version: 66.11
glider: 195
mission: 7
dive: 15
start: 10 23 113 8 0 12
data:
$ID,195
$MISSION,7
$DIVE,15
$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,-3055.166
$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,50
$R_STBD_OVSHOOT,42
$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
$GPS1,231013,075408,4744.953,-12224.646,1,1.4,2,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.50
$_SM_ANGLEo,-63.1
$GPS2,231013,075911,4744.971,-12224.644,6,1.0,7,16.3
$SPEED_LIMITS,0.079,0.221
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.001,-0.221
$KALMAN_X,10.2,60.2,-16.9,-672.8,-10.1
$KALMAN_Y,1280.3,-543.8,120.8,434.3,1065.1
$MHEAD_RNG_PITCHd_Wd,164.0,891,-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,15,-0.52,-146.6,183,2029,1373,1099,0.0,0.0,0,82,0.00,0.00,-60.67,0.000,16390,0.000,0.000,184,2029,2860,2870,2851,0,0,0,0,0,0,28.83,28.83,26.48
$GC,84,-0.52,-146.6,183,2029,2869,2850,3.6,-7.8,10,99,8.62,2.17,0.00,0.000,2308,0.203,0.037,2516,3427,2861,2879,2844,0,0,0,0,0,0,25.87,26.12,28.83
$GC,327,-0.52,-146.6,2516,3427,2892,2833,26.0,-6.0,47,334,0.00,2.12,0.00,0.000,1030,0.000,0.027,2516,2024,2862,2893,2832,0,0,0,0,0,0,28.83,26.31,28.83
$GC,454,-0.52,-146.6,2516,2024,2893,2832,33.9,-6.2,60,464,0.00,2.20,0.00,0.000,260,0.000,0.044,2506,3426,2862,2893,2832,0,0,0,0,0,0,28.83,26.29,28.83
$GC,499,-0.52,-146.6,2506,3426,2893,2832,36.5,-6.3,64,507,0.00,2.12,0.00,0.000,1030,0.000,0.027,2506,2022,2863,2894,2832,0,0,0,0,0,0,28.83,26.37,28.83
$GC,627,-0.52,-146.6,2506,2022,2894,2832,45.6,-7.2,77,636,0.00,2.12,0.00,0.000,516,0.000,0.041,2506,634,2863,2894,2832,0,0,0,0,0,0,28.83,26.34,28.83
$GC,710,-0.52,-146.6,2506,634,2895,2832,52.8,-9.0,85,720,0.12,2.10,0.00,0.000,3078,0.138,0.033,2535,2029,2863,2895,2832,0,0,0,0,0,0,26.28,26.40,28.83
$GC,840,-0.52,-146.6,2534,2029,2896,2831,62.7,-6.8,98,849,0.00,2.17,0.00,0.000,260,0.000,0.044,2527,3426,2863,2896,2831,0,0,0,0,0,0,28.83,26.39,28.83
$GC,933,-0.52,-146.6,2527,3426,2896,2831,70.6,-8.4,107,943,0.00,2.08,0.00,0.000,1030,0.000,0.027,2527,2017,2863,2896,2831,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1063,-0.52,-146.6,2527,2017,2896,2831,81.7,-7.7,120,1073,0.00,2.17,0.00,0.000,260,0.000,0.044,2518,3429,2863,2897,2830,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1130,-0.52,-146.6,2517,3429,2896,2830,88.4,-11.0,126,1138,0.00,2.12,0.00,0.000,1030,0.000,0.027,2518,2016,2863,2897,2830,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1258,-0.52,-146.6,2517,2016,2897,2830,102.3,-10.0,139,1268,0.00,2.17,0.00,0.000,260,0.000,0.044,2507,3426,2863,2897,2830,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1332,-0.52,-146.6,2507,3426,2897,2830,108.7,-8.3,146,1342,0.00,2.08,0.00,0.000,1030,0.000,0.027,2508,2019,2863,2897,2830,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1462,-0.52,-146.6,2507,2019,2898,2830,117.7,-7.1,159,1472,0.00,2.10,0.00,0.000,516,0.000,0.041,2508,640,2864,2898,2830,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1506,-0.52,-146.6,2507,640,2898,2830,120.8,-7.3,163,1516,0.12,2.10,0.00,0.000,3078,0.132,0.033,2537,2035,2864,2898,2830,0,0,0,0,0,0,26.41,26.53,28.83
