version: 66.11
glider: 195
mission: 7
dive: 18
start: 10 23 113 11 48 13
data:
$ID,195
$MISSION,7
$DIVE,18
$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,-3059.0234
$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,56
$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
$GPS1,231013,114239,4744.152,-12224.396,1,1.0,2,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.52
$_SM_ANGLEo,-64.8
$GPS2,231013,114713,4744.135,-12224.381,4,1.0,4,16.3
$SPEED_LIMITS,0.079,0.221
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.015,0.220
$KALMAN_X,-315.8,-195.6,42.4,173.0,-195.3
$KALMAN_Y,180.8,599.3,78.6,-1103.8,-402.7
$MHEAD_RNG_PITCHd_Wd,347.5,692,-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,-146.6,177,2032,1342,1109,0.0,0.0,0,82,0.00,0.00,-61.00,0.000,16390,0.000,0.000,177,2032,2860,2870,2851,0,0,0,0,0,0,28.83,28.83,26.33
$GC,84,-0.52,-146.6,177,2032,2870,2851,3.4,-7.0,10,99,8.70,2.17,0.00,0.000,2564,0.203,0.034,2522,634,2862,2880,2845,0,0,0,0,0,0,25.75,25.98,28.83
$GC,181,-0.52,-146.6,1504,634,2858,2833,16.9,-8.6,28,188,0.00,2.15,0.00,0.000,1030,0.000,0.033,2516,2014,2863,2891,2836,0,0,0,0,0,0,28.83,26.08,28.83
$GC,251,-0.52,-146.6,2516,2014,2892,2835,22.7,-8.1,38,252,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2014,2863,2892,2834,0,0,0,0,0,0,28.83,28.83,28.83
$GC,371,-0.52,-146.6,2516,2014,2893,2833,32.0,-7.6,50,372,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2014,2863,2893,2833,0,0,0,0,0,0,28.83,28.83,28.83
$GC,491,-0.52,-146.6,2516,2014,2894,2833,42.2,-9.3,62,492,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2015,2863,2894,2833,0,0,0,0,0,0,28.83,28.83,28.83
$GC,611,-0.52,-146.6,2516,2015,2893,2833,52.5,-8.4,74,621,0.00,2.20,0.00,0.000,260,0.000,0.044,2510,3432,2863,2894,2832,0,0,0,0,0,0,28.83,26.28,28.83
$GC,755,-0.52,-146.6,2510,3432,2896,2831,63.7,-8.0,88,765,0.00,2.10,0.00,0.000,1030,0.000,0.027,2509,2017,2864,2896,2832,0,0,0,0,0,0,28.83,26.39,28.83
$GC,885,-0.52,-146.6,2510,2017,2896,2831,73.0,-7.3,101,895,0.00,2.10,0.00,0.000,516,0.000,0.041,2510,640,2864,2897,2831,0,0,0,0,0,0,28.83,26.36,28.83
$GC,941,-0.52,-146.6,2509,640,2897,2831,77.8,-9.0,106,951,0.08,2.08,0.00,0.000,3078,0.107,0.033,2531,2028,2863,2896,2831,0,0,0,0,0,0,26.29,26.41,28.83
$GC,1070,-0.52,-146.6,2531,2028,2897,2831,87.5,-7.0,119,1080,0.00,2.17,0.00,0.000,260,0.000,0.044,2524,3429,2863,2896,2831,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1164,-0.52,-146.6,2523,3429,2897,2830,94.0,-6.8,128,1173,0.00,2.08,0.00,0.000,1030,0.000,0.026,2524,2023,2864,2897,2831,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1294,-0.52,-146.6,2523,2023,2897,2831,102.3,-5.5,141,1296,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2023,2864,2898,2831,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1414,-0.52,-146.6,2523,2023,2898,2831,109.0,-5.4,153,1415,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2023,2864,2898,2831,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1534,-0.52,-146.6,2524,2023,2898,2831,114.6,-4.7,165,1547,0.00,2.