version: 66.11
glider: 194
mission: 7
dive: 22
start: 10 29 113 10 35 37
data:
$ID,194
$MISSION,7
$DIVE,22
$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,-4335.5693
$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,2785
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22.9
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$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,59
$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
$GPS1,291013,102234,4723.513,-12534.222,30,0.8,30,16.7
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-69.5
$GPS2,291013,103511,4723.546,-12534.351,5,0.7,5,16.7
$SPEED_LIMITS,0.084,0.260
$TGT_NAME,SEARCH_B
$TGT_LATLONG,4745.000,-12545.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.093,0.243
$KALMAN_X,1557.3,0.0,0.0,-24252.1,123.0
$KALMAN_Y,113.1,0.0,0.0,19260.7,277.2
$MHEAD_RNG_PITCHd_Wd,322.4,41887,-17.5,-10.000,-21.03,2226
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-0.76,-146.6,115,2245,1283,1222,0.0,0.0,0,60,0.00,0.00,-42.88,0.000,16386,0.000,0.000,114,2245,2451,2448,2455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,62,-0.76,-146.6,114,2245,2450,2454,3.3,-5.0,4,91,8.85,2.33,-13.52,0.000,18692,0.202,0.064,2520,3664,3000,3064,2936,0,0,0,0,0,0,25.67,25.96,26.29
$GC,155,-0.58,-146.6,2520,3664,3065,2936,18.8,-19.0,13,166,0.25,2.10,0.00,0.000,3078,0.139,0.029,2592,2265,3000,3065,2936,0,0,0,0,0,0,25.86,26.08,28.83
$GC,465,-0.55,-146.6,2592,2264,3067,2936,54.3,-10.4,44,475,0.00,2.22,0.00,0.000,260,0.000,0.050,2584,3675,3001,3067,2936,0,0,0,0,0,0,28.83,26.17,28.83
$GC,630,-0.53,-146.6,2583,3675,3068,2936,75.6,-14.3,60,641,0.12,2.10,0.00,0.000,3078,0.139,0.030,2618,2261,3002,3068,2936,0,0,0,0,0,0,26.14,26.29,28.83
$GC,952,-0.59,-146.6,2617,2260,3069,2936,111.5,-8.6,78,958,0.00,2.12,0.00,0.000,516,0.000,0.044,2618,878,3002,3068,2936,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1013,-0.65,-146.6,2617,879,3069,2936,115.2,-6.5,81,1018,0.05,2.20,0.00,0.000,5126,0.057,0.042,2537,2263,3002,3069,2936,0,0,0,0,0,0,26.34,26.36,28.83
$GC,1334,-0.62,-146.6,2537,2264,3068,2936,141.7,-9.8,97,1340,0.12,2.17,0.00,0.000,2308,0.147,0.048,2570,3669,3002,3068,2936,0,0,0,0,0,0,26.32,26.38,28.83
$GC,1385,-0.62,-146.6,2570,3668,3068,2936,145.6,-9.7,99,1393,0.00,2.12,0.00,0.000,1030,0.000,0.030,2571,2267,3002,3068,2936,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1703,-0.65,-146.6,2570,2267,3068,2936,175.2,-8.7,111,1705,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2267,3002,3068,2936,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2004,-0.69,-146.6,2570,2267,3068,2935,201.9,-8.7,121,2005,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2267,3001,3068,2935,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2303,-0.73,-146.6,2570,2267,3068,2935,224.7,-7.3,131,2309,0.00,2.17,0.00,0.000,260,0.000,0.051,2560,3668,3001,3068,2935,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2366,-0.77,-146.6,2559,3668,3068,2934,229.2,-7.3,133,2370,0.00,2.12,0.00,0.000,1030,0.000,0.030,2560,2259,3001,3069,2934,0,0,0,0,0,0,28.83,26.57,28.83
$GC,2695,-0.81,-146.6,2559,2258,3068,2934,257.4,-9.2,144,2697,0.12,0.00,0.00,0.000,4102,0.080,0.000,2476,2258,3001,3068,2934,0,0,0,0,0,0,26.65,28.83,28.83
$GC,2994,-0.74,-146.6,2476,2258,3068,2933,296.9,-13.6,154,3000,0.20,2.20,0.00,0.000,2308,0.132,0.050,2533,3669,3001,3069,2933,0,0,0,0,0,0,26.43,26.54,28.83
$GC,3047,-0.69,-146.6,2532,3669,3068,2933,300.6,-13.2,155,3055,0.00,2.12,0.00,0.000,1030,0.000,0.030,2532,2264,3000,3068,2933,0,0,0,0,0,0,28.83,26.62,28.83
