version: 66.11
glider: 195
mission: 7
dive: 14
start: 10 23 113 6 43 28
data:
$ID,195
$MISSION,7
$DIVE,14
$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,-3053.9114
$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,53
$R_STBD_OVSHOOT,43
$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
$GPS1,231013,063319,4744.877,-12224.455,19,1.0,19,16.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.44
$_SM_ANGLEo,-63.5
$GPS2,231013,064227,4744.931,-12224.490,38,0.9,38,16.3
$SPEED_LIMITS,0.079,0.221
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.016,-0.220
$KALMAN_X,224.6,69.7,-119.2,-605.7,67.9
$KALMAN_Y,455.7,-749.6,74.8,1430.8,783.4
$MHEAD_RNG_PITCHd_Wd,167.8,799,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-0.52,-146.6,174,2029,1341,1103,0.0,0.0,0,82,0.00,0.00,-61.22,0.000,16390,0.000,0.000,175,2029,2861,2869,2853,0,0,0,0,0,0,28.83,28.83,26.39
$GC,84,-0.52,-146.6,174,2029,2869,2853,3.4,-6.9,10,99,8.73,2.20,0.00,0.000,2308,0.205,0.039,2513,3432,2863,2880,2846,0,0,0,0,0,0,25.77,26.02,28.83
$GC,136,-0.52,-146.6,1504,3431,2861,2832,13.2,-10.3,19,144,0.00,2.15,0.00,0.000,1030,0.000,0.027,2513,2026,2863,2891,2836,0,0,0,0,0,0,28.83,26.11,28.83
$GC,206,-0.52,-146.6,1488,2024,2863,2830,19.3,-7.9,32,213,0.00,2.20,0.00,0.000,516,0.000,0.041,2513,634,2864,2894,2834,0,0,0,0,0,0,28.83,26.11,28.83
$GC,446,-0.52,-146.6,2513,634,2894,2835,41.6,-8.8,56,455,0.00,2.10,0.00,0.000,1030,0.000,0.033,2504,2028,2864,2895,2833,0,0,0,0,0,0,28.83,26.27,28.83
$GC,575,-0.52,-146.6,2504,2028,2895,2832,52.2,-8.7,69,584,0.00,2.15,0.00,0.000,516,0.000,0.040,2504,630,2864,2896,2833,0,0,0,0,0,0,28.83,26.28,28.83
$GC,647,-0.52,-146.6,2504,629,2896,2832,59.1,-9.4,76,658,0.12,2.12,0.00,0.000,3078,0.134,0.033,2535,2029,2864,2897,2832,0,0,0,0,0,0,26.23,26.34,28.83
$GC,778,-0.52,-146.6,2535,2030,2897,2832,68.8,-6.7,89,787,0.00,2.17,0.00,0.000,260,0.000,0.044,2528,3436,2864,2897,2832,0,0,0,0,0,0,28.83,26.34,28.83
$GC,884,-0.52,-146.6,2528,3436,2897,2831,75.7,-6.3,99,893,0.00,2.15,0.00,0.000,1030,0.000,0.027,2528,2014,2864,2897,2832,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1012,-0.52,-146.6,2527,2014,2898,2832,83.9,-6.8,112,1022,0.00,2.10,0.00,0.000,516,0.000,0.041,2528,635,2865,2899,2832,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1066,-0.52,-146.6,2528,636,2898,2832,87.9,-7.6,117,1075,0.00,2.12,0.00,0.000,1030,0.000,0.033,2525,2028,2864,2898,2831,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1196,-0.52,-146.6,2525,2028,2898,2831,97.4,-7.3,130,1205,0.00,2.15,0.00,0.000,260,0.000,0.044,2519,3426,2865,2899,2831,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1240,-0.52,-146.6,2519,3426,2898,2831,100.6,-7.6,134,1250,0.00,2.12,0.00,0.000,1030,0.000,0.026,2519,2020,2865,2899,2831,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1369,-0.52,-146.6,2519,2021,2899,2831,111.8,-8.5,147,1379,0.00,2.17,0.00,0.000,260,0.000,0.044,2509,3432,2865,2899,2831,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1422,-0.52