$GC,1636,-0.52,-146.6,2537,2035,2898,2830,127.6,-4.8,176,1646,0.00,2.15,0.00,0.000,260,0.000,0.044,2529,3435,2863,2898,2829,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1700,-0.52,-146.6,2529,3435,2898,2828,131.2,-6.1,182,1709,0.00,2.08,0.00,0.000,1030,0.000,0.027,2529,2026,2863,2898,2829,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1830,-0.52,-146.6,2529,2026,2899,2829,139.3,-6.4,195,1839,0.00,2.10,0.00,0.000,516,0.000,0.041,2529,643,2864,2899,2829,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1875,-0.52,-146.6,2529,642,2899,2829,142.4,-7.2,199,1884,0.00,2.10,0.00,0.000,1030,0.000,0.033,2527,2016,2864,2899,2829,0,0,0,0,0,0,28.83,26.57,28.83
$STATE,1995,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1995,begin apogee
$GC,1998,-0.23,0.0,2527,2016,2899,2829,150.7,-7.4,211,2114,0.28,0.00,107.47,0.619,10246,0.098,0.000,2624,2016,2261,2366,2157,0,0,0,0,0,0,26.48,28.83,24.76
$STATE,2116,end apogee,CONTROL_FINISHED_OK
$STATE,2116,begin climb
$GC,2117,0.52,146.6,2623,2016,2366,2158,154.8,0.0,223,2237,0.65,2.30,112.65,0.603,10756,0.068,0.042,2865,648,1664,1804,1524,0,0,0,0,0,0,25.40,24.99,24.44
$GC,2278,0.52,150.1,2865,647,1803,1521,147.4,6.6,239,2287,0.00,2.20,3.75,0.387,9222,0.000,0.031,2865,2022,1649,1790,1508,0,0,0,0,0,0,28.83,25.44,24.80
$GC,2406,0.52,150.1,2864,2023,1791,1509,138.4,7.4,252,2416,0.00,2.22,0.00,0.000,260,0.000,0.042,2865,3433,1649,1790,1509,0,0,0,0,0,0,28.83,25.75,28.83
$GC,2448,0.52,150.1,2865,3433,1790,1509,134.7,8.6,256,2458,0.00,2.15,0.00,0.000,1030,0.000,0.028,2865,2020,1649,1790,1509,0,0,0,0,0,0,28.83,25.87,28.83
$GC,2579,0.52,150.1,2865,2020,1790,1508,125.0,7.4,269,2588,0.00,2.17,0.00,0.000,516,0.000,0.042,2866,628,1648,1790,1506,0,0,0,0,0,0,28.83,25.98,28.83
$GC,2613,0.52,150.1,2866,628,1790,1506,122.4,8.1,272,2622,0.00,2.17,0.00,0.000,1030,0.000,0.031,2866,2027,1648,1790,1506,0,0,0,0,0,0,28.83,26.06,28.83
$GC,2741,0.52,150.1,2866,2027,1790,1505,111.0,9.3,285,2742,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2027,1648,1790,1506,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2861,0.52,150.1,2866,2027,1790,1505,99.4,9.8,297,2871,0.00,2.15,0.00,0.000,516,0.000,0.041,2866,636,1647,1790,1505,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2914,0.52,150.1,2866,636,1790,1504,93.8,10.5,302,2923,0.00,2.10,0.00,0.000,1030,0.000,0.031,2867,2025,1647,1790,1504,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3044,0.52,150.1,2866,2024,1790,1504,81.1,8.7,315,3053,0.00,2.17,0.00,0.000,260,0.000,0.042,2867,3435,1647,1790,1504,0,0,0,0,0,0,28.83,26.26,28.83
