version: 66.11
glider: 195
mission: 7
dive: 11
start: 10 23 113 3 19 33
data:
$ID,195
$MISSION,7
$DIVE,11
$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,75
$T_MISSION,90
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-3049.657
$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,2699
$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
$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,52
$R_STBD_OVSHOOT,36
$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
$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
$GPS1,231013,030932,4743.653,-12224.541,3,0.8,5,16.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.47
$_SM_ANGLEo,-64.0
$GPS2,231013,031833,4743.713,-12224.521,31,1.2,31,16.3
$SPEED_LIMITS,0.079,0.221
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.046,0.216
$KALMAN_X,-71.1,234.8,15.1,-649.2,-193.0
$KALMAN_Y,-1333.2,-373.0,-31.8,699.9,-305.6
$MHEAD_RNG_PITCHd_Wd,355.7,1458,-11.5,-6.667,-16.81,3244
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-0.52,-146.6,174,2027,1344,1109,0.0,0.0,0,82,0.00,0.00,-61.05,0.000,16390,0.000,0.000,174,2027,2861,2871,2851,0,0,0,0,0,0,28.83,28.83,26.45
$GC,84,-0.52,-146.6,174,2027,2872,2851,3.4,-7.8,10,98,8.70,0.00,0.00,0.000,2566,0.205,0.000,2522,2027,2863,2881,2845,0,0,0,0,0,0,25.84,28.83,28.83
$GC,160,-0.52,-146.6,1504,2025,2861,2832,14.6,-7.9,24,168,0.00,2.20,0.00,0.000,516,0.000,0.041,2523,638,2864,2893,2836,0,0,0,0,0,0,28.83,26.13,28.83
$GC,200,-0.52,-146.6,1552,637,2864,2831,17.8,-8.1,31,208,0.00,2.17,0.00,0.000,1030,0.000,0.034,2517,2031,2864,2893,2835,0,0,0,0,0,0,28.83,26.20,28.83
$GC,271,-0.52,-146.6,2517,2031,2894,2835,23.3,-8.1,40,280,0.00,2.17,0.00,0.000,260,0.000,0.044,2508,3425,2864,2894,2834,0,0,0,0,0,0,28.83,26.20,28.83
$GC,334,-0.52,-146.6,2507,3425,2895,2833,28.7,-8.8,46,344,0.00,2.10,0.00,0.000,1030,0.000,0.027,2508,2016,2864,2895,2833,0,0,0,0,0,0,28.83,26.28,28.83
$GC,463,-0.52,-146.6,2507,2016,2896,2833,38.9,-6.8,59,465,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2016,2864,2896,2832,0,0,0,0,0,0,28.83,28.83,28.83
$GC,584,-0.52,-146.6,2507,2016,2896,2833,45.7,-5.2,71,594,0.00,2.12,0.00,0.000,516,0.000,0.041,2507,628,2864,2896,2832,0,0,0,0,0,0,28.83,26.32,28.83
$GC,708,-0.52,-146.6,2507,628,2897,2832,56.3,-8.9,83,718,0.12,2.10,0.00,0.000,3078,0.131,0.033,2536,2026,2864,2896,2832,0,0,0,0,0,0,26.29,26.39,28.83
$GC,838,-0.52,-146.6,2536,2026,2897,2831,65.6,-6.8,96,848,0.00,2.17,0.00,0.000,260,0.000,0.044,2528,3438,2864,2897,2832,0,0,0,0,0,0,28.83,26.39,28.83
$GC,921,-0.52,-146.6,2528,3438,2897,2832,71.6,-7.4,104,931,0.00,2.10,0.00,0.000,1030,0.000,0.027,2528,2011,2864,2897,2832,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1051,-0.52,-146.6,2528,2011,2898,2832,81.3,-7.4,117,1061,0.00,2.10,0.00,0.000,516,0.000,0.041,2529,633,2865,2898,2832,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1127,-0.52,-146.6,2528,633,2899,2832,87.0,-8.1,124,1137,0.00,2.10,0.00,0.000,1030,0.000,0.034,2528,2032,2864,2898,2831,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1256,-0.52,-146.6,2527,2032,2900,2831,96.7,-6.8,137,1266,0.00,2.15,0.00,0.000,260,0.000,0.044,2522,3432,2864,2898,2831,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1352,-0.52,-146.6,2522,3432,2898,2831,103.8,-7.7,146,1356,0.00,2.10,0.00,0.000,1030,0.000,0.027,2522,2022,2864,2898,2831,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1484,-0.52,-146.6,2522,2022,2899,2831,113.2,-6.6,159,1493,0.00,2.10,0.00,0.000,516,0.000,0.041,2522,642,2865,2899,2831,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1520,-0.52,-146.6,2522,642,2899,2831,115.5,-7.2,162,1528,0.00,2.12,0.00,0.000,1030,0.000,0.033,2515,2026,2864,2899,2830,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1651,-0.52,-146.6,2514,2026,2899,2831,125.0,-7.0,175,1658,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2026,2865,2899,2831,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1737,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1737,begin apogee
$GC,1740,-0.23,0.0,2515,2026,2899,2831,131.6,-7.5,184,1852,0.32,0.00,106.80,0.607,10246,0.097,0.000,2628,2025,2262,2368,2156,0,0,0,0,0,0,26.45,28.83,24.75
$STATE,1853,end apogee,CONTROL_FINISHED_OK
$STATE,1853,begin climb
$GC,1854,0.52,146.6,2628,2025,2368,2156,135.4,0.0,195,1971,0.65,0.00,113.12,0.592,10246,0.068,0.000,2863,2025,1663,1804,1523,0,0,0,0,0,0,25.37,28.83,24.45
