version: 66.11
glider: 195
mission: 7
dive: 17
start: 10 23 113 10 42 20
data:
$ID,195
$MISSION,7
$DIVE,17
$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,-3057.772
$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,54
$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
$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
$GPS1,231013,102734,4744.264,-12224.703,36,0.9,36,16.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.52
$_SM_ANGLEo,-64.9
$GPS2,231013,104119,4744.250,-12224.762,4,0.7,5,16.3
$SPEED_LIMITS,0.079,0.221
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.128,0.094
$KALMAN_X,-380.4,-88.6,110.1,-407.2,-254.3
$KALMAN_Y,760.2,331.7,392.2,-1515.7,31.7
$MHEAD_RNG_PITCHd_Wd,37.6,566,-18.5,-6.667,-22.74,1533
$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,-0.83,-68.0,180,2017,1351,1110,0.0,0.0,0,69,0.00,0.00,-50.62,0.000,16390,0.000,0.000,179,2018,2541,2549,2534,0,0,0,0,0,0,28.83,28.83,26.41
$GC,71,-0.83,-80.8,180,2018,2550,2535,2.2,-5.8,8,86,8.30,0.00,-1.38,0.000,18438,0.204,0.000,2421,2017,2594,2613,2576,0,0,0,0,0,0,25.82,28.83,26.29
$GC,148,-0.83,-80.8,1424,2015,2579,2565,9.7,-8.8,22,154,0.00,0.00,0.00,0.000,6,0.000,0.000,2421,2017,2595,2619,2571,0,0,0,0,0,0,28.83,28.83,28.83
$GC,216,-0.83,-80.8,1424,2016,2581,2565,16.5,-9.7,35,223,0.00,0.00,0.00,0.000,6,0.000,0.000,2421,2018,2595,2620,2570,0,0,0,0,0,0,28.83,28.83,28.83
$GC,286,-0.83,-80.8,2421,2017,2620,2570,23.5,-10.3,45,295,0.00,2.20,0.00,0.000,260,0.000,0.043,2413,3434,2594,2621,2568,0,0,0,0,0,0,28.83,26.19,28.83
$GC,309,-0.83,-80.8,2413,3433,2621,2567,25.7,-10.3,47,318,0.00,2.15,0.00,0.000,1030,0.000,0.026,2413,2017,2594,2622,2567,0,0,0,0,0,0,28.83,26.25,28.83
$GC,438,-0.83,-80.8,2412,2017,2622,2568,37.7,-9.4,60,448,0.00,2.12,0.00,0.000,516,0.000,0.039,2412,633,2594,2622,2566,0,0,0,0,0,0,28.83,26.25,28.83
$GC,480,-0.83,-80.8,2412,633,2622,2567,41.7,-9.2,64,490,0.00,2.10,0.00,0.000,1030,0.000,0.032,2403,2025,2594,2623,2566,0,0,0,0,0,0,28.83,26.31,28.83
$GC,611,-0.83,-80.8,2403,2025,2623,2566,56.2,-10.9,77,620,0.00,2.17,0.00,0.000,260,0.000,0.043,2392,3435,2594,2622,2566,0,0,0,0,0,0,28.83,26.32,28.83
$GC,776,-0.83,-80.8,2392,3434,2622,2566,75.1,-11.3,93,787,0.10,2.05,0.00,0.000,3078,0.126,0.026,2426,2022,2594,2623,2566,0,0,0,0,0,0,26.25,26.43,28.83
$GC,906,-0.83,-80.8,2426,2022,2624,2566,87.9,-9.4,106,915,0.00,2.10,0.00,0.000,516,0.000,0.040,2426,642,2594,2623,2566,0,0,0,0,0,0,28.83,26.39,28.83
$GC,940,-0.83,-80.8,2426,643,2624,2566,91.6,-10.6,109,949,0.00,2.12,0.00,0.000,1030,0.000,0.032,2419,2028,2594,2624,2565,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1069,-0.83,-80.8,2418,2028,2624,2565,105.1,-9.3,122,1079,0.00,2.15,0.00,0.000,260,0.000,0.042,2408,3429,2594,2624,2565,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1126,-0.83,-80.8,2408,3429,2623,2565,110.1,-9.4,127,1135,0.00,2.12,0.00,0.000,1030,0.000,0.026,2408,2018,2594,2624,2565,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1255,-0.83,-80.8,2408,2017,2624,2565,121.1,-8.5,140,1264,0.00,2.17,0.00,0.000,260,0.000,0.043,2397,3432,2594,2624,2565,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1350,-0.83,-80.8,2397,3432,2624,2565,129.5,-8.8,149,1362,0.12,2.10,0.00,0.000,3078,0.149,0.027,2431,2017,2595,2625,2565,0,0,0,0,0,0,26.35,26.51,28.83
$GC,1481,-0.83,-80.8,2430,2018,2625,2565,139.6,-7.5,162,1482,0.00,0.00,0.00,0.000,6,0.000,0.000,2431,2017,2595,2625,2565,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1600,-0.83,-80.8,2430,2018,2625,2565,147.9,-6.7,174,1604,0.00,2.10,0.00,0.000,516,0.000,0.040,2431,640,2595,2625,2565,0,0,0,0,0,0,28.83,26.48,28.83
$STATE,1631,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1631,begin apogee
