version: 66.11
glider: 195
mission: 7
dive: 10
start: 10 23 113 2 19 52
data:
$ID,195
$MISSION,7
$DIVE,10
$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,50
$T_MISSION,60
$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,-3048.3997
$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,51
$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
$GPS1,231013,021045,4743.401,-12224.705,2,0.9,3,16.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.45
$_SM_ANGLEo,-63.7
$GPS2,231013,021852,4743.367,-12224.668,4,0.8,6,16.3
$SPEED_LIMITS,0.119,0.258
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.066,0.249
$KALMAN_X,-125.1,230.8,97.7,-854.2,-152.5
$KALMAN_Y,-1195.7,-361.6,-59.0,-56.5,-288.9
$MHEAD_RNG_PITCHd_Wd,358.5,2108,-17.6,-10.000,-21.21,2209
$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,-0.79,-146.6,175,2036,1344,1112,0.0,0.0,0,82,0.00,0.00,-61.10,0.000,16390,0.000,0.000,176,2036,2861,2872,2851,0,0,0,0,0,0,28.83,28.83,26.45
$GC,85,-0.79,-146.6,176,2036,2872,2850,3.3,-7.7,10,100,8.38,2.17,0.00,0.000,2564,0.206,0.034,2432,630,2863,2881,2846,0,0,0,0,0,0,25.84,26.09,28.83
$GC,193,-0.79,-146.6,2432,628,2890,2839,21.9,-14.9,29,202,0.00,2.15,0.00,0.000,1030,0.000,0.034,2424,2023,2864,2891,2837,0,0,0,0,0,0,28.83,26.20,28.83
$GC,323,-0.79,-146.6,2424,2023,2893,2836,40.0,-13.4,42,332,0.00,2.17,0.00,0.000,260,0.000,0.044,2413,3426,2864,2893,2836,0,0,0,0,0,0,28.83,26.22,28.83
$GC,408,-0.79,-146.6,2413,3426,2894,2834,51.1,-12.8,50,417,0.00,2.12,0.00,0.000,1030,0.000,0.026,2413,2025,2864,2894,2834,0,0,0,0,0,0,28.83,26.32,28.83
$GC,536,-0.79,-146.6,2413,2025,2894,2834,67.7,-12.3,63,538,0.12,0.00,0.00,0.000,2054,0.147,0.000,2448,2025,2864,2894,2834,0,0,0,0,0,0,26.25,28.83,28.83
$GC,656,-0.79,-146.6,2447,2025,2895,2834,81.8,-11.9,75,657,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,2025,2864,2895,2834,0,0,0,0,0,0,28.83,28.83,28.83
$GC,776,-0.79,-146.6,2447,2025,2895,2834,96.3,-11.9,87,777,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,2025,2864,2895,2834,0,0,0,0,0,0,28.83,28.83,28.83
$GC,897,-0.79,-146.6,2448,2025,2895,2834,110.2,-11.1,99,907,0.00,2.12,0.00,0.000,516,0.000,0.040,2447,619,2865,2896,2834,0,0,0,0,0,0,28.83,26.40,28.83
$GC,982,-0.79,-146.6,2447,619,2896,2834,120.0,-11.8,107,995,0.00,2.12,0.00,0.000,1030,0.000,0.033,2440,2025,2864,2896,2833,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1113,-0.79,-146.6,2440,2025,2896,2832,134.4,-10.5,120,1127,0.00,2.17,0.00,0.000,260,0.000,0.044,2430,3437,2864,2896,2832,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1172,-0.79,-146.6,2430,3437,2896,2832,140.9,-11.4,125,1181,0.00,2.08,0.00,0.000,1030,0.000,0.027,2430,2017,2864,2896,2832,0,0,0,0,0,0,28.83,26.49,28.83
$STATE,1249,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1249,begin apogee
$GC,1253,-0.23,0.0,2430,2017,2897,2832,150.3,-11.8,133,1372,0.55,0.00,108.90,0.619,10246,0.101,0.000,2618,2017,2262,2367,2157,0,0,0,0,0,0,26.36,28.83,24.68
$STATE,1373,end apogee,CONTROL_FINISHED_OK
$STATE,1373,begin climb
$GC,1374,0.79,146.6,2618,2017,2367,2157,156.4,0.0,145,1492,0.93,0.00,113.45,0.604,10246,0.065,0.000,2953,2017,1663,1803,1524,0,0,0,0,0,0,25.36,28.83,24.39
$GC,1611,0.79,146.6,2953,2017,1802,1518,135.9,11.7,169,1621,0.00,2.25,0.00,0.000,260,0.000,0.043,2953,3432,1659,1802,1517,0,0,0,0,0,0,28.83,25.66,28.83
