version: 66.11
glider: 195
mission: 7
dive: 20
start: 10 23 113 14 42 40
data:
$ID,195
$MISSION,7
$DIVE,20
$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,-3061.5391
$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,48
$R_STBD_OVSHOOT,39
$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
$GPS1,231013,143404,4743.985,-12224.447,26,0.9,26,16.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.42
$_SM_ANGLEo,-62.3
$GPS2,231013,144140,4743.950,-12224.513,4,0.9,4,16.3
$SPEED_LIMITS,0.079,0.221
$TGT_NAME,SOUTH
$TGT_LATLONG,4743.000,-12224.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.019,-0.220
$KALMAN_X,-525.8,-303.5,-92.0,461.5,-70.6
$KALMAN_Y,-1487.0,749.0,-728.5,870.7,-761.3
$MHEAD_RNG_PITCHd_Wd,158.6,1759,-11.5,-6.667,-16.81,3243
$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,-146.6,176,2032,1110,802,0.0,0.0,0,89,0.00,0.00,-71.75,0.000,16390,0.000,0.000,176,2032,2861,2873,2849,0,0,0,0,0,0,28.83,28.83,26.50
$GC,91,-0.52,-146.6,176,2032,2874,2850,2.9,-6.3,11,106,8.60,2.17,0.00,0.000,2564,0.203,0.035,2516,625,2864,2884,2844,0,0,0,0,0,0,25.91,26.14,28.83
$GC,335,-0.52,-146.6,2517,625,2893,2837,27.6,-8.4,50,345,0.00,2.12,0.00,0.000,1030,0.000,0.034,2513,2031,2865,2895,2835,0,0,0,0,0,0,28.83,26.29,28.83
$GC,465,-0.52,-146.6,2513,2031,2896,2834,37.1,-6.9,63,466,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2031,2865,2896,2834,0,0,0,0,0,0,28.83,28.83,28.83
$GC,585,-0.52,-146.6,2513,2030,2897,2834,45.4,-6.8,75,595,0.00,2.15,0.00,0.000,516,0.000,0.040,2514,628,2865,2897,2833,0,0,0,0,0,0,28.83,26.34,28.83
$GC,617,-0.52,-146.6,2513,628,2897,2834,47.7,-7.4,78,627,0.00,2.12,0.00,0.000,1030,0.000,0.034,2514,2036,2865,2897,2833,0,0,0,0,0,0,28.83,26.39,28.83
$GC,747,-0.52,-146.6,2513,2036,2897,2833,58.2,-8.3,91,748,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2036,2864,2897,2832,0,0,0,0,0,0,28.83,28.83,28.83
$GC,867,-0.52,-146.6,2513,2036,2897,2833,68.4,-8.4,103,869,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2036,2865,2898,2833,0,0,0,0,0,0,28.83,28.83,28.83
$GC,988,-0.52,-146.6,2513,2036,2898,2832,76.4,-6.4,115,997,0.00,2.15,0.00,0.000,516,0.000,0.040,2513,630,2865,2897,2833,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1030,-0.52,-146.6,2513,630,2897,2833,79.6,-7.3,119,1034,0.00,2.12,0.00,0.000,1030,0.000,0.034,2514,2034,2865,2897,2833,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1162,-0.52,-146.6,2513,2034,2898,2832,89.5,-7.8,132,1163,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2034,2865,2898,2832,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1282,-0.52,-146.6,2513,2034,2898,2832,97.2,-6.6,144,1283,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2034,2865,2898,2833,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1402,-0.52,-146.6,2513,2033,2899,2832,105.8,-5.9,156,1403,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2033,2865,2899,2832,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1522,-0.52,-146.6,2513,2033,2899,2831,113.9,-7.3,168,1523,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2033,2865,2899,2832,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