17,0.00,0.000,260,0.000,0.044,2514,3435,2863,2897,2830,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1602,-0.52,-146.6,2513,3435,2897,2829,118.1,-5.4,171,1611,0.00,2.12,0.00,0.000,1030,0.000,0.027,2514,2022,2864,2898,2830,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1731,-0.52,-146.6,2513,2022,2898,2829,125.4,-4.4,184,1741,0.00,2.10,0.00,0.000,516,0.000,0.040,2514,640,2864,2899,2830,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1766,-0.52,-146.6,2513,640,2898,2830,126.7,-3.8,187,1774,0.00,2.12,0.00,0.000,1030,0.000,0.033,2506,2025,2864,2899,2830,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1895,-0.52,-146.6,2507,2025,2898,2829,134.2,-5.9,200,1896,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2025,2863,2898,2829,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2014,-0.52,-146.6,2506,2025,2898,2829,142.3,-6.9,212,2015,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2025,2863,2898,2829,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2133,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2133,begin apogee
$GC,2136,-0.23,0.0,2506,2025,2898,2830,150.4,-6.3,224,2247,0.32,0.00,105.97,0.616,10246,0.097,0.000,2621,2024,2261,2366,2157,0,0,0,0,0,0,26.48,28.83,24.77
$STATE,2248,end apogee,CONTROL_FINISHED_OK
$STATE,2249,begin climb
$GC,2250,0.52,146.6,2620,2025,2366,2157,152.8,0.0,235,2367,0.68,0.00,113.50,0.599,10246,0.067,0.000,2865,2025,1664,1803,1525,0,0,0,0,0,0,25.37,28.83,24.44
$GC,2485,0.52,171.9,2864,2025,1801,1521,140.5,5.9,259,2508,0.00,0.00,20.35,0.568,8198,0.000,0.000,2865,2024,1561,1700,1422,0,0,0,0,0,0,28.83,28.83,24.87
$GC,2626,0.52,179.9,2865,2025,1699,1418,131.7,6.4,273,2636,0.00,0.00,7.35,0.496,8198,0.000,0.000,2865,2025,1527,1667,1387,0,0,0,0,0,0,28.83,28.83,25.12
$GC,2755,0.52,179.9,2865,2025,1667,1387,122.3,7.5,286,2756,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2025,1527,1667,1387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2875,0.52,179.9,2865,2025,1667,1387,112.3,8.0,298,2876,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2025,1527,1667,1387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2995,0.52,179.9,2865,2025,1667,1386,103.7,6.9,310,3005,0.00,2.15,0.00,0.000,516,0.000,0.042,2865,641,1527,1667,1387,0,0,0,0,0,0,28.83,26.13,28.83
$GC,3048,0.52,190.1,2865,641,1667,1386,100.2,6.3,315,3062,0.00,2.12,9.18,0.509,9222,0.000,0.032,2865,2035,1486,1627,1345,0,0,0,0,0,0,28.83,26.20,25.45
$GC,3183,0.52,190.1,2865,2035,1627,1345,89.8,8.2,328,3184,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2035,1486,1627,1345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3302,0.52,190.1,2865,2035,1627,1345,80.4,7.1,340,3304,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2035,1486,1627,1345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3423,0.52,190.6,2865,2035,1627,1345,72.2,6.7,352,3424,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2035,1486,1627,1345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3543,0.52,235.6,2865,2035,1627,1345,65.1,5.2,364,3586,0.00,2.25,36.60,0.550,8452,0.000,0.043,2865,3425,1300,1449,1151,0,0,0,0,0,0,28.83,25.87,25.29
