version: 66.11
glider: 194
mission: 7
dive: 24
start: 10 29 113 21 25 29
data:
$ID,194
$MISSION,7
$DIVE,24
$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,-4338.0913
$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,48
$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
$GPS1,291013,211622,4729.314,-12536.737,37,0.8,37,16.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-67.9
$GPS2,291013,212502,4729.221,-12536.808,5,0.8,5,16.8
$SPEED_LIMITS,0.084,0.260
$TGT_NAME,SEARCH_B
$TGT_LATLONG,4745.000,-12545.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.111,0.235
$KALMAN_X,2381.2,0.0,0.0,-28164.9,362.4
$KALMAN_Y,1097.7,0.0,0.0,28779.9,520.4
$MHEAD_RNG_PITCHd_Wd,318.0,30953,-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,14,-0.76,-146.6,119,2247,1069,961,0.0,0.0,0,70,0.00,0.00,-53.65,0.000,16386,0.000,0.000,117,2248,2511,2510,2512,0,0,0,0,0,0,28.83,28.83,28.83
$GC,73,-0.76,-146.6,116,2248,2511,2512,3.4,-4.2,5,100,8.88,2.28,-11.98,0.000,18948,0.201,0.058,2532,859,3000,3064,2937,0,0,0,0,0,0,25.64,25.92,26.25
$GC,236,-0.60,-146.6,2532,859,3067,2937,32.3,-18.9,21,245,0.17,2.25,0.00,0.000,3078,0.126,0.041,2582,2256,3002,3067,2937,0,0,0,0,0,0,25.88,26.06,28.83
$GC,544,-0.56,-146.6,2582,2257,3069,2937,66.5,-11.3,52,548,0.00,2.22,0.00,0.000,260,0.000,0.049,2575,3673,3003,3069,2937,0,0,0,0,0,0,28.83,26.17,28.83
$GC,844,-0.53,-146.6,2574,3673,3069,2937,98.9,-10.8,73,851,0.15,2.12,0.00,0.000,3078,0.132,0.029,2617,2239,3003,3069,2937,0,0,0,0,0,0,26.17,26.34,28.83
$GC,1165,-0.60,-146.6,2617,2238,3069,2937,127.4,-8.1,89,1170,0.00,2.10,0.00,0.000,516,0.000,0.044,2617,872,3002,3069,2936,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1207,-0.67,-146.6,2617,872,3069,2937,130.7,-7.9,91,1211,0.12,2.20,0.00,0.000,5126,0.076,0.041,2525,2258,3003,3069,2937,0,0,0,0,0,0,26.40,26.38,28.83
$GC,1535,-0.64,-146.6,2525,2257,3069,2937,168.4,-12.0,105,1541,0.15,2.17,0.00,0.000,2308,0.142,0.048,2567,3671,3003,3070,2937,0,0,0,0,0,0,26.32,26.40,28.83
$GC,1670,-0.64,-146.6,2566,3671,3069,2936,181.3,-10.6,109,1675,0.00,2.12,0.00,0.000,1030,0.000,0.030,2567,2269,3002,3069,2936,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1989,-0.67,-146.6,2566,2269,3069,2935,212.9,-9.2,120,1991,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2269,3002,3069,2936,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2289,-0.71,-146.6,2566,2268,3069,2935,241.8,-9.8,130,2290,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2269,3002,3069,2935,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2589,-0.76,-146.6,2566,2269,3069,2935,270.8,-9.7,140,2590,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2269,3002,3069,2935,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2888,-0.81,-146.6,2566,2269,3069,2934,298.3,-9.0,150,2895,0.12,2.20,0.00,0.000,4356,0.080,0.050,2466,3676,3001,3069,2934,0,0,0,0,0,0,26.66,26.53,28.83
$GC,2949,-0.81,-146.6,2466,3676,3069,2933,305.8,-10.5,152,2954,0.20,2.10,0.00,0.000,3078,0.132,0.030,2525,2256,3001,3069,2933,0,0,0,0,0,0,26.41,26.60,28.83
$GC,3307,-0.81,-146.6,2525,2256,3069,2933,340.8,-9.6,158,3308,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2256,3001,3069,2933,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3607,-0.81,-146.6,2525,2256,3069,2932,370.7,-10.0,163,3612,0.00,2.20,0.00,0.000,260,0.000,0.051,2517,3667,3000,3069,2932,0,0,0,0,0,0,28.83,26.56,28.83
