000,0.034,1955,822,2940,2975,2906,0,0,0,0,0,0,28.83,26.54,28.83
$GC,6051,-1.76,-77.3,1954,822,2975,2906,599.2,-12.9,249,6056,0.15,2.08,0.00,0.000,3078,0.188,0.032,1979,2206,2940,2975,2905,0,0,0,0,0,0,26.17,26.58,28.83
$GC,6380,-1.82,-77.3,1979,2207,2975,2905,644.3,-12.2,255,6385,0.00,2.05,0.00,0.000,516,0.000,0.035,1979,833,2939,2975,2904,0,0,0,0,0,0,28.83,26.54,28.83
$GC,6544,-1.89,-77.3,1979,833,2975,2904,659.6,-12.1,257,6547,0.00,2.08,0.00,0.000,1030,0.000,0.033,1972,2211,2939,2975,2904,0,0,0,0,0,0,28.83,26.57,28.83
$GC,6862,-1.95,-77.3,1971,2210,2975,2903,702.9,-12.0,263,6868,0.12,2.08,0.00,0.000,4612,0.083,0.034,1905,826,2939,2975,2903,0,0,0,0,0,0,26.67,26.53,28.83
$GC,7112,-1.95,-77.3,1904,827,2975,2903,737.3,-14.2,267,7116,0.00,2.12,0.00,0.000,1030,0.000,0.033,1894,2210,2939,2975,2903,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7466,-1.95,-77.3,1893,2210,2975,2902,789.2,-14.3,273,7467,0.00,0.00,0.00,0.000,6,0.000,0.000,1894,2210,2938,2975,2902,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7765,-1.95,-77.3,1893,2210,2975,2902,832.3,-14.3,278,7771,0.00,2.15,0.00,0.000,260,0.000,0.044,1883,3619,2938,2975,2901,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7868,-1.95,-77.3,1882,3619,2975,2901,841.5,-14.2,279,7873,0.12,2.08,0.00,0.000,3078,0.192,0.027,1910,2202,2938,2975,2901,0,0,0,0,0,0,26.22,26.62,28.83
$GC,8181,-1.95,-77.3,1910,2202,2974,2900,892.1,-13.7,285,8182,0.00,0.00,0.00,0.000,6,0.000,0.000,1910,2203,2937,2974,2901,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8481,-1.95,-77.3,1910,2202,2975,2899,932.1,-13.6,290,8486,0.00,2.08,0.00,0.000,516,0.000,0.037,1910,824,2937,2975,2899,0,0,0,0,0,0,28.83,26.52,28.83
$GC,8634,-1.95,-77.3,1910,823,2975,2899,948.7,-13.7,292,8639,0.00,2.12,0.00,0.000,1030,0.000,0.034,1902,2203,2936,2974,2899,0,0,0,0,0,0,28.83,26.56,28.83
$STATE,8903,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8903,begin apogee
$GC,8906,-0.23,0.0,1902,1972,2974,2899,991.0,-14.1,297,8974,1.83,0.00,62.78,1.206,10246,0.154,0.000,2470,1971,2618,2695,2541,0,0,0,0,0,0,26.04,28.83,24.39
$STATE,8975,end apogee,CONTROL_FINISHED_OK
$STATE,8975,begin climb
$GC,8977,1.69,77.3,2470,1971,2696,2541,992.7,0.0,298,9050,1.70,2.33,64.57,1.191,10756,0.047,0.039,3103,597,2301,2396,2207,0,0,0,0,0,0,25.28,24.72,23.91
$GC,9099,1.69,77.3,3103,597,2392,2207,977.0,18.5,300,9104,0.00,2.25,0.00,0.000,1030,0.000,0.031,3103,1980,2299,2392,2207,0,0,0,0,0,0,28.83,25.25,28.83
$GC,9442,1.60,77.3,3103,1980,2388,2206,890.3,24.0,306,9444,0.17,0.00,0.00,0.000,4102,0.180,0.000,3062,1980,2297,2388,2206,0,0,0,0,0,0,25.58,28.83,28.83
$GC,9741,1.60,77.3,3062,1981,2388,2204,821.3,23.1,311,9743,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,1981,2296,2388,2204,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10041,1.60,77.3,3061,1981,2388,2203,754.6,22.0,316,10046,0.00,2.17,0.00,0.000,260,0.000,0.041,3062,3377,2296,2388,2204,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10195,1.60,77.3,3061,3377,2387,2203,727.9,22.0,318,10199,0.00,2.15,0.00,0.000,1030,0.000,0.028,3070,1985,2295,2388,2203,0,0,0,0,0,0,28.83,26.23,28.83
$GC,10517,1.60,77.3,3070,1985,2387,2203,649.3,21.5,324,10521,0.00,2.17,0.00,0.000,516,0.000,0.040,3081,576,2295,2387,2203,0,0,0,0,0,0,28.83,26.22,28.83
