version: 66.11
glider: 194
mission: 7
dive: 23
start: 10 29 113 15 59 35
data:
$ID,194
$MISSION,7
$DIVE,23
$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,-4336.8311
$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,51
$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,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
$GPS1,291013,155258,4726.375,-12535.535,36,0.9,36,16.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-67.9
$GPS2,291013,155908,4726.330,-12535.455,5,0.9,5,16.8
$SPEED_LIMITS,0.084,0.260
$TGT_NAME,SEARCH_B
$TGT_LATLONG,4745.000,-12545.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.105,0.238
$KALMAN_X,2002.6,0.0,0.0,-26094.3,321.1
$KALMAN_Y,462.8,0.0,0.0,24069.4,326.7
$MHEAD_RNG_PITCHd_Wd,319.5,36562,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.76,-146.6,142,2278,1286,1218,0.0,0.0,0,60,0.00,0.00,-43.55,0.000,16386,0.000,0.000,142,2278,2466,2463,2470,0,0,0,0,0,0,28.83,28.83,28.83
$GC,62,-0.76,-146.6,142,2278,2464,2469,3.4,-5.4,4,91,8.70,2.25,-13.27,0.000,18948,0.202,0.056,2530,859,2999,3063,2935,0,0,0,0,0,0,25.81,26.10,26.44
$GC,320,-0.63,-146.6,2530,859,3066,2935,42.7,-11.9,29,329,0.15,2.22,0.00,0.000,3078,0.127,0.041,2573,2254,3000,3066,2935,0,0,0,0,0,0,26.06,26.24,28.83
$GC,628,-0.59,-146.6,2573,2254,3068,2935,76.3,-11.2,60,638,0.00,2.20,0.00,0.000,260,0.000,0.049,2565,3669,3001,3068,2935,0,0,0,0,0,0,28.83,26.29,28.83
$GC,712,-0.54,-146.6,2564,3670,3068,2935,86.8,-12.7,66,718,0.15,2.10,0.00,0.000,3078,0.135,0.029,2607,2253,3001,3068,2935,0,0,0,0,0,0,26.20,26.39,28.83
$GC,1033,-0.59,-146.6,2607,2253,3069,2935,117.2,-9.5,82,1034,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2253,3002,3069,2935,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1333,-0.66,-146.6,2607,2253,3068,2935,140.7,-6.2,97,1339,0.12,2.22,0.00,0.000,4356,0.078,0.050,2509,3671,3002,3069,2935,0,0,0,0,0,0,26.55,26.43,28.83
$GC,1379,-0.66,-146.6,2509,3671,3069,2935,144.1,-7.1,99,1384,0.20,2.10,0.00,0.000,3078,0.130,0.030,2568,2254,3002,3069,2935,0,0,0,0,0,0,26.30,26.51,28.83
$GC,1693,-0.69,-146.6,2568,2253,3069,2935,169.8,-8.4,111,1694,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2253,3002,3069,2935,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1993,-0.72,-146.6,2568,2253,3068,2935,197.2,-9.1,121,1998,0.00,2.20,0.00,0.000,260,0.000,0.051,2560,3673,3002,3069,2935,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2088,-0.75,-146.6,2560,3673,3069,2935,205.5,-9.0,124,2092,0.00,2.08,0.00,0.000,1030,0.000,0.030,2560,2264,3001,3069,2934,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2411,-0.78,-146.6,2560,2264,3068,2934,233.7,-8.9,135,2416,0.00,2.17,0.00,0.000,260,0.000,0.050,2551,3666,3001,3069,2934,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2515,-0.81,-146.6,2552,3666,3069,2934,241.7,-8.9,138,2519,0.00,2.08,0.00,0.000,1030,0.000,0.031,2552,2258,3001,3069,2934,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2828,-0.84,-146.6,2552,2258,3068,2933,271.7,-9.4,149,2834,0.10,2.10,0.00,0.000,4612,0.094,0.043,2476,880,3001,3069,2933,0,0,0,0,0,0,26.67,26.57,28.83
$GC,2904,-0.84,-146.6,2476,880,3069,2933,278.9,-10.6,151,2909,0.12,2.17,0.00,0.000,3078,0.120,0.043,2510,2264,3001,3069,2933,0,0,0,0,0,0,26.42,26.59,28.83
