version: 66.11
glider: 195
mission: 7
dive: 5
start: 10 22 113 22 19 3
data:
$ID,195
$MISSION,7
$DIVE,5
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,200
$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,50
$T_MISSION,60
$T_ABORT,1440
$T_TURN,225
$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,0
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-3024.0759
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,207
$PITCH_MAX,3915
$C_PITCH,2675
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,21.6
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$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,53
$R_STBD_OVSHOOT,41
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2262
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.001
$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,-51.046516
$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,20
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,75
$ALTIM_PING_DELTA,5
$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
$GPS1,221013,221401,4744.233,-12224.260,1,1.4,2,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.40
$_SM_ANGLEo,-58.8
$GPS2,221013,221803,4744.209,-12224.249,5,0.8,5,16.3
$SPEED_LIMITS,0.119,0.258
$TGT_NAME,SOUTH
$TGT_LATLONG,4743.000,-12224.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.107,-0.234
$KALMAN_X,76.2,76.2,76.2,-366.2,184.3
$KALMAN_Y,-131.4,-131.4,-131.4,290.8,-317.8
$MHEAD_RNG_PITCHd_Wd,188.4,2261,-17.6,-10.000,-21.21,2209
$D_GRID,150
$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,-0.96,-146.6,201,2014,762,470,0.0,0.0,0,108,0.00,0.00,-86.20,0.000,16390,0.000,0.000,201,2015,2859,2874,2845,0,0,0,0,0,0,28.83,28.83,26.60
$GC,110,-0.96,-146.6,201,2014,2875,2846,3.3,-7.6,14,125,7.90,2.17,0.00,0.000,2308,0.204,0.037,2345,3429,2861,2884,2839,0,0,0,0,0,0,25.93,26.22,28.83
$GC,353,-0.96,-146.6,2345,3429,2890,2834,45.8,-17.4,46,361,0.00,2.12,0.00,0.000,1030,0.000,0.027,2345,2026,2862,2891,2833,0,0,0,0,0,0,28.83,26.39,28.83
$GC,480,-0.96,-146.6,2345,2026,2891,2832,70.0,-19.0,59,481,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2025,2861,2891,2832,0,0,0,0,0,0,28.83,28.83,28.83
$GC,602,-0.96,-146.6,2345,2026,2891,2832,88.9,-16.7,71,612,0.00,2.10,0.00,0.000,516,0.000,0.040,2345,636,2862,2892,2832,0,0,0,0,0,0,28.83,26.38,28.83
$GC,725,-0.96,-146.6,2345,636,2893,2832,110.2,-16.6,82,734,0.00,2.08,0.00,0.000,1030,0.000,0.034,2335,2022,2862,2893,2832,0,0,0,0,0,0,28.83,26.45,28.83
$STATE,740,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,740,begin apogee
$GC,743,-0.23,0.0,2336,2022,2893,2832,113.8,-16.8,84,855,0.80,0.00,106.03,0.594,10246,0.122,0.000,2595,2022,2261,2367,2156,0,0,0,0,0,0,26.23,28.83,24.70
$STATE,856,end apogee,CONTROL_FINISHED_OK
$STATE,856,begin climb
$GC,858,0.96,146.6,2595,2021,2367,2156,120.1,0.0,95,983,1.10,2.28,112.20,0.578,10756,0.073,0.040,2991,635,1663,1804,1522,0,0,0,0,0,0,25.33,25.03,24.47
$GC,1027,0.96,146.6,2990,635,1802,1517,107.4,11.0,112,1036,0.00,2.17,0.00,0.000,1030,0.000,0.031,2991,2023,1660,1803,1517,0,0,0,0,0,0,28.83,25.50,28.83
$GC,1157,0.96,146.6,2991,2023,1802,1515,90.5,13.8,125,1166,0.00,2.22,0.00,0.000,260,0.000,0.042,2991,3438,1658,1802,1515,0,0,0,0,0,0,28.83,25.83,28.83
$GC,1189,0.96,146.6,2991,3438,1803,1515,86.1,13.7,128,1199,0.00,2.15,0.00,0.000,1030,0.000,0.028,3001,2019,1659,1803,1515,0,0,0,0,0,0,28.83,25.92,28.83
$GC,1319,0.96,146.6,3001,2019,1802,1514,68.5,13.9,141,1329,0.00,2.15,0.00,0.000,516,0.000,0.041,3011,634,1658,1803,1514,0,0,0,0,0,0,28.83,26.03,28.83
$GC,1433,0.96,146.6,3011,634,1800,1514,54.9,11.7,152,1442,0.00,2.12,0.00,0.000,1030,0.000,0.031,3012,2031,1656,1800,1513,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1563,0.96,146.6,3012,2031,1800,1513,38.7,12.5,165,1573,0.00,2.17,0.00,0.000,260,0.000,0.042,3012,3429,1657,1800,1514,0,0,0,0,0,0,28.83,26.21,28.83
$GC,1607,0.96,146.6,3011,3429,1800,1513,32.9,13.6,169,1617,0.10,2.12,0.00,0.000,5126,0.134,0.027,2989,2028,1656,1800,1513,0,0,0,0,0,0,26.10,26.29,28.83
$GC,1737,0.96,146.6,1952,2027,1770,1511,17.8,11.0,183,1745,0.00,2.20,0.00,0.000,516,0.000,0.041,2997,634,1656,1800,1513,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1782,0.96,146.6,1920,633,1768,1510,12.8,11.5,191,1790,0.00,2.15,0.00,0.000,1030,0.000,0.031,2997,2030,1656,1800,1513,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1852,0.96,146.6,1936,2029,1769,1510,4.7,12.3,204,1859,0.00,2.20,0.00,0.000,260,0.000,0.043,2997,3423,1656,1800,1513,0,0,0,0,0,0,28.83,26.32,28.83
$STATE,1880,end climb,SURFACE_DEPTH_REACHED
$STATE,1880,begin surface coast
$FINISH,-0.3,1.022487
$STATE,1897,end surface coast,CONTROL_FINISHED_OK
$STATE,1897,begin surface
$SM_CCo,1912,90.95,0.337,1,0,1240,250.21
$SM_GC,0.40,7.30,2.15,90.95,0.034,0.026,0.337,172,2015,1240,-7.69,1.30,250.21,0,0,0,0,1,0,26.40,26.39,25.31
$IRIDIUM_FIX,4726.11,-12220.67,221013,222250
$TT8_MAMPS,0.026964,0.026964
$HUMID,41.53
$INTERNAL_PRESSURE,8.99577
$TCM_TEMP,15.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.0,9.1
$ALTIM_BOTTOM_PING,110.2,13.0
$24V_AH,24.5,1.137
$10V_AH,10.3,1.026
$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,17.200,34.575,218.225,90.950,0.000,0.000,0.000,0.000,2.500,0.000,8.979,512.962,544.035,369.908,623.226,27.040,30.075,710.633,0.000,614.591,0.000,17.882,0.000
$DEVICE_MAMPS,204.255,42.840,594.405,337.365,0.000,0.000,0.000,0.000,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,69.140,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,139.655,279.513,455.665,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,11.230,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323120
$DATA_FILE_SIZE,13725,212
$CAP_FILE_SIZE,58940,0
$CFSIZE,2097872896,2094366720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,221013,225307,4743.924,-12224.396,2,1.7,2,16.3