,-146.6,2509,3432,2899,2830,116.7,-9.2,152,1426,0.00,2.10,0.00,0.000,1030,0.000,0.027,2509,2023,2863,2898,2829,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1554,-0.52,-146.6,2509,2022,2899,2831,129.0,-9.4,165,1563,0.00,2.10,0.00,0.000,516,0.000,0.041,2509,642,2865,2900,2831,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1597,-0.52,-146.6,2508,642,2899,2831,133.1,-9.5,169,1607,0.00,2.10,0.00,0.000,1030,0.000,0.033,2504,2035,2865,2900,2830,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1727,-0.52,-146.6,2504,2035,2899,2830,145.0,-9.4,182,1728,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2035,2864,2899,2830,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1789,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1789,begin apogee
$GC,1792,-0.23,0.0,2504,2035,2900,2830,150.1,-8.4,188,1908,0.35,0.00,105.75,0.617,10246,0.099,0.000,2625,2035,2262,2366,2158,0,0,0,0,0,0,26.43,28.83,24.72
$STATE,1909,end apogee,CONTROL_FINISHED_OK
$STATE,1909,begin climb
$GC,1910,0.52,146.6,2625,2035,2366,2159,154.3,0.0,200,2029,0.65,0.00,113.15,0.606,10502,0.068,0.000,2862,2035,1663,1803,1524,0,0,0,0,0,0,25.39,28.83,24.42
$GC,2147,0.52,155.7,2862,2034,1803,1520,142.6,6.4,224,2158,0.00,0.00,7.80,0.507,8198,0.000,0.000,2862,2035,1627,1767,1487,0,0,0,0,0,0,28.83,28.83,24.99
$GC,2278,0.52,155.7,2862,2035,1767,1486,133.7,6.8,237,2287,0.00,2.20,0.00,0.000,516,0.000,0.042,2865,641,1626,1767,1486,0,0,0,0,0,0,28.83,25.84,28.83
$GC,2310,0.52,155.7,2864,641,1767,1487,131.4,7.3,240,2320,0.00,2.12,0.00,0.000,1030,0.000,0.031,2864,2026,1626,1767,1485,0,0,0,0,0,0,28.83,25.93,28.83
$GC,2440,0.52,155.7,2864,2026,1767,1486,121.9,7.2,253,2449,0.00,2.20,0.00,0.000,260,0.000,0.042,2864,3436,1626,1767,1486,0,0,0,0,0,0,28.83,26.03,28.83
$GC,2474,0.52,155.7,2864,3436,1767,1485,119.5,7.5,256,2483,0.00,2.15,0.00,0.000,1030,0.000,0.028,2865,2036,1626,1767,1486,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2602,0.52,155.7,2864,2036,1767,1485,110.1,7.1,269,2612,0.00,2.17,0.00,0.000,516,0.000,0.042,2864,635,1625,1767,1484,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2645,0.52,155.7,2864,636,1767,1484,107.2,6.9,273,2654,0.00,2.12,0.00,0.000,1030,0.000,0.031,2865,2032,1625,1767,1484,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2775,0.52,157.8,2864,2032,1767,1484,98.3,6.6,286,2785,0.00,2.17,0.00,0.000,260,0.000,0.043,2865,3438,1625,1767,1484,0,0,0,0,0,0,28.83,26.23,28.83
$GC,2869,0.52,157.8,2864,3439,1767,1484,91.9,6.8,295,2878,0.00,2.10,0.00,0.000,1030,0.000,0.028,2865,2026,1625,1767,1484,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3000,0.52,164.9,2864,2025,1767,1484,83.7,6.4,308,3013,0.00,2.20,8.10,0.453,8708,0.000,0.043,2864,638,1589,1729,1449,0,0,0,0,0,0,28.83,26.21,25.60
$GC,3091,0.52,177.5,2865,638,1729,1449,77.8,6.3,317,3112,0.00,2.10,11.02,0.519,9222,0.000,0.031,2864,2026,1537,1678,1397,0,0,0,0,0,0,28.83,26.32,25.53
$GC,3231,0.52,177.5,2864,2026,1678,1397,68.5,6.7,331,3241,0.00,2.17,0.00,0.000,260,0.000,0.043,2865,3432,1537,1678,1397,0,0,0,0,0,0,28.83,26.23,28.83