$GC,1665,0.79,146.6,2953,3432,1802,1517,129.6,12.4,174,1674,0.00,2.17,0.00,0.000,1030,0.000,0.028,2964,2033,1659,1802,1517,0,0,0,0,0,0,28.83,25.82,28.83
$GC,1794,0.79,146.6,2964,2033,1802,1516,115.1,11.0,187,1795,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2033,1659,1802,1516,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1914,0.79,146.6,2964,2033,1802,1516,101.3,12.3,199,1915,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2033,1658,1802,1515,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2034,0.79,146.6,2964,2033,1802,1515,86.9,11.7,211,2043,0.00,2.17,0.00,0.000,516,0.000,0.041,2974,626,1657,1799,1515,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2106,0.79,146.6,2974,626,1799,1515,78.5,11.7,218,2116,0.00,2.12,0.00,0.000,1030,0.000,0.031,2974,2025,1657,1799,1515,0,0,0,0,0,0,28.83,26.23,28.83
$GC,2237,0.79,146.6,2974,2025,1799,1515,63.3,11.7,231,2238,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2025,1656,1798,1515,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2357,0.79,146.6,2974,2025,1799,1515,50.6,10.2,243,2366,0.00,2.17,0.00,0.000,260,0.000,0.042,2974,3438,1657,1799,1515,0,0,0,0,0,0,28.83,26.30,28.83
$GC,2380,0.79,146.6,2974,3439,1799,1515,48.1,11.0,245,2389,0.00,2.15,0.00,0.000,1030,0.000,0.027,2984,2025,1656,1798,1515,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2509,0.79,146.6,2984,2025,1798,1515,34.1,11.3,258,2519,0.00,2.12,0.00,0.000,516,0.000,0.041,2994,634,1657,1799,1515,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2561,0.79,146.6,2994,634,1799,1515,28.1,11.7,263,2572,0.15,2.10,0.00,0.000,5126,0.138,0.031,2952,2026,1656,1799,1514,0,0,0,0,0,0,26.25,26.40,28.83
$GC,2693,0.79,146.6,1856,2024,1767,1512,13.6,10.4,281,2700,0.00,2.20,0.00,0.000,260,0.000,0.043,2952,3427,1656,1798,1515,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2727,0.79,146.6,1888,3426,1767,1512,9.6,11.4,287,2734,0.00,2.12,0.00,0.000,1030,0.000,0.028,2960,2020,1656,1798,1515,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2796,0.79,146.6,1872,2018,1766,1511,2.5,10.3,300,2804,0.00,2.17,0.00,0.000,516,0.000,0.042,2970,639,1656,1799,1514,0,0,0,0,0,0,28.83,26.40,28.83
$STATE,2810,end climb,SURFACE_DEPTH_REACHED
$STATE,2810,begin surface coast
$FINISH,-0.5,1.008207
$STATE,2831,end surface coast,CONTROL_FINISHED_OK
$STATE,2831,begin surface
$SM_CCo,2846,89.25,0.347,1,0,1241,250.21
$SM_GC,0.38,7.18,2.15,89.25,0.031,0.030,0.347,174,2026,1241,-7.76,-1.13,250.21,0,0,0,0,1,0,26.48,26.45,25.36
$IRIDIUM_FIX,4713.38,-12522.25,231013,020256
$TT8_MAMPS,0.026964,0.026964
$HUMID,42.04
$INTERNAL_PRESSURE,8.97623
$TCM_TEMP,15.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.1,9.9
$ALTIM_BOTTOM_PING,135.2,55.3
$24V_AH,24.4,1.398
$10V_AH,10.3,1.249
$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,17.300,43.050,222.350,89.250,0.000,0.000,0.000,346.475,3.750,0.000,6.502,748.173,1095.956,399.260,1164.469,42.150,33.225,1148.823,0.000,814.908,0.000,25.706,0.000
$DEVICE_MAMPS,205.785,44.370,618.885,346.545,0.000,0.000,0.000,73.440,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,69.140,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,204.002,404.371,657.731,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,11.230,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323040
$DATA_FILE_SIZE,20351,306
$CAP_FILE_SIZE,54032,0
$CFSIZE,2097872896,2093875200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,231013,030932,4743.653,-12224.541,3,0.8,5,16.3