version: 66.11
glider: 195
mission: 7
dive: 21
start: 10 23 113 15 59 18
data:
$ID,195
$MISSION,7
$DIVE,21
$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,-3070.4255
$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
$GPS1,231013,155304,4743.040,-12224.651,2,1.3,2,16.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.47
$_SM_ANGLEo,-64.8
$GPS2,231013,155816,4743.017,-12224.660,4,1.3,4,16.3
$SPEED_LIMITS,0.079,0.221
$TGT_NAME,SOUTH
$TGT_LATLONG,4743.000,-12224.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.066,0.083
$KALMAN_X,-807.9,-288.4,-89.4,546.3,-100.3
$KALMAN_Y,-1816.1,514.6,-904.6,-118.0,-405.1
$MHEAD_RNG_PITCHd_Wd,22.2,202,-28.9,-6.667,-32.14,678
$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,-1.30,-29.7,181,2032,1382,1098,0.0,0.0,0,63,0.00,0.00,-44.88,0.000,16390,0.000,0.000,182,2032,2385,2401,2369,0,0,0,0,0,0,28.83,28.83,26.55
$GC,65,-1.30,-37.9,181,2032,2402,2369,1.9,-5.4,7,81,7.72,2.17,-0.95,0.000,18948,0.207,0.049,2272,624,2418,2447,2389,0,0,0,0,0,0,25.94,26.20,26.42
$GC,93,-1.30,-46.2,1380,623,2408,2381,3.6,-5.4,11,102,0.00,2.15,-0.93,0.000,17414,0.000,0.031,2264,2024,2452,2487,2417,0,0,0,0,0,0,28.83,26.25,26.44
$GC,163,-1.30,-46.2,1328,2021,2446,2411,9.4,-9.4,24,171,0.00,2.20,0.00,0.000,260,0.000,0.041,2254,3420,2452,2487,2417,0,0,0,0,0,0,28.83,26.25,28.83
$GC,248,-1.30,-46.2,1328,3419,2447,2411,19.3,-13.5,40,256,0.00,2.12,0.00,0.000,1030,0.000,0.027,2254,2014,2452,2488,2417,0,0,0,0,0,0,28.83,26.33,28.83
$GC,314,-1.30,-46.2,2254,2013,2488,2417,27.8,-12.5,47,315,0.00,0.00,0.00,0.000,6,0.000,0.000,2254,2014,2452,2488,2417,0,0,0,0,0,0,28.83,28.83,28.83
$GC,434,-1.30,-46.2,2254,2014,2488,2417,43.9,-13.6,59,443,0.00,2.10,0.00,0.000,516,0.000,0.038,2254,635,2452,2488,2417,0,0,0,0,0,0,28.83,26.34,28.83
$GC,672,-1.30,-46.2,2254,636,2488,2417,75.6,-13.5,82,682,0.10,2.12,0.00,0.000,3078,0.152,0.031,2274,2023,2453,2489,2417,0,0,0,0,0,0,26.25,26.44,28.83
$GC,801,-1.30,-46.2,2273,2024,2489,2416,94.1,-15.2,95,813,0.00,2.12,0.00,0.000,516,0.000,0.038,2274,629,2453,2489,2417,0,0,0,0,0,0,28.83,26.43,28.83
$GC,944,-1.30,-46.2,2273,629,2489,2417,116.0,-15.1,108,953,0.00,2.08,0.00,0.000,1030,0.000,0.031,2266,2023,2452,2489,2416,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1072,-1.30,-46.2,2265,2024,2489,2416,134.5,-12.8,121,1073,0.00,0.00,0.00,0.000,6,0.000,0.000,2266,2023,2453,2490,2416,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1192,-1.30,-46.2,2266,2024,2489,2416,148.4,-12.4,133,1201,0.00,2.10,0.00,0.000,516,0.000,0.038,2266,638,2452,2489,2416,0,0,0,0,0,0,28.83,26.48,28.83
$STATE,1213,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1213,begin apogee
$GC,1218,-0.23,0.0,2255,2035,2490,2416,151.4,-12.8,135,1257,1.15,0.00,34.88,0.597,10246,0.135,0.000,2620,2035,2261,2338,2185,0,0,0,0,0,0,26.32,28.83,25.37
$STATE,1258,end apogee,CONTROL_FINISHED_OK
$STATE,1258,begin climb
$GC,1260,1.30,46.2,2619,2035,2338,2185,154.4,0.0,139,1306,1.35,2.22,35.83,0.605,10500,0.065,0.040,3115,3429,2072,2169,1975,0,0,0,0,0,0,26.01,25.64,25.01
$GC,1359,1.30,46.2,3115,3429,2169,1975,149.0,7.5,149,1369,0.00,2.12,0.00,0.000,1030,0.000,0.027,3126,2025,2071,2169,1974,0,0,0,0,0,0,28.83,25.87,28.83
$GC,1489,1.30,46.2,3125,2026,2169,1974,135.7,10.9,162,1499,0.00,2.15,0.00,0.000,516,0.000,0.040,3137,638,2071,2169,1973,0,0,0,0,0,0,28.83,26.01,28.83