$GC,3218,-0.84,-146.6,2510,2265,3069,2933,315.1,-10.8,160,3219,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2265,3000,3068,2933,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3519,-0.84,-146.6,2510,2265,3069,2932,345.3,-10.0,165,3524,0.00,2.15,0.00,0.000,260,0.000,0.051,2502,3665,3000,3068,2932,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3564,-0.84,-146.6,2502,3666,3068,2932,345.3,-10.0,165,3568,0.00,2.10,0.00,0.000,1030,0.000,0.031,2502,2271,3000,3069,2932,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3878,-0.84,-146.6,2502,2270,3068,2932,384.1,-10.7,171,3883,0.00,2.17,0.00,0.000,260,0.000,0.052,2491,3668,2999,3068,2931,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3940,-0.82,-146.6,2491,3668,3069,2931,390.8,-10.6,172,3945,0.08,2.12,0.00,0.000,3078,0.124,0.031,2519,2256,3000,3068,2932,0,0,0,0,0,0,26.48,26.67,28.83
$GC,4300,-0.82,-146.6,2519,2256,3068,2931,424.6,-9.2,178,4305,0.00,2.20,0.00,0.000,260,0.000,0.052,2511,3673,2999,3069,2930,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4383,-0.82,-146.6,2511,3673,3068,2930,430.4,-9.2,179,4387,0.00,2.08,0.00,0.000,1030,0.000,0.031,2511,2264,2999,3069,2930,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4722,-0.82,-146.6,2511,2264,3068,2929,465.4,-9.7,185,4723,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2264,2998,3068,2929,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5023,-0.82,-146.6,2511,2264,3069,2928,494.6,-9.7,190,5028,0.00,2.17,0.00,0.000,260,0.000,0.053,2501,3666,2998,3068,2928,0,0,0,0,0,0,28.83,26.61,28.83
$GC,5090,-0.82,-146.6,2500,3666,3069,2928,500.8,-9.8,191,5093,0.00,2.08,0.00,0.000,1030,0.000,0.031,2501,2263,2998,3068,2928,0,0,0,0,0,0,28.83,26.70,28.83
$GC,5437,-0.82,-146.6,2500,2263,3069,2927,537.3,-10.3,197,5443,0.00,2.15,0.00,0.000,516,0.000,0.046,2501,862,2998,3068,2928,0,0,0,0,0,0,28.83,26.64,28.83
$GC,5479,-0.82,-146.6,2501,862,3069,2927,537.3,-10.3,197,5483,0.00,2.22,0.00,0.000,1030,0.000,0.044,2493,2267,2998,3069,2927,0,0,0,0,0,0,28.83,26.66,28.83
$GC,5798,-0.82,-146.6,2493,2267,3068,2926,575.1,-10.3,203,5804,0.10,2.15,0.00,0.000,2308,0.160,0.050,2511,3668,2997,3068,2926,0,0,0,0,0,0,26.62,26.62,28.83
$GC,5905,-0.82,-146.6,2511,3669,3069,2926,580.9,-10.2,204,5910,0.00,2.12,0.00,0.000,1030,0.000,0.031,2512,2231,2997,3068,2926,0,0,0,0,0,0,28.83,26.70,28.83
$GC,6220,-0.86,-146.6,2511,2229,3069,2926,615.1,-9.5,210,6221,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2229,2997,3068,2926,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6521,-0.90,-146.6,2511,2229,3068,2925,641.7,-8.8,215,6522,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2229,2996,3068,2925,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6819,-0.94,-146.6,2511,2228,3068,2925,666.3,-8.2,220,6820,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2229,2996,3068,2924,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7120,-0.99,-146.6,2511,2228,3069,2924,691.5,-8.4,225,7122,0.15,0.00,0.00,0.000,4102,0.071,0.000,2422,2228,2996,3068,2924,0,0,0,0,0,0,26.77,28.83,28.83
$GC,7418,-0.93,-146.6,2422,2228,3068,2923,729.0,-12.5,230,7425,0.17,2.25,0.00,0.000,2308,0.138,0.052,2472,3668,2995,3068,2922,0,0,0,0,0,0,26.53,26.63,28.83
$GC,7530,-0.87,-146.6,2472,3669,3069,2922,735.2,-12.0,231,7535,0.12,2.10,0.00,0.000,3078,0.142,0.033,2507,2249,2995,3069,2922,0,0,0,0,0,0,26.54,26.72,28.83
$GC,7836,-0.93,-146.6,2507,2248,3068,2922,766.0,-8.3,236,7842,0.00,2.10,0.00,0.000,516,0.000,0.047,2507,877,2995,3068,2922,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7883,-0.99,-146.6,2507,877,3068,2922,766.0,-8.3,236,7888,0.00,2.15,0.00,0.000,1030,0.000,0.045,2501,2266,2995,3068,2922,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8192,-1.03,-146.6,2500,2266,3068,2921,797.6,-8.8,241,8198,0.12,2.15,0.00,0.000,4356,0.082,0.051,2403,3663,2994,3068,2921,0,0,0,0,0,0,26.79,26.64,28.83
