version: 66.11
glider: 194
mission: 7
dive: 18
start: 10 28 113 13 13 21
data:
$ID,194
$MISSION,7
$DIVE,18
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,20
$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,330
$T_MISSION,390
$T_ABORT,1440
$T_TURN,290
$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,50
$SPEED_FACTOR,1
$RHO,1.023
$MASS,58592
$MASS_COMP,3867
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,13
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$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,280
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-4330.5308
$T_RSLEEP,12
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,199
$PITCH_MAX,3894
$C_PITCH,2807
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,23.200001
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,291
$ROLL_MAX,3873
$ROLL_DEG,40
$C_ROLL_DIVE,2263
$C_ROLL_CLIMB,2355
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,45
$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,2400
$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,-53.385216
$PRESSURE_SLOPE,0.0001158091
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.223
$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,0.0044109076
$SEABIRD_T_H,0.00064730842
$SEABIRD_T_I,2.664891e-05
$SEABIRD_T_J,3.309405e-06
$SEABIRD_C_G,-9.5383005
$SEABIRD_C_H,1.0995622
$SEABIRD_C_I,-0.0013844616
$SEABIRD_C_J,0.00017264462
$GPS1,281013,130705,4714.534,-12526.896,30,0.9,30,16.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-58.5
$GPS2,281013,131254,4714.514,-12527.004,4,1.1,5,16.7
$SPEED_LIMITS,0.084,0.260
$TGT_NAME,SEARCH_A
$TGT_LATLONG,4715.000,-12530.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.211,0.063
$KALMAN_X,1188.9,0.0,0.0,-14635.0,400.8
$KALMAN_Y,-881.1,0.0,0.0,3522.2,-334.2
$MHEAD_RNG_PITCHd_Wd,269.9,3873,-21.2,-10.000,-24.45,1551
$D_GRID,990
$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,-0.92,-101.9,131,2250,1249,1165,0.0,0.0,0,60,0.00,0.00,-43.42,0.000,16386,0.000,0.000,129,2251,2432,2429,2436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,62,-0.92,-101.9,129,2251,2428,2436,3.3,-5.9,4,91,8.68,2.22,-9.55,0.000,18692,0.198,0.062,2495,3661,2817,2863,2771,0,0,0,0,0,0,25.56,25.86,26.20
$GC,388,-0.92,-101.9,2495,3661,2866,2771,58.4,-14.9,36,398,0.00,2.12,0.00,0.000,1030,0.000,0.029,2496,2250,2818,2866,2771,0,0,0,0,0,0,28.83,26.15,28.83
$GC,708,-0.92,-101.9,2495,2250,2867,2771,97.8,-12.2,61,714,0.00,2.22,0.00,0.000,260,0.000,0.049,2484,3666,2819,2868,2771,0,0,0,0,0,0,28.83,26.21,28.83
$GC,960,-0.92,-101.9,2484,3666,2867,2771,128.4,-13.1,73,965,0.00,2.12,0.00,0.000,1030,0.000,0.029,2484,2264,2819,2868,2771,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1283,-0.92,-101.9,2484,2264,2868,2771,168.1,-11.9,87,1289,0.00,2.20,0.00,0.000,260,0.000,0.050,2474,3671,2819,2867,2771,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1422,-0.92,-101.9,2474,3671,2868,2771,183.2,-12.5,91,1427,0.10,2.15,0.00,0.000,3078,0.135,0.030,2507,2253,2819,2868,2771,0,0,0,0,0,0,26.21,26.44,28.83
$GC,1736,-0.92,-116.0,2507,2253,2867,2771,215.7,-9.1,102,1738,0.00,0.00,-0.30,0.000,16390,0.000,0.000,2507,2253,2883,2933,2833,0,0,0,0,0,0,28.83,28.83,26.55
$GC,2035,-0.92,-116.0,2507,2253,2933,2832,246.0,-10.3,112,2036,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2253,2882,2933,2832,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2335,-0.92,-116.0,2506,2253,2933,2832,277.5,-10.7,122,2341,0.00,2.12,0.00,0.000,516,0.000,0.045,2507,879,2883,2934,2832,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2374,-0.92,-116.0,2507,878,2933,2832,280.7,-10.7,123,2378,0.00,2.17,0.00,0.000,1030,0.000,0.043,2499,2253,2882,2933,2832,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2699,-0.92,-116.0,2499,2253,2933,2831,315.6,-10.4,132,2704,0.00,2.17,0.00,0.000,260,0.000,0.051,2488,3666,2882,2933,2831,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2759,-0.92,-116.0,2488,3666,2933,2831,322.3,-10.6,133,2764,0.00,2.12,0.00,0.000,1030,0.000,0.031,2488,2263,2882,2933,2831,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3119,-0.92,-116.0,2488,2263,2933,2830,360.2,-10.4,139,3120,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2263,2881,2933,2830,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3420,-0.92,-116.3,2488,2263,2933,2830,390.1,-10.0,144,3421,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2263,2881,2933,2829,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3718,-0.92,-123.9,2488,2263,2933,2829,418.7,-9.5,149,3724,0.00,2.15,-0.10,0.000,16900,0.000,0.059,2488,869,2917,2972,2863,0,0,0,0,0,0,28.83,26.56,26.33