$GC,1625,1.30,46.2,3137,638,2169,1973,121.2,10.8,175,1633,0.00,2.15,0.00,0.000,1030,0.000,0.031,3137,2021,2071,2169,1973,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1753,1.30,46.2,3136,2021,2169,1973,108.4,9.8,188,1763,0.00,2.17,0.00,0.000,260,0.000,0.041,3137,3432,2071,2170,1973,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1877,1.30,46.2,3136,3432,2169,1973,96.3,8.8,200,1886,0.00,2.10,0.00,0.000,1030,0.000,0.027,3147,2021,2071,2169,1973,0,0,0,0,0,0,28.83,26.30,28.83
$GC,2007,1.30,46.2,3147,2020,2169,1973,81.5,12.2,213,2008,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,2020,2071,2169,1973,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2127,1.30,46.2,3147,2020,2169,1973,68.9,10.9,225,2128,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,2020,2071,2169,1973,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2247,1.30,46.2,3147,2020,2169,1973,56.2,9.4,237,2248,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,2021,2071,2169,1973,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2367,1.30,46.2,3147,2021,2169,1973,46.1,8.2,249,2370,0.00,2.12,0.00,0.000,516,0.000,0.039,3158,635,2071,2169,1973,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2438,1.30,46.2,3157,634,2169,1973,40.6,7.2,256,2449,0.15,2.10,0.00,0.000,5126,0.171,0.031,3121,2044,2071,2169,1973,0,0,0,0,0,0,26.26,26.46,28.83
$GC,2569,1.30,46.2,3121,2044,2169,1973,31.9,7.1,269,2570,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2044,2071,2169,1973,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2688,1.30,46.2,3120,2044,2169,1973,23.0,7.3,281,2690,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2044,2071,2169,1973,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2809,1.30,46.2,2048,2042,2128,1968,14.6,7.4,300,2816,0.00,2.20,0.00,0.000,516,0.000,0.039,3129,631,2071,2169,1973,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2853,1.30,46.2,2064,631,2129,1968,10.5,9.4,308,2861,0.00,2.12,0.00,0.000,1030,0.000,0.031,3129,2026,2071,2169,1973,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2923,1.30,46.2,2048,2024,2128,1968,3.5,10.1,321,2930,0.00,2.17,0.00,0.000,260,0.000,0.041,3129,3426,2071,2169,1973,0,0,0,0,0,0,28.83,26.50,28.83
$STATE,2941,end climb,SURFACE_DEPTH_REACHED
$STATE,2941,begin surface coast
$FINISH,-0.2,1.022663
$STATE,2957,end surface coast,CONTROL_FINISHED_OK
$STATE,2957,begin surface
$SM_CCo,2973,172.10,0.358,1,0,1241,250.21
$SM_GC,0.53,7.57,2.12,172.10,0.033,0.026,0.358,173,2025,1241,-7.76,1.64,250.21,0,0,0,0,1,0,26.56,26.54,25.05
$IRIDIUM_FIX,4726.11,-12227.78,231013,141407
$TT8_MAMPS,0.026964,0.026964
$HUMID,40.23
$INTERNAL_PRESSURE,8.97623
$TCM_TEMP,14.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,19.7
$ALTIM_BOTTOM_PING,135.7,55.7
$24V_AH,25.0,1.966
$10V_AH,10.4,1.962
$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,18.050,47.100,70.700,172.100,0.000,0.000,0.000,257.100,3.750,0.000,8.259,850.359,1066.467,353.081,1165.698,47.451,33.211,1003.747,0.000,907.343,0.000,25.734,0.000
$DEVICE_MAMPS,207.315,48.960,605.115,358.020,0.000,0.000,0.000,77.265,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,69.140,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,220.608,433.106,702.865,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,11.230,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323028
$DATA_FILE_SIZE,20371,327
$CAP_FILE_SIZE,58030,0
$CFSIZE,2097872896,2092793856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,231013,165226,4743.113,-12224.646,4,0.8,4,16.3