version: 66.11
glider: 195
mission: 7
dive: 6
start: 10 22 113 23 3 7
data:
$ID,195
$MISSION,7
$DIVE,6
$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,-3032.6741
$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,51
$R_STBD_OVSHOOT,38
$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,0.00050000002
$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
$GPS1,221013,225307,4743.924,-12224.396,2,1.7,2,16.3
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.46
$_SM_ANGLEo,-63.6
$GPS2,221013,230209,4743.854,-12224.394,4,1.7,4,16.3
$SPEED_LIMITS,0.119,0.258
$TGT_NAME,SOUTH
$TGT_LATLONG,4743.000,-12224.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.076,-0.246
$KALMAN_X,139.3,125.5,117.4,-691.7,154.1
$KALMAN_Y,-129.2,-135.2,-135.3,-380.7,-148.8
$MHEAD_RNG_PITCHd_Wd,180.9,1588,-17.6,-10.000,-21.21,2208
$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,-0.89,-146.6,171,2014,1341,1111,0.0,0.0,0,82,0.00,0.00,-61.53,0.000,16390,0.000,0.000,172,2015,2860,2871,2850,0,0,0,0,0,0,28.83,28.83,26.40
$GC,84,-0.89,-146.6,171,2015,2871,2850,3.1,-6.7,10,99,8.20,2.22,0.00,0.000,2308,0.206,0.037,2365,3444,2862,2881,2843,0,0,0,0,0,0,25.75,26.03,28.83
$GC,327,-0.89,-146.6,2365,3445,2890,2835,45.4,-16.8,42,335,0.00,2.15,0.00,0.000,1030,0.000,0.027,2365,2024,2862,2891,2834,0,0,0,0,0,0,28.83,26.25,28.83
$GC,454,-0.89,-146.6,2365,2024,2892,2834,65.4,-15.0,55,455,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,2024,2862,2891,2834,0,0,0,0,0,0,28.83,28.83,28.83
$GC,574,-0.89,-146.6,2365,2024,2892,2834,83.2,-14.6,67,584,0.00,2.12,0.00,0.000,516,0.000,0.040,2365,635,2863,2892,2834,0,0,0,0,0,0,28.83,26.30,28.83
$GC,607,-0.89,-146.6,2365,636,2892,2834,88.2,-14.6,70,618,0.12,2.10,0.00,0.000,3078,0.158,0.033,2387,2029,2863,2892,2834,0,0,0,0,0,0,26.17,26.35,28.83
$GC,739,-0.89,-146.6,2387,2029,2893,2832,105.1,-12.2,83,740,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2029,2863,2893,2833,0,0,0,0,0,0,28.83,28.83,28.83
$GC,858,-0.89,-146.6,2386,2029,2893,2832,119.2,-12.1,95,872,0.00,2.12,0.00,0.000,516,0.000,0.039,2387,640,2863,2894,2833,0,0,0,0,0,0,28.83,26.37,28.83
$STATE,884,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,884,begin apogee
$GC,889,-0.23,0.0,2379,2029,2894,2832,122.6,-12.1,97,1006,0.65,0.00,106.75,0.601,10246,0.113,0.000,2594,2029,2262,2367,2157,0,0,0,0,0,0,26.25,28.83,24.69
$STATE,1007,end apogee,CONTROL_FINISHED_OK
$STATE,1007,begin climb
$GC,1008,0.89,146.6,2594,2029,2367,2158,127.4,0.0,109,1129,1.02,2.33,113.03,0.582,11012,0.074,0.041,2966,644,1663,1804,1522,0,0,0,0,0,0,25.34,25.03,24.46
$GC,1157,0.89,146.8,2965,644,1803,1521,118.0,10.0,124,1167,0.00,2.17,0.00,0.000,1030,0.000,0.031,2966,2024,1661,1803,1520,0,0,0,0,0,0,28.83,25.39,28.83
$GC,1287,0.89,146.8,2965,2024,1803,1517,102.7,11.0,137,1297,0.00,2.17,0.00,0.000,516,0.000,0.041,2975,641,1660,1803,1517,0,0,0,0,0,0,28.83,25.77,28.83