$GC,3779,-0.92,-129.1,2488,869,2972,2863,424.9,-9.7,150,3785,0.08,2.15,0.00,0.000,3078,0.132,0.044,2505,2265,2917,2972,2863,0,0,0,0,0,0,26.41,26.58,28.83
$GC,4138,-0.92,-139.5,2505,2265,2972,2863,458.5,-9.3,156,4144,0.00,2.17,-0.17,0.000,16644,0.000,0.065,2497,3674,2979,3042,2916,0,0,0,0,0,0,28.83,26.56,26.58
$GC,4199,-0.92,-146.6,2497,3674,3042,2916,464.4,-9.4,157,4205,0.00,2.08,-0.08,0.000,17414,0.000,0.032,2497,2267,3007,3072,2942,0,0,0,0,0,0,28.83,26.64,25.63
$GC,4558,-0.92,-146.6,2497,2267,3072,2941,501.0,-10.4,163,4560,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2267,3006,3072,2941,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4858,-0.92,-146.6,2497,2266,3072,2941,534.0,-11.0,168,4860,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2266,3006,3072,2941,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5160,-0.92,-146.6,2497,2267,3072,2940,565.5,-10.4,173,5161,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2267,3006,3072,2940,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5457,-0.92,-146.6,2497,2267,3072,2939,596.9,-10.5,178,5459,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2267,3005,3072,2939,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5758,-0.92,-146.6,2497,2267,3072,2938,626.4,-9.7,183,5759,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2267,3005,3072,2938,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6059,-0.92,-146.6,2497,2267,3072,2938,653.0,-8.8,188,6060,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2267,3005,3072,2938,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6360,-0.92,-146.6,2497,2266,3072,2937,680.7,-9.3,193,6365,0.00,2.17,0.00,0.000,260,0.000,0.054,2487,3669,3004,3072,2937,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6405,-0.92,-146.6,2486,3668,3071,2937,680.7,-9.3,193,6409,0.00,2.10,0.00,0.000,1030,0.000,0.032,2486,2257,3004,3072,2937,0,0,0,0,0,0,28.83,26.69,28.83
$GC,6719,-0.92,-146.6,2486,2256,3072,2937,715.8,-9.7,199,6720,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2256,3004,3072,2937,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7020,-0.92,-146.6,2486,2256,3071,2936,745.2,-9.8,204,7026,0.00,2.20,0.00,0.000,260,0.000,0.054,2477,3667,3004,3072,2936,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7096,-0.92,-146.6,2476,3667,3071,2935,751.4,-10.0,205,7101,0.12,2.10,0.00,0.000,3078,0.141,0.033,2512,2254,3003,3071,2936,0,0,0,0,0,0,26.51,26.70,28.83
$GC,7442,-0.92,-146.6,2512,2253,3071,2935,783.2,-8.8,211,7447,0.00,2.20,0.00,0.000,260,0.000,0.054,2504,3667,3003,3071,2935,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7487,-0.92,-146.6,2505,3667,3071,2935,783.2,-8.8,211,7491,0.00,2.10,0.00,0.000,1030,0.000,0.033,2505,2258,3003,3071,2935,0,0,0,0,0,0,28.83,26.70,28.83
$GC,7800,-0.92,-146.6,2504,2258,3072,2935,816.9,-9.3,217,7801,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2258,3003,3071,2935,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8101,-0.92,-146.6,2504,2258,3072,2935,843.2,-8.7,222,8107,0.00,2.12,0.00,0.000,516,0.000,0.048,2505,873,3002,3071,2934,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8147,-0.92,-146.6,2504,873,3072,2934,843.2,-8.7,222,8151,0.00,2.17,0.00,0.000,1030,0.000,0.047,2497,2271,3003,3072,2934,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8461,-0.92,-146.6,2497,2270,3071,2933,872.9,-8.1,228,8466,0.00,2.15,0.00,0.000,260,0.000,0.054,2487,3664,3002,3071,2933,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8528,-0.92,-146.6,2487,3664,3071,2933,877.9,-8.2,229,8532,0.00,2.08,0.00,0.000,1030,0.000,0.034,2487,2262,3002,3071,2933,0,0,0,0,0,0,28.83,26.70,28.83