1641,-0.52,-146.6,2513,2033,2899,2832,122.6,-8.9,180,1643,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2033,2865,2899,2832,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1761,-0.52,-146.6,2513,2032,2899,2832,132.1,-7.3,192,1771,0.00,2.15,0.00,0.000,260,0.000,0.044,2509,3435,2865,2900,2831,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1830,-0.52,-146.6,2509,3435,2900,2831,135.9,-4.7,198,1838,0.00,2.12,0.00,0.000,1030,0.000,0.027,2509,2024,2865,2900,2831,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1958,-0.52,-146.6,2508,2023,2900,2831,145.4,-7.1,211,1968,0.00,2.15,0.00,0.000,260,0.000,0.044,2498,3425,2865,2900,2830,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2000,-0.52,-146.6,2498,3425,2900,2830,148.5,-7.1,215,2011,0.12,2.08,0.00,0.000,3078,0.126,0.028,2535,2017,2865,2900,2831,0,0,0,0,0,0,26.48,26.59,28.83
$STATE,2019,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2019,begin apogee
$GC,2023,-0.23,0.0,2535,2017,2900,2831,150.0,-6.6,217,2135,0.25,0.00,108.18,0.616,10246,0.089,0.000,2630,2017,2261,2366,2157,0,0,0,0,0,0,26.51,28.83,24.76
$STATE,2136,end apogee,CONTROL_FINISHED_OK
$STATE,2136,begin climb
$GC,2138,0.52,146.6,2630,2017,2366,2157,152.5,0.0,228,2258,0.68,2.33,112.53,0.605,10500,0.067,0.042,2868,3423,1663,1803,1524,0,0,0,0,0,0,25.37,25.01,24.43
$GC,2302,0.52,179.0,2868,3423,1803,1524,147.6,5.6,244,2333,0.00,2.17,25.98,0.582,9222,0.000,0.028,2878,2022,1531,1671,1391,0,0,0,0,0,0,28.83,25.44,24.63
$GC,2452,0.52,179.0,2878,2022,1671,1387,136.3,8.5,259,2461,0.00,2.20,0.00,0.000,516,0.000,0.043,2879,632,1528,1670,1386,0,0,0,0,0,0,28.83,25.69,28.83
$GC,2504,0.52,179.0,2878,632,1669,1386,132.6,7.4,264,2514,0.00,2.15,0.00,0.000,1030,0.000,0.031,2879,2023,1527,1669,1386,0,0,0,0,0,0,28.83,25.84,28.83
$GC,2634,0.52,220.7,2878,2023,1669,1386,122.7,5.4,277,2676,0.00,2.25,32.83,0.579,8452,0.000,0.042,2878,3432,1361,1508,1215,0,0,0,0,0,0,28.83,25.58,25.01
$GC,2719,0.52,245.7,2878,3432,1508,1215,118.2,5.9,285,2750,0.00,2.17,20.80,0.564,9222,0.000,0.028,2879,2016,1259,1410,1109,0,0,0,0,0,0,28.83,25.79,24.96
$GC,2869,0.52,245.7,2878,2016,1410,1104,108.4,7.6,300,2878,0.00,2.17,0.00,0.000,516,0.000,0.042,2879,631,1257,1410,1104,0,0,0,0,0,0,28.83,25.84,28.83
$GC,2911,0.52,245.7,2878,631,1409,1102,105.4,7.1,304,2921,0.00,2.15,0.00,0.000,1030,0.000,0.031,2879,2031,1255,1409,1102,0,0,0,0,0,0,28.83,25.94,28.83
$GC,3041,0.52,245.7,2878,2031,1409,1102,95.2,7.8,317,3051,0.00,2.17,0.00,0.000,260,0.000,0.042,2878,3427,1255,1409,1102,0,0,0,0,0,0,28.83,26.04,28.83
$GC,3073,0.52,245.7,2878,3427,1409,1102,92.6,8.1,320,3083,0.00,2.12,0.00,0.000,1030,0.000,0.028,2879,2022,1255,1409,1102,0,0,0,0,0,0,28.83,26.10,28.83
$GC,3204,0.52,245.7,2878,2022,1409,1101,82.1,8.2,333,3213,0.00,2.15,0.00,0.000,516,0.000,0.041,2879,634,1255,1409,1101,0,0,0,0,0,0,28.83,26.14,28.83