$GC,1350,0.89,146.8,2975,642,1802,1516,95.7,11.8,143,1360,0.00,2.12,0.00,0.000,1030,0.000,0.031,2975,2029,1659,1802,1516,0,0,0,0,0,0,28.83,25.92,28.83
$GC,1480,0.89,146.8,2975,2029,1802,1516,79.1,12.9,156,1481,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2029,1659,1802,1516,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1600,0.89,146.8,2975,2029,1802,1516,63.9,13.5,168,1610,0.00,2.17,0.00,0.000,260,0.000,0.043,2976,3430,1659,1802,1516,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1643,0.89,146.8,2975,3430,1802,1516,57.9,13.9,172,1653,0.00,2.10,0.00,0.000,1030,0.000,0.028,2986,2022,1658,1802,1515,0,0,0,0,0,0,28.83,26.21,28.83
$GC,1773,0.89,146.8,2985,2022,1802,1516,42.0,11.8,185,1783,0.00,2.15,0.00,0.000,516,0.000,0.041,2996,626,1658,1802,1515,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1846,0.89,146.8,2995,626,1802,1515,33.4,11.7,192,1857,0.12,2.12,0.00,0.000,5126,0.148,0.031,2963,2032,1658,1802,1515,0,0,0,0,0,0,26.15,26.30,28.83
$GC,1977,0.90,162.3,2963,2032,1802,1515,20.4,9.3,205,1989,0.00,2.17,6.95,0.412,8452,0.000,0.043,2963,3430,1599,1742,1457,0,0,0,0,0,0,28.83,26.22,25.67
$GC,2021,0.90,162.3,1888,3429,1711,1454,15.8,10.8,212,2029,0.00,2.12,0.00,0.000,1030,0.000,0.027,2970,2028,1599,1742,1456,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2092,0.90,177.8,1896,2026,1711,1452,8.7,9.3,225,2106,0.00,0.00,6.82,0.076,8198,0.000,0.000,2971,2029,1535,1677,1393,0,0,0,0,0,0,28.83,28.83,26.22
$STATE,2162,end climb,SURFACE_DEPTH_REACHED
$STATE,2162,begin surface coast
$FINISH,0.2,1.022511
$STATE,2178,end surface coast,CONTROL_FINISHED_OK
$STATE,2179,begin surface
$SM_CCo,2192,67.35,0.325,1,0,1240,250.21
$SM_GC,0.56,7.20,0.00,67.35,0.032,0.000,0.325,183,2028,1240,-7.67,0.08,250.21,0,0,0,0,1,0,26.37,28.83,25.41
$IRIDIUM_FIX,4726.11,-12225.08,221013,222211
$TT8_MAMPS,0.026215,0.026215
$HUMID,41.25
$INTERNAL_PRESSURE,8.986
$TCM_TEMP,15.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,9.2
$ALTIM_BOTTOM_PING,120.1,11.3
$24V_AH,24.5,1.191
$10V_AH,10.3,1.069
$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,17.325,34.525,233.550,67.350,0.000,0.000,0.000,441.875,3.250,0.000,5.519,590.071,736.049,355.965,1106.568,38.685,31.304,1148.695,0.000,662.498,0.000,23.741,0.000
$DEVICE_MAMPS,205.785,42.840,600.525,325.125,0.000,0.000,0.000,83.385,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,69.140,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,159.775,318.158,517.991,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,11.230,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323028
$DATA_FILE_SIZE,17110,241
$CAP_FILE_SIZE,48164,0
$CFSIZE,2097872896,2094268416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,221013,234131,4743.380,-12224.430,4,0.8,5,16.3