$GC,8881,-0.92,-146.6,2486,2261,3071,2933,908.8,-8.6,235,8886,0.00,2.15,0.00,0.000,516,0.000,0.049,2487,871,3002,3071,2933,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8943,-0.92,-146.6,2487,870,3071,2933,914.3,-8.7,236,8949,0.08,2.20,0.00,0.000,3078,0.123,0.047,2508,2255,3002,3071,2933,0,0,0,0,0,0,26.48,26.65,28.83
$GC,9304,-0.92,-146.6,2508,2256,3071,2932,940.3,-7.0,242,9309,0.00,2.17,0.00,0.000,260,0.000,0.054,2501,3663,3001,3071,2932,0,0,0,0,0,0,28.83,26.61,28.83
$GC,9404,-0.92,-146.6,2501,3664,3072,2932,944.7,-7.2,243,9408,0.00,2.08,0.00,0.000,1030,0.000,0.034,2501,2262,3001,3071,2932,0,0,0,0,0,0,28.83,26.70,28.83
$GC,9723,-0.92,-146.6,2501,2262,3071,2932,971.2,-7.4,249,9728,0.00,2.12,0.00,0.000,516,0.000,0.048,2500,876,3001,3071,2932,0,0,0,0,0,0,28.83,26.63,28.83
$GC,9774,-0.92,-146.6,2501,876,3071,2932,971.2,-7.4,249,9783,0.00,2.20,0.00,0.000,1030,0.000,0.047,2500,2257,3002,3072,2932,0,0,0,0,0,0,28.83,26.64,28.83
$STATE,9963,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9963,begin apogee
$GC,9967,-0.22,0.0,2499,2370,3071,2931,990.2,-7.9,253,10089,0.68,0.00,118.00,1.227,10246,0.095,0.000,2737,2370,2400,2463,2338,0,0,0,0,0,0,26.51,28.83,23.63
$STATE,10091,end apogee,CONTROL_FINISHED_OK
$STATE,10091,begin climb
$GC,10092,0.92,146.6,2736,2369,2463,2338,992.6,0.0,255,10221,0.98,0.00,124.72,1.203,10758,0.030,0.000,3132,2370,1801,1857,1746,0,0,0,0,0,0,24.71,28.83,23.21
$GC,10502,0.92,146.6,3132,2369,1849,1740,933.1,19.0,262,10508,0.12,2.30,0.00,0.000,4612,0.177,0.045,3106,964,1793,1848,1739,0,0,0,0,0,0,25.34,25.45,28.83
$GC,10539,0.92,146.6,3106,964,1847,1739,933.1,19.0,262,10543,0.00,2.30,0.00,0.000,1030,0.000,0.045,3106,2347,1793,1848,1739,0,0,0,0,0,0,28.83,25.52,28.83
$GC,10862,0.92,146.6,3106,2347,1847,1739,867.1,18.4,268,10863,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2347,1792,1847,1738,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11162,0.92,146.6,3106,2347,1848,1738,813.4,17.9,273,11163,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2347,1792,1847,1737,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11462,0.92,146.6,3106,2347,1847,1737,762.3,16.9,278,11463,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2347,1792,1847,1737,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11762,0.92,146.6,3106,2347,1847,1737,711.9,16.7,283,11768,0.00,2.25,0.00,0.000,260,0.000,0.053,3106,3766,1792,1847,1737,0,0,0,0,0,0,28.83,26.23,28.83
$GC,11815,0.92,146.6,3106,3766,1847,1737,711.9,16.7,283,11823,0.00,2.17,0.00,0.000,1030,0.000,0.034,3117,2362,1792,1847,1737,0,0,0,0,0,0,28.83,26.30,28.83
$GC,12122,0.92,146.6,3117,2363,1847,1737,647.3,18.0,289,12128,0.00,2.25,0.00,0.000,516,0.000,0.048,3127,944,1791,1847,1736,0,0,0,0,0,0,28.83,26.31,28.83
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$GC,13982,0.92,146.6,3119,2348,1845,1737,350.9,15.1,320,13988,0.00,2.17,0.00,0.000,516,0.000,0.048,3130,955,1790,1845,1736,0,0,0,0,0,0,28.83,26.49,28.83
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$STATE,16697,end climb,SURFACE_DEPTH_REACHED
$STATE,16697,begin surface coast
$FINISH,0.7,1.009570
$STATE,16718,end surface coast,CONTROL_FINISHED_OK
$STATE,16718,begin surface
$SM_CCo,16732,11.55,0.056,0,0,1256,280.13
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$IRIDIUM_FIX,4657.54,-12523.42,281013,070747
$TT8_MAMPS,0.026964,0.026964
$HUMID,39.56
$INTERNAL_PRESSURE,8.91861
$TCM_TEMP,14.20
$XPDR_PINGS,0
$24V_AH,23.2,4.144
$10V_AH,10.3,3.755
$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
$DEVICE_SECS,18.650,113.325,287.500,11.550,0.000,0.000,0.000,282.600,22.500,0.000,5.719,1504.472,12954.115,363.330,2192.451,86.120,0.385,1521.787,0.000,1845.353,0.000,142.329,0.000
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$SENSOR_MAMPS,23.970,0.750,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,311200
$DATA_FILE_SIZE,33611,473
$CAP_FILE_SIZE,136239,0
$CFSIZE,2097872896,2093252608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,281013,175334,4715.447,-12530.106,33,0.9,33,16.7