$GC,3355,-0.69,-146.6,2533,2264,3068,2932,334.4,-10.1,161,3361,0.00,2.15,0.00,0.000,516,0.000,0.044,2533,863,3000,3068,2932,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3406,-0.69,-146.6,2532,863,3069,2932,334.4,-10.1,161,3417,0.10,2.20,0.00,0.000,3078,0.117,0.043,2560,2258,3000,3068,2932,0,0,0,0,0,0,26.45,26.60,28.83
$GC,3717,-0.76,-146.6,2560,2258,3068,2931,365.0,-8.1,167,3718,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2258,2999,3068,2931,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4015,-0.82,-146.6,2560,2258,3068,2931,388.9,-7.8,172,4017,0.12,0.00,0.00,0.000,4102,0.082,0.000,2478,2258,2999,3068,2930,0,0,0,0,0,0,26.72,28.83,28.83
$GC,4316,-0.78,-146.6,2478,2258,3068,2930,421.8,-11.2,177,4322,0.15,2.17,0.00,0.000,2308,0.137,0.050,2520,3671,2998,3068,2929,0,0,0,0,0,0,26.52,26.60,28.83
$GC,4375,-0.75,-146.6,2520,3671,3068,2929,427.8,-11.0,178,4381,0.00,2.10,0.00,0.000,1030,0.000,0.031,2520,2255,2999,3069,2929,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4736,-0.78,-146.6,2519,2255,3068,2929,459.0,-8.4,184,4737,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2255,2998,3068,2929,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5037,-0.80,-146.6,2519,2255,3068,2928,483.7,-8.2,189,5039,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2254,2998,3068,2928,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5335,-0.83,-146.6,2519,2254,3068,2927,508.6,-8.4,194,5336,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2255,2997,3068,2927,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5636,-0.86,-146.6,2519,2255,3068,2926,535.4,-9.0,199,5641,0.00,2.20,0.00,0.000,260,0.000,0.054,2510,3675,2997,3068,2926,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5704,-0.89,-146.6,2510,3676,3068,2926,541.1,-9.1,200,5708,0.00,2.10,0.00,0.000,1030,0.000,0.032,2510,2255,2997,3068,2926,0,0,0,0,0,0,28.83,26.70,28.83
$GC,6052,-0.92,-146.6,2510,2254,3068,2926,576.3,-9.9,206,6057,0.00,2.10,0.00,0.000,516,0.000,0.047,2510,877,2996,3068,2925,0,0,0,0,0,0,28.83,26.65,28.83
$GC,6115,-0.95,-146.6,2510,877,3069,2925,582.5,-10.0,207,6120,0.00,2.20,0.00,0.000,1030,0.000,0.044,2500,2267,2996,3068,2925,0,0,0,0,0,0,28.83,26.66,28.83
$GC,6474,-0.97,-146.6,2501,2267,3069,2925,618.4,-9.8,213,6475,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2267,2996,3068,2925,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6774,-1.00,-146.6,2500,2268,3068,2924,646.1,-9.3,218,6780,0.12,2.15,0.00,0.000,4356,0.082,0.051,2403,3667,2995,3068,2923,0,0,0,0,0,0,26.77,26.64,28.83
$GC,6873,-1.00,-146.6,2402,3667,3068,2923,653.9,-10.1,219,6877,0.20,2.12,0.00,0.000,3078,0.138,0.032,2461,2230,2995,3068,2923,0,0,0,0,0,0,26.49,26.71,28.83
$GC,7195,-1.00,-146.6,2460,2229,3068,2922,698.6,-11.8,225,7196,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,2229,2995,3068,2923,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7496,-1.00,-146.6,2461,2228,3068,2922,734.6,-11.9,230,7502,0.00,2.08,0.00,0.000,516,0.000,0.048,2461,876,2994,3068,2921,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7556,-1.00,-146.6,2461,876,3068,2922,742.3,-12.2,231,7562,0.00,2.17,0.00,0.000,1030,0.000,0.045,2454,2276,2994,3068,2921,0,0,0,0,0,0,28.83,26.67,28.83
$GC,7915,-1.00,-146.6,2454,2276,3068,2921,787.9,-12.6,237,7921,0.00,2.17,0.00,0.000,260,0.000,0.053,2443,3677,2994,3068,2921,0,0,0,0,0,0,28.83,26.64,28.83
$GC,7995,-0.98,-146.6,2443,3677,3068,2921,795.4,-12.7,238,7999,0.00,2.10,0.00,0.000,1030,0.000,0.033,2444,2265,2994,3068,2921,0,0,0,0,0,0,28.83,26.72,28.83