$GC,8254,-1.06,-146.6,2403,3663,3068,2921,804.5,-9.2,242,8259,0.10,2.12,0.00,0.000,3078,0.130,0.033,2438,2263,2994,3068,2921,0,0,0,0,0,0,26.49,26.72,28.83
$GC,8614,-1.02,-146.6,2438,2263,3068,2921,845.4,-11.2,248,8620,0.00,2.17,0.00,0.000,260,0.000,0.054,2430,3661,2994,3068,2921,0,0,0,0,0,0,28.83,26.64,28.83
$GC,8675,-0.99,-146.6,2430,3661,3068,2920,852.8,-11.5,249,8680,0.10,2.12,0.00,0.000,3078,0.118,0.032,2466,2259,2994,3069,2920,0,0,0,0,0,0,26.52,26.72,28.83
$GC,9034,-0.99,-146.6,2466,2258,3068,2921,888.7,-9.9,255,9035,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2258,2994,3068,2920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9335,-0.99,-146.6,2466,2258,3068,2920,917.5,-9.5,260,9336,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2258,2994,3068,2920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9634,-1.01,-146.6,2466,2258,3068,2919,947.3,-9.8,265,9639,0.00,2.20,0.00,0.000,260,0.000,0.054,2458,3668,2993,3068,2919,0,0,0,0,0,0,28.83,26.63,28.83
$GC,9707,-1.04,-146.6,2458,3668,3068,2919,953.2,-9.8,266,9711,0.00,2.10,0.00,0.000,1030,0.000,0.034,2458,2258,2993,3068,2919,0,0,0,0,0,0,28.83,26.72,28.83
$GC,10050,-1.04,-146.6,2458,2258,3068,2919,988.6,-10.0,272,10051,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,2258,2993,3068,2919,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10109,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10109,begin apogee
$GC,10113,-0.22,0.0,2457,2364,3068,2919,994.8,-10.1,273,10236,0.73,0.00,117.10,1.232,10246,0.102,0.000,2708,2364,2400,2463,2337,0,0,0,0,0,0,26.51,28.83,23.66
$STATE,10238,end apogee,CONTROL_FINISHED_OK
$STATE,10238,begin climb
$GC,10239,0.76,146.6,2708,2364,2463,2338,997.6,0.0,275,10372,0.90,2.45,125.85,1.209,10756,0.042,0.047,3061,967,1801,1860,1743,0,0,0,0,0,0,24.73,24.09,23.20
$GC,10412,0.76,146.6,3061,967,1853,1741,986.6,8.7,278,10417,0.00,2.35,0.00,0.000,1030,0.000,0.044,3061,2355,1796,1853,1740,0,0,0,0,0,0,28.83,24.67,28.83
$GC,10765,0.58,146.6,3061,2355,1851,1737,933.9,14.9,284,10772,0.28,2.25,0.00,0.000,4356,0.140,0.050,2976,3757,1794,1851,1737,0,0,0,0,0,0,25.50,25.60,28.83
$GC,10878,0.41,146.6,2976,3757,1851,1737,926.1,14.6,285,10886,0.20,2.20,0.00,0.000,5126,0.119,0.033,2919,2365,1794,1851,1737,0,0,0,0,0,0,25.63,25.78,28.83
$GC,11185,0.41,184.7,2919,2365,1851,1735,893.6,8.2,291,11222,0.00,2.35,31.67,1.115,8708,0.000,0.048,2927,957,1645,1707,1584,0,0,0,0,0,0,28.83,25.15,24.30
$GC,11323,0.41,225.9,2927,956,1702,1581,883.9,8.1,293,11364,0.00,2.28,35.60,1.108,9222,0.000,0.045,2927,2355,1478,1544,1413,0,0,0,0,0,0,28.83,25.56,23.95
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$STATE,18841,end climb,SURFACE_DEPTH_REACHED
$STATE,18841,begin surface coast
$FINISH,0.7,1.011799
$STATE,18862,end surface coast,CONTROL_FINISHED_OK
$STATE,18862,begin surface
$SM_CCo,18937,0.00,0.000,0,0,1023,337.78
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$TT8_MAMPS,0.026964,0.026964
$HUMID,40.23
$INTERNAL_PRESSURE,8.91861
$TCM_TEMP,13.90
$XPDR_PINGS,2
$24V_AH,23.2,4.772
$10V_AH,10.3,4.274
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSOR_MAMPS,23.970,0.750,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,311232
$DATA_FILE_SIZE,37121,522
$CAP_FILE_SIZE,171594,0
$CFSIZE,2097872896,2092564480
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,5027.41,0x212c64,0,24
$GPS,291013,211622,4729.314,-12536.737,37,0.8,37,16.8