$GC,1636,-0.23,0.0,2423,2032,2625,2565,150.4,-7.9,177,1703,0.60,0.00,59.70,0.612,10246,0.108,0.000,2624,2032,2262,2343,2181,0,0,0,0,0,0,26.39,28.83,25.13
$STATE,1704,end apogee,CONTROL_FINISHED_OK
$STATE,1704,begin climb
$GC,1705,0.83,80.8,2624,2032,2343,2181,152.0,0.0,184,1776,0.93,2.30,62.33,0.604,10500,0.066,0.041,2966,3421,1932,2057,1807,0,0,0,0,0,0,25.75,25.26,24.68
$GC,1845,0.83,80.8,2965,3421,2057,1806,141.2,10.4,198,1854,0.00,2.12,0.00,0.000,1030,0.000,0.028,2976,2029,1931,2057,1805,0,0,0,0,0,0,28.83,25.67,28.83
$GC,1975,0.83,80.8,2975,2029,2057,1803,128.9,10.2,211,1985,0.00,2.17,0.00,0.000,516,0.000,0.041,2986,637,1929,2056,1802,0,0,0,0,0,0,28.83,25.87,28.83
$GC,2151,0.83,80.8,2985,637,2056,1801,110.0,10.4,228,2160,0.00,2.10,0.00,0.000,1030,0.000,0.031,2986,2029,1928,2056,1801,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2280,0.83,80.8,2986,2029,2056,1801,98.0,8.8,241,2289,0.00,2.17,0.00,0.000,260,0.000,0.042,2986,3430,1928,2056,1801,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2517,0.83,80.8,2986,3430,2056,1801,73.7,10.9,264,2526,0.00,2.15,0.00,0.000,1030,0.000,0.027,2996,2016,1928,2056,1801,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2646,0.83,80.8,2996,2016,2056,1800,59.8,10.2,277,2647,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2016,1928,2056,1801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2766,0.83,80.8,2996,2016,2056,1800,47.8,9.5,289,2775,0.00,2.17,0.00,0.000,260,0.000,0.041,2996,3428,1928,2056,1800,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2950,0.83,80.8,2996,3428,2056,1800,32.9,6.8,307,2961,0.15,2.08,0.00,0.000,5126,0.151,0.027,2967,2019,1928,2056,1800,0,0,0,0,0,0,26.27,26.44,28.83
$GC,3080,0.83,80.8,2967,2018,2056,1800,24.7,6.9,320,3090,0.00,2.10,0.00,0.000,516,0.000,0.041,2975,640,1928,2056,1800,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3215,0.83,80.8,1920,640,2018,1795,15.6,6.9,339,3223,0.00,2.12,0.00,0.000,1030,0.000,0.031,2975,2032,1927,2056,1799,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3285,0.83,80.8,1920,2030,2019,1795,10.5,7.2,352,3292,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2032,1927,2056,1799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3354,0.83,80.8,1888,2030,2018,1795,5.2,8.1,365,3361,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2032,1927,2056,1799,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3396,end climb,SURFACE_DEPTH_REACHED
$STATE,3396,begin surface coast
$FINISH,0.1,1.022665
$STATE,3419,end surface coast,CONTROL_FINISHED_OK
$STATE,3419,begin surface
$SM_CCo,3432,146.48,0.348,1,0,1242,250.21
$SM_GC,0.51,7.25,0.00,146.48,0.037,0.000,0.348,177,2032,1242,-7.76,0.20,250.21,0,0,0,0,1,0,26.53,28.83,25.15
$IRIDIUM_FIX,4729.30,-12222.38,231013,101051
$TT8_MAMPS,0.026215,0.026215
$HUMID,40.03
$INTERNAL_PRESSURE,8.986
$TCM_TEMP,15.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,19.9
$ALTIM_BOTTOM_PING,135.8,53.5
$24V_AH,24.7,1.736
$10V_AH,10.4,1.697
$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,17.450,51.325,122.025,146.475,0.000,0.000,0.000,679.600,3.750,0.000,5.647,953.166,1254.917,391.141,1774.474,54.864,33.224,1567.423,0.000,1092.053,0.000,25.742,0.000
$DEVICE_MAMPS,204.255,42.840,612.000,348.075,0.000,0.000,0.000,73.440,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,69.140,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,253.353,498.973,810.315,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,11.230,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323020
$DATA_FILE_SIZE,23737,377
$CAP_FILE_SIZE,70980,0
$CFSIZE,2097872896,2093154304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,231013,114239,4744.152,-12224.396,1,1.0,2,16.3