$GC,8338,-0.95,-146.6,2443,2265,3068,2920,839.5,-12.0,244,8340,0.12,0.00,0.00,0.000,2054,0.152,0.000,2478,2265,2994,3068,2920,0,0,0,0,0,0,26.60,28.83,28.83
$GC,8639,-0.97,-146.6,2478,2265,3068,2920,867.6,-9.2,249,8640,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2265,2994,3068,2920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8941,-1.01,-146.6,2477,2265,3068,2919,894.6,-9.0,254,8942,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2265,2994,3068,2920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9239,-1.05,-146.6,2477,2265,3069,2919,922.1,-9.1,259,9240,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2265,2994,3068,2920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9538,-1.09,-146.6,2478,2265,3068,2919,947.5,-8.4,264,9540,0.12,0.00,0.00,0.000,4102,0.083,0.000,2399,2265,2993,3068,2919,0,0,0,0,0,0,26.80,28.83,28.83
$GC,9839,-1.02,-146.6,2399,2265,3068,2918,984.3,-12.6,269,9841,0.20,0.00,0.00,0.000,2054,0.134,0.000,2458,2265,2993,3068,2918,0,0,0,0,0,0,26.53,28.83,28.83
$STATE,9897,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9897,begin apogee
$GC,9901,-0.22,0.0,2458,2369,3068,2918,990.4,-12.1,270,10022,0.73,0.00,116.22,1.232,10246,0.102,0.000,2711,2369,2400,2464,2337,0,0,0,0,0,0,26.53,28.83,23.66
$STATE,10023,end apogee,CONTROL_FINISHED_OK
$STATE,10023,begin climb
$GC,10024,0.76,146.6,2710,2369,2463,2337,992.5,0.0,272,10154,0.88,0.00,125.68,1.206,10246,0.042,0.000,3045,2369,1801,1860,1743,0,0,0,0,0,0,24.70,28.83,23.23
$GC,10433,0.61,146.6,3045,2369,1853,1737,947.8,14.0,279,10435,0.22,0.00,0.00,0.000,4102,0.139,0.000,2982,2369,1795,1853,1737,0,0,0,0,0,0,25.35,28.83,28.83
$GC,10733,0.53,146.6,2981,2369,1853,1735,914.0,11.2,284,10734,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2369,1793,1852,1735,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11033,0.46,146.6,2981,2369,1852,1735,880.3,11.3,289,11040,0.12,2.25,0.00,0.000,4612,0.153,0.047,2948,965,1793,1852,1734,0,0,0,0,0,0,25.94,26.02,28.83
$GC,11093,0.40,146.6,2948,965,1850,1734,874.2,11.2,290,11100,0.12,2.22,0.00,0.000,5126,0.139,0.046,2914,2354,1791,1849,1734,0,0,0,0,0,0,25.96,26.06,28.83
$GC,11454,0.43,170.8,2914,2354,1850,1734,842.2,8.9,296,11475,0.00,0.00,19.77,1.060,8198,0.000,0.000,2914,2354,1702,1762,1642,0,0,0,0,0,0,28.83,28.83,24.75
$GC,11753,0.46,179.3,2914,2354,1761,1640,813.7,9.6,301,11764,0.00,0.00,8.57,0.903,8198,0.000,0.000,2914,2354,1667,1728,1606,0,0,0,0,0,0,28.83,28.83,24.87
$GC,12053,0.50,204.8,2914,2354,1728,1605,786.8,8.8,306,12081,0.10,2.30,21.92,1.035,10756,0.097,0.048,2982,958,1564,1627,1502,0,0,0,0,0,0,26.15,25.48,24.60
$GC,12147,0.53,223.5,2982,958,1625,1500,780.8,9.1,307,12170,0.00,2.25,17.00,1.011,9222,0.000,0.045,2983,2353,1488,1552,1425,0,0,0,0,0,0,28.83,25.70,24.40
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$STATE,18915,end climb,SURFACE_DEPTH_REACHED
$STATE,18916,begin surface coast
$FINISH,0.7,1.023499
$STATE,18948,end surface coast,CONTROL_FINISHED_OK
$STATE,18948,begin surface
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$TT8_MAMPS,0.026964,0.026964
$HUMID,39.13
$INTERNAL_PRESSURE,8.92837
$TCM_TEMP,14.20
$XPDR_PINGS,1
$24V_AH,23.2,4.643
$10V_AH,10.3,4.172
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,311260
$DATA_FILE_SIZE,40519,532
$CAP_FILE_SIZE,159793,0
$CFSIZE,2097872896,2092728320
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,7560.10,0x212c64,0,24
$GPS,291013,155258,4726.375,-12535.535,36,0.9,36,16.8