$GC,3606,0.52,255.4,2865,3424,1449,1151,61.7,6.0,370,3628,0.00,2.15,16.77,0.522,9222,0.000,0.028,2865,2034,1220,1371,1070,0,0,0,0,0,0,28.83,25.98,25.18
$GC,3755,0.52,255.4,2865,2034,1371,1067,51.5,6.7,385,3765,0.00,2.17,0.00,0.000,516,0.000,0.042,2865,637,1218,1370,1066,0,0,0,0,0,0,28.83,25.98,28.83
$GC,3798,0.52,274.1,2865,637,1370,1065,48.9,6.1,389,3819,0.00,2.12,15.38,0.513,9222,0.000,0.031,2865,2035,1144,1297,991,0,0,0,0,0,0,28.83,26.08,25.28
$GC,3938,0.52,304.9,2865,2035,1297,988,40.7,5.7,403,3969,0.00,2.28,25.12,0.526,8452,0.000,0.042,2865,3426,1018,1175,862,0,0,0,0,0,0,28.83,25.75,25.20
$GC,4002,0.52,324.9,2865,3426,1175,862,36.9,6.0,409,4024,0.00,2.12,16.73,0.508,9222,0.000,0.027,2865,2022,937,1094,780,0,0,0,0,0,0,28.83,25.89,25.12
$GC,4143,0.52,326.5,2865,2022,1094,775,28.3,6.6,423,4152,0.00,2.17,0.00,0.000,516,0.000,0.041,2865,631,934,1094,775,0,0,0,0,0,0,28.83,25.91,28.83
$GC,4195,0.52,329.4,2865,631,1094,774,24.8,6.6,428,4206,0.00,2.12,2.08,0.177,9222,0.000,0.031,2865,2031,918,1077,759,0,0,0,0,0,0,28.83,26.02,24.91
$GC,4328,0.52,329.4,1792,2029,1069,759,15.3,7.3,447,4335,0.00,2.20,0.00,0.000,260,0.000,0.042,2865,3417,918,1077,760,0,0,0,0,0,0,28.83,26.09,28.83
$GC,4367,0.52,329.4,1824,3416,1070,759,12.1,9.1,454,4375,0.00,2.12,0.00,0.000,1030,0.000,0.028,2866,2026,919,1078,760,0,0,0,0,0,0,28.83,26.16,28.83
$GC,4436,0.52,329.4,1792,2024,1069,759,7.0,6.8,467,4444,0.00,2.20,0.00,0.000,516,0.000,0.042,2865,635,919,1078,760,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4485,0.52,329.4,1792,635,1070,758,3.5,7.3,476,4493,0.00,2.15,0.00,0.000,1030,0.000,0.031,2865,2028,918,1078,758,0,0,0,0,0,0,28.83,26.22,28.83
$STATE,4509,end climb,SURFACE_DEPTH_REACHED
$STATE,4509,begin surface coast
$FINISH,0.2,1.022663
$STATE,4536,end surface coast,CONTROL_FINISHED_OK
$STATE,4536,begin surface
$SM_CCo,4608,0.00,0.000,0,0,917,329.93
$SM_GC,0.33,6.95,0.00,0.00,0.031,0.000,0.000,182,2028,917,-7.76,0.08,329.93,0,0,0,0,0,0,26.26,28.83,28.83
$IRIDIUM_FIX,4726.11,-12225.08,231013,101045
$TT8_MAMPS,0.026964,0.026964
$HUMID,41.69
$INTERNAL_PRESSURE,8.94694
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,20.0
$ALTIM_BOTTOM_PING,135.4,52.4
$24V_AH,24.4,1.801
$10V_AH,10.4,1.767
$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,16.725,55.925,369.025,0.000,0.000,0.000,0.000,221.325,4.000,0.000,5.530,1172.010,1761.098,404.450,1499.987,62.456,33.224,1218.408,0.000,1279.560,0.000,28.625,0.000
$DEVICE_MAMPS,203.490,44.370,615.825,0.000,0.000,0.000,0.000,75.735,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,69.140,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,324.950,641.533,1042.490,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,11.230,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323092
$DATA_FILE_SIZE,30388,485
$CAP_FILE_SIZE,77575,0
$CFSIZE,2097872896,2093056000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,231013,130545,4744.007,-12224.594,12,1.1,12,16.3