$GC,3118,0.52,150.1,2866,3435,1790,1505,73.5,11.3,322,3127,0.00,2.15,0.00,0.000,1030,0.000,0.027,2867,2026,1647,1790,1504,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3247,0.52,150.1,2866,2026,1790,1504,62.6,7.6,335,3256,0.00,2.17,0.00,0.000,260,0.000,0.043,2867,3432,1647,1790,1504,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3290,0.52,150.1,2866,3432,1790,1504,59.0,8.3,339,3299,0.00,2.10,0.00,0.000,1030,0.000,0.028,2866,2022,1647,1790,1504,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3420,0.52,150.1,2866,2022,1790,1504,49.0,7.2,352,3429,0.00,2.12,0.00,0.000,516,0.000,0.041,2876,636,1647,1790,1504,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3473,0.52,166.9,2876,636,1790,1504,45.7,6.1,357,3493,0.00,2.08,13.60,0.514,9222,0.000,0.031,2876,2026,1580,1722,1439,0,0,0,0,0,0,28.83,26.43,25.62
$GC,3613,0.52,166.9,2875,2026,1722,1439,35.5,7.1,371,3622,0.00,2.15,0.00,0.000,516,0.000,0.041,2876,634,1580,1722,1439,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3655,0.52,168.9,2876,634,1722,1438,32.7,6.6,375,3665,0.00,2.10,0.00,0.000,1030,0.000,0.031,2876,2029,1580,1722,1439,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3785,0.52,169.6,2876,2029,1722,1439,23.7,6.6,388,3796,0.00,2.15,1.33,0.121,8708,0.000,0.040,2876,634,1569,1710,1429,0,0,0,0,0,0,28.83,26.34,26.21
$GC,3855,0.52,203.9,2876,633,1710,1429,19.4,5.6,395,3882,0.00,2.12,17.50,0.468,9222,0.000,0.031,2876,2019,1430,1573,1287,0,0,0,0,0,0,28.83,26.41,25.60
$GC,3945,0.52,232.6,1792,2018,1549,1281,14.3,5.8,411,3966,0.00,2.22,14.12,0.438,8452,0.000,0.041,2876,3439,1312,1462,1162,0,0,0,0,0,0,28.83,26.09,25.56
$GC,4008,0.52,232.6,1792,3438,1441,1160,10.1,7.6,422,4016,0.00,2.15,0.00,0.000,1030,0.000,0.028,2876,2029,1310,1461,1160,0,0,0,0,0,0,28.83,26.19,28.83
$GC,4078,0.52,271.9,1800,2027,1441,1157,5.8,5.4,435,4106,0.00,2.22,17.52,0.069,8708,0.000,0.041,2877,632,1151,1304,998,0,0,0,0,0,0,28.83,26.17,26.14
$GC,4138,0.52,271.9,1808,632,1289,993,2.1,7.1,445,4146,0.00,2.15,0.00,0.000,1030,0.000,0.031,2876,2028,1148,1303,994,0,0,0,0,0,0,28.83,26.25,28.83
$STATE,4152,end climb,SURFACE_DEPTH_REACHED
$STATE,4152,begin surface coast
$FINISH,-0.5,1.022419
$STATE,4183,end surface coast,CONTROL_FINISHED_OK
$STATE,4184,begin surface
$SM_CCo,4256,0.00,0.000,0,0,1147,273.51
$SM_GC,0.74,6.97,0.00,0.00,0.031,0.000,0.000,179,2028,1147,-7.76,0.06,273.51,0,0,0,0,0,0,26.29,28.83,28.83
$IRIDIUM_FIX,4729.30,-12222.38,231013,060643
$TT8_MAMPS,0.026215,0.026215
$HUMID,40.90
$INTERNAL_PRESSURE,8.96647
$TCM_TEMP,14.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,19.9
$ALTIM_BOTTOM_PING,150.7,46.9
$24V_AH,24.4,1.635
$10V_AH,10.4,1.566
$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,16.775,85.825,287.950,0.000,0.000,0.000,0.000,245.275,4.500,0.000,7.532,1087.835,1499.222,402.986,1526.094,58.690,33.215,1283.359,0.000,1268.281,0.000,30.366,0.000
$DEVICE_MAMPS,203.490,44.370,618.885,0.000,0.000,0.000,0.000,77.265,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,69.140,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,301.594,598.513,973.676,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,11.230,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323088
$DATA_FILE_SIZE,30335,453
$CAP_FILE_SIZE,80477,0
$CFSIZE,2097872896,2093350912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,231013,091144,4744.763,-12224.722,4,0.8,4,16.3