$GC,3270,0.52,245.7,2878,633,1409,1100,77.2,7.4,339,3277,0.00,2.15,0.00,0.000,1030,0.000,0.031,2879,2016,1254,1409,1100,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3397,0.52,245.7,2878,2016,1409,1100,67.2,8.5,352,3406,0.00,2.20,0.00,0.000,260,0.000,0.042,2878,3439,1254,1409,1100,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3421,0.52,245.7,2878,3439,1409,1100,65.2,8.8,354,3429,0.00,2.15,0.00,0.000,1030,0.000,0.028,2879,2026,1254,1409,1100,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3549,0.52,245.7,2879,2025,1409,1100,52.5,9.5,367,3559,0.00,2.17,0.00,0.000,260,0.000,0.042,2879,3433,1254,1409,1100,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3591,0.52,245.7,2878,3433,1409,1100,48.3,10.0,371,3595,0.00,2.10,0.00,0.000,1030,0.000,0.028,2879,2022,1254,1409,1100,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3722,0.52,245.7,2878,2021,1409,1100,36.6,9.1,384,3732,0.00,2.12,0.00,0.000,516,0.000,0.041,2879,635,1254,1409,1100,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3755,0.52,245.7,2879,635,1409,1100,33.9,8.7,387,3764,0.00,2.10,0.00,0.000,1030,0.000,0.031,2879,2035,1254,1409,1100,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3885,0.52,245.7,2878,2035,1409,1100,22.4,9.0,400,3895,0.00,2.15,0.00,0.000,260,0.000,0.042,2879,3434,1254,1409,1100,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3924,0.52,245.7,2878,3434,1409,1100,18.7,9.5,404,3931,0.00,2.12,0.00,0.000,1030,0.000,0.028,2879,2028,1254,1409,1099,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3993,0.52,245.7,1792,2026,1391,1098,13.1,7.6,417,4000,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,2028,1254,1409,1100,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4062,0.52,245.7,1792,2026,1391,1098,7.9,6.9,430,4069,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,2028,1254,1409,1100,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4131,0.52,245.7,1792,2026,1391,1098,2.8,7.2,443,4138,0.00,2.17,0.00,0.000,516,0.000,0.042,2879,637,1254,1409,1100,0,0,0,0,0,0,28.83,26.42,28.83
$STATE,4144,end climb,SURFACE_DEPTH_REACHED
$STATE,4144,begin surface coast
$FINISH,0.1,1.022691
$STATE,4171,end surface coast,CONTROL_FINISHED_OK
$STATE,4171,begin surface
$SM_CCo,4185,1.08,0.056,0,0,1240,250.21
$SM_GC,0.93,6.85,2.15,1.08,0.025,0.030,0.056,182,2032,1240,-7.75,-1.13,250.21,0,0,0,0,0,0,26.49,26.48,26.44
$IRIDIUM_FIX,4726.11,-12216.25,231013,141408
$TT8_MAMPS,0.026964,0.026964
$HUMID,41.84
$INTERNAL_PRESSURE,8.97623
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,19.5
$ALTIM_BOTTOM_PING,135.3,53.2
$24V_AH,24.4,1.930
$10V_AH,10.4,1.911
$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,16.500,69.000,300.300,1.075,0.000,0.000,0.000,354.550,3.750,0.000,5.506,1092.110,1551.017,389.072,1561.319,66.076,33.221,1330.849,0.000,1209.534,0.000,25.747,0.000
$DEVICE_MAMPS,203.490,44.370,615.825,55.845,0.000,0.000,0.000,78.030,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,69.140,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,300.760,595.014,967.232,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,11.230,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323120
$DATA_FILE_SIZE,30251,450
$CAP_FILE_SIZE,77647,0
$CFSIZE,2097872896,2092859392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,231013,155304,4743.040,-12224.651,2,1.3,2,16.3