$GC,3316,0.52,177.5,2864,3432,1678,1397,62.7,7.1,339,3326,0.00,2.08,0.00,0.000,1030,0.000,0.028,2865,2022,1537,1678,1397,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3445,0.52,177.5,2864,2022,1678,1396,54.1,6.7,352,3455,0.00,2.12,0.00,0.000,516,0.000,0.042,2865,635,1537,1678,1396,0,0,0,0,0,0,28.83,26.30,28.83
$GC,3498,0.52,177.5,2865,635,1678,1395,50.4,6.9,357,3507,0.00,2.10,0.00,0.000,1030,0.000,0.031,2865,2035,1537,1678,1396,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3628,0.52,198.5,2864,2035,1678,1396,41.7,6.0,370,3651,0.00,2.22,17.35,0.525,8452,0.000,0.043,2865,3425,1451,1593,1309,0,0,0,0,0,0,28.83,26.15,25.53
$GC,3731,0.52,216.9,2865,3425,1594,1310,34.9,6.1,380,3752,0.00,2.10,15.68,0.515,9222,0.000,0.028,2865,2022,1376,1521,1231,0,0,0,0,0,0,28.83,26.27,25.44
$GC,3870,0.52,216.9,2865,2022,1521,1229,22.9,11.1,394,3880,0.00,2.15,0.00,0.000,516,0.000,0.042,2865,634,1374,1521,1228,0,0,0,0,0,0,28.83,26.16,28.83
$GC,3920,0.52,216.9,1824,634,1499,1226,18.5,8.6,400,3927,0.00,2.15,0.00,0.000,1030,0.000,0.031,2865,2028,1373,1520,1227,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3989,0.52,242.3,1792,2026,1498,1226,13.6,5.9,413,4011,0.00,2.22,12.45,0.430,8452,0.000,0.043,2865,3422,1272,1424,1121,0,0,0,0,0,0,28.83,26.10,25.57
$GC,4043,0.52,242.3,2864,3421,1424,1121,9.3,7.7,422,4050,0.00,2.12,0.00,0.000,1030,0.000,0.028,2865,2027,1272,1423,1121,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4112,0.52,242.3,1792,2025,1405,1119,4.6,7.1,435,4120,0.00,2.20,0.00,0.000,516,0.000,0.041,2864,634,1271,1423,1120,0,0,0,0,0,0,28.83,26.19,28.83
$STATE,4151,end climb,SURFACE_DEPTH_REACHED
$STATE,4151,begin surface coast
$FINISH,0.9,1.022621
$STATE,4167,end surface coast,CONTROL_FINISHED_OK
$STATE,4167,begin surface
$SM_CCo,4183,16.17,0.143,1,0,1241,250.21
$SM_GC,0.23,7.05,2.17,16.17,0.039,0.031,0.143,183,2029,1241,-7.76,-1.16,250.21,0,0,0,0,1,0,26.27,26.26,25.69
$IRIDIUM_FIX,4726.11,-12220.67,231013,060618
$TT8_MAMPS,0.026964,0.026964
$HUMID,41.61
$INTERNAL_PRESSURE,8.97623
$TCM_TEMP,15.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,7.0
$ALTIM_BOTTOM_PING,150.1,52.2
$24V_AH,24.4,1.584
$10V_AH,10.3,1.498
$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,16.900,81.600,291.300,16.175,0.000,0.000,0.000,416.300,4.500,0.000,39.523,1082.016,1496.767,417.296,1718.520,58.342,33.200,1453.535,0.000,1257.112,0.000,30.366,0.000
$DEVICE_MAMPS,205.020,44.370,617.355,143.055,0.000,0.000,0.000,75.735,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,69.140,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,296.829,588.176,956.475,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,11.230,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323044
$DATA_FILE_SIZE,30338,445
$CAP_FILE_SIZE,80561,0
$CFSIZE,2097872896,2093449216
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$INTR,0,891.86,0x212a0c,0,24
$GPS,231013,075408,4744.953,-12224.646,1,1.4,2,16.3