$GC,2089,0.52,230.3,2864,2025,1804,1517,127.2,4.0,219,2159,0.00,0.00,65.57,0.587,8198,0.000,0.000,2863,2025,1322,1471,1173,0,0,0,0,0,0,28.83,28.83,24.58
$GC,2279,0.52,248.8,2863,2025,1471,1168,116.4,6.1,238,2299,0.00,0.00,15.55,0.545,8198,0.000,0.000,2863,2025,1246,1398,1094,0,0,0,0,0,0,28.83,28.83,24.95
$GC,2419,0.52,248.8,2863,2025,1398,1092,105.7,8.1,252,2428,0.00,2.17,0.00,0.000,516,0.000,0.043,2864,644,1244,1398,1091,0,0,0,0,0,0,28.83,25.82,28.83
$GC,2461,0.52,248.8,2863,644,1398,1090,101.8,9.3,256,2471,0.00,2.12,0.00,0.000,1030,0.000,0.031,2863,2026,1244,1398,1090,0,0,0,0,0,0,28.83,25.93,28.83
$GC,2591,0.52,248.8,2863,2026,1398,1089,91.4,7.6,269,2601,0.00,2.20,0.00,0.000,260,0.000,0.043,2863,3433,1243,1398,1089,0,0,0,0,0,0,28.83,26.03,28.83
$GC,2634,0.52,248.8,2863,3433,1398,1089,88.3,7.1,273,2644,0.00,2.12,0.00,0.000,1030,0.000,0.028,2865,2019,1243,1398,1089,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2764,0.52,248.8,2864,2019,1398,1089,78.7,7.4,286,2774,0.00,2.15,0.00,0.000,516,0.000,0.042,2865,633,1243,1398,1088,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2797,0.52,248.8,2865,634,1398,1087,76.5,7.1,289,2807,0.00,2.12,0.00,0.000,1030,0.000,0.031,2865,2031,1242,1398,1087,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2927,0.52,248.8,2865,2030,1398,1087,66.7,7.1,302,2936,0.00,2.15,0.00,0.000,260,0.000,0.043,2865,3423,1242,1398,1087,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2961,0.52,248.8,2865,3423,1398,1087,63.9,8.5,305,2970,0.00,2.12,0.00,0.000,1030,0.000,0.028,2865,2030,1242,1398,1087,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3090,0.52,248.8,2865,2030,1398,1087,54.0,7.4,318,3091,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2030,1242,1398,1087,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3209,0.52,248.8,2865,2030,1398,1087,45.3,7.1,330,3211,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2030,1242,1398,1087,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3329,0.52,248.8,2865,2030,1398,1087,36.9,6.9,342,3339,0.00,2.15,0.00,0.000,516,0.000,0.042,2866,629,1242,1398,1086,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3382,0.52,248.8,2865,629,1398,1086,33.2,7.0,347,3392,0.00,2.10,0.00,0.000,1030,0.000,0.031,2866,2031,1241,1398,1085,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3512,0.52,248.8,2865,2030,1398,1086,23.2,7.7,360,3522,0.00,2.15,0.00,0.000,260,0.000,0.043,2866,3430,1242,1398,1086,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3544,0.52,248.8,2866,3430,1398,1085,20.7,8.0,363,3554,0.00,2.10,0.00,0.000,1030,0.000,0.028,2866,2019,1242,1398,1086,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3676,0.52,258.1,1768,2017,1380,1084,11.6,6.4,387,3685,0.00,2.20,3.92,0.307,8708,0.000,0.042,2866,635,1208,1362,1054,0,0,0,0,0,0,28.83,26.39,25.79
$GC,3727,0.52,278.3,1808,635,1346,1052,8.3,6.0,396,3742,0.00,2.12,9.18,0.076,9222,0.000,0.031,2866,2027,1126,1282,971,0,0,0,0,0,0,28.83,26.45,26.33
$GC,3804,0.52,278.3,1792,2025,1268,967,3.5,6.8,410,3812,0.00,2.20,0.00,0.000,260,0.000,0.044,2866,3429,1124,1282,967,0,0,0,0,0,0,28.83,26.40,28.83
$STATE,3828,end climb,SURFACE_DEPTH_REACHED
$STATE,3828,begin surface coast
$FINISH,0.1,1.022500
$STATE,3854,end surface coast,CONTROL_FINISHED_OK
$STATE,3855,begin surface
$SM_CCo,3930,0.00,0.000,0,0,1124,279.40
$SM_GC,0.56,6.85,2.15,0.00,0.028,0.026,0.000,180,2015,1124,-7.75,1.33,279.40,0,0,0,0,0,0,26.48,26.46,28.83
$IRIDIUM_FIX,4726.11,-12220.67,231013,030333
$TT8_MAMPS,0.026964,0.026964
$HUMID,42.71
$INTERNAL_PRESSURE,8.96647
$TCM_TEMP,14.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.1,6.9
$ALTIM_BOTTOM_PING,125.0,16.0
$24V_AH,24.4,1.457
$10V_AH,10.3,1.315
$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,16.650,64.175,314.150,0.000,0.000,0.000,0.000,372.625,3.250,0.000,31.861,1003.551,1499.906,408.734,1524.404,54.051,33.233,1327.262,0.000,1121.453,0.000,22.549,0.000
$DEVICE_MAMPS,205.020,44.370,606.645,0.000,0.000,0.000,0.000,75.735,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,69.140,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,279.290,553.699,900.577,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,11.230,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323008
$DATA_FILE_SIZE,27065,419
$CAP_FILE_SIZE,70118,0
$CFSIZE,2097872896,2093744128
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,55.74,0x235906,0,24
$GPS,231013,042537,4744.287,-12224.397,2,1.0,2,16.3