$GC,10636,1.60,77.3,2176,576,2354,2199,624.5,21.4,326,10640,0.00,2.17,0.00,0.000,1030,0.000,0.031,3081,1980,2294,2385,2203,0,0,0,0,0,0,28.83,26.32,28.83
$GC,10993,1.60,77.3,3081,1980,2387,2203,548.0,21.4,332,10994,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,1980,2295,2387,2203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11294,1.60,77.3,3081,1980,2387,2202,484.0,21.4,337,11299,0.00,2.17,0.00,0.000,516,0.000,0.040,3091,575,2295,2387,2203,0,0,0,0,0,0,28.83,26.33,28.83
$GC,11336,1.60,77.3,3091,575,2387,2203,484.0,21.4,337,11341,0.10,2.15,0.00,0.000,5126,0.168,0.031,3063,1972,2294,2387,2202,0,0,0,0,0,0,26.06,26.41,28.83
$GC,11653,1.60,77.3,3063,1972,2387,2202,410.0,20.3,343,11654,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,1972,2294,2387,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11953,1.60,77.3,3062,1972,2387,2202,349.7,20.1,348,11954,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,1972,2294,2387,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12254,1.60,77.3,3062,1972,2387,2202,287.5,21.0,353,12255,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,1972,2294,2387,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12553,1.60,77.3,3062,1973,2387,2202,223.5,21.7,363,12554,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,1972,2294,2387,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12854,1.60,77.3,3062,1972,2387,2202,159.2,20.9,373,12860,0.00,2.17,0.00,0.000,260,0.000,0.043,3063,3379,2294,2387,2202,0,0,0,0,0,0,28.83,26.43,28.83
$GC,12921,1.60,77.3,3062,3379,2387,2202,146.3,21.3,375,12925,0.00,2.15,0.00,0.000,1030,0.000,0.029,3071,1970,2294,2387,2202,0,0,0,0,0,0,28.83,26.51,28.83
$GC,13234,1.60,77.3,3071,1969,2386,2202,81.3,20.6,391,13240,0.00,2.15,0.00,0.000,516,0.000,0.041,3082,573,2295,2387,2203,0,0,0,0,0,0,28.83,26.44,28.83
$GC,13538,1.60,77.3,3082,573,2386,2203,36.8,12.8,420,13548,0.00,2.10,0.00,0.000,1030,0.000,0.032,3082,1972,2295,2387,2203,0,0,0,0,0,0,28.83,26.52,28.83
$GC,13848,1.66,77.3,3082,1972,2387,2203,14.5,7.5,451,13857,0.00,2.15,0.00,0.000,516,0.000,0.041,3092,567,2295,2387,2203,0,0,0,0,0,0,28.83,26.46,28.83
$STATE,13990,end climb,SURFACE_DEPTH_REACHED
$STATE,13990,begin surface coast
$FINISH,1.1,1.024874
$STATE,13993,end surface coast,CONTROL_FINISHED_OK
$STATE,13993,begin surface
$SM_CCo,14010,71.68,0.054,0,0,1597,250.21
$SM_GC,1.97,7.78,2.55,71.68,0.051,0.033,0.054,173,2204,1597,-7.28,-1.27,250.21,0,0,0,0,0,0,26.57,26.52,26.34
$IRIDIUM_FIX,4843.59,-12540.65,101113,080809
$TT8_MAMPS,0.026964,0.026964
$HUMID,42.99
$INTERNAL_PRESSURE,8.85904
$TCM_TEMP,16.20
$XPDR_PINGS,0
$24V_AH,23.9,11.890
$10V_AH,10.3,8.876
$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,19.300,85.750,127.350,71.675,0.000,0.000,0.000,356.825,15.000,0.000,5.911,1493.537,10394.628,278.190,2258.255,90.713,0.000,1524.695,0.000,1811.499,0.000,124.886,0.000
$DEVICE_MAMPS,208.080,53.550,1206.405,54.315,0.000,0.000,0.000,77.265,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,320.651,616.431,343.487,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,11.230,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,314348
$DATA_FILE_SIZE,33708,465
$CAP_FILE_SIZE,132691,0
$CFSIZE,2097872896,2084274176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,101113,183304,4754.896,-12545.989,38,1.0,38,16.9