$GC,3728,-0.81,-146.6,2516,3667,3069,2931,383.0,-10.2,165,3734,0.00,2.05,0.00,0.000,1030,0.000,0.031,2516,2269,3000,3069,2932,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4087,-0.81,-146.6,2516,2268,3069,2930,420.4,-10.3,171,4092,0.00,2.15,0.00,0.000,516,0.000,0.045,2517,867,2999,3069,2930,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4189,-0.81,-146.6,2516,867,3069,2930,426.8,-10.5,172,4193,0.00,2.20,0.00,0.000,1030,0.000,0.044,2508,2265,2999,3069,2930,0,0,0,0,0,0,28.83,26.62,28.83
$GC,4506,-0.81,-146.6,2507,2266,3069,2929,464.6,-10.5,178,4508,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2266,2999,3069,2929,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4806,-0.81,-146.6,2508,2266,3070,2929,496.0,-10.4,183,4812,0.00,2.17,0.00,0.000,516,0.000,0.046,2508,861,2998,3069,2928,0,0,0,0,0,0,28.83,26.62,28.83
$GC,4849,-0.81,-146.6,2508,861,3069,2928,496.0,-10.4,183,4853,0.00,2.22,0.00,0.000,1030,0.000,0.044,2499,2268,2998,3069,2928,0,0,0,0,0,0,28.83,26.64,28.83
$GC,5166,-0.81,-146.6,2499,2267,3069,2927,535.1,-10.9,189,5168,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2267,2998,3069,2928,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5466,-0.81,-146.6,2498,2267,3069,2927,566.3,-10.4,194,5470,0.00,2.17,0.00,0.000,260,0.000,0.053,2488,3671,2998,3069,2927,0,0,0,0,0,0,28.83,26.61,28.83
$GC,5499,-0.81,-146.6,2488,3671,3069,2926,566.3,-10.4,194,5504,0.08,2.12,0.00,0.000,3078,0.120,0.031,2517,2261,2997,3069,2926,0,0,0,0,0,0,26.51,26.69,28.83
$GC,5822,-0.86,-146.6,2517,2261,3069,2926,597.9,-8.7,200,5828,0.00,2.15,0.00,0.000,516,0.000,0.047,2517,863,2997,3069,2926,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5884,-0.90,-146.6,2517,864,3069,2926,603.7,-9.0,201,5889,0.00,2.15,0.00,0.000,1030,0.000,0.044,2512,2263,2997,3069,2926,0,0,0,0,0,0,28.83,26.65,28.83
$GC,6242,-0.95,-146.6,2511,2263,3069,2925,636.7,-9.3,207,6248,0.00,2.17,0.00,0.000,260,0.000,0.052,2502,3668,2997,3069,2925,0,0,0,0,0,0,28.83,26.62,28.83
$GC,6290,-0.99,-146.6,2501,3668,3069,2925,636.7,-9.3,207,6295,0.10,2.10,0.00,0.000,5126,0.093,0.031,2432,2252,2997,3069,2925,0,0,0,0,0,0,26.65,26.70,28.83
$GC,6598,-0.93,-146.6,2432,2252,3069,2924,680.4,-12.9,212,6600,0.17,0.00,0.00,0.000,2054,0.139,0.000,2483,2251,2996,3069,2924,0,0,0,0,0,0,26.52,28.83,28.83
$GC,6898,-0.93,-146.6,2482,2252,3069,2923,710.2,-9.8,217,6900,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2251,2996,3069,2923,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7197,-0.93,-146.6,2482,2252,3069,2923,737.3,-9.0,222,7201,0.00,2.12,0.00,0.000,516,0.000,0.047,2482,874,2995,3069,2922,0,0,0,0,0,0,28.83,26.64,28.83
$GC,7271,-0.93,-146.6,2482,874,3069,2922,742.7,-9.3,223,7275,0.00,2.15,0.00,0.000,1030,0.000,0.045,2476,2265,2995,3069,2922,0,0,0,0,0,0,28.83,26.66,28.83
$GC,7608,-0.93,-146.6,2476,2265,3069,2922,777.8,-9.9,229,7612,0.00,2.17,0.00,0.000,260,0.000,0.053,2466,3668,2995,3069,2921,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7673,-0.93,-146.6,2466,3668,3069,2921,783.9,-10.1,230,7677,0.00,2.12,0.00,0.000,1030,0.000,0.032,2467,2272,2995,3069,2921,0,0,0,0,0,0,28.83,26.71,28.83
$GC,8026,-0.93,-146.6,2466,2271,3069,2920,823.5,-11.1,236,8027,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2271,2994,3068,2921,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8327,-0.93,-146.6,2466,2272,3069,2920,856.6,-11.1,241,8332,0.00,2.17,0.00,0.000,260,0.000,0.054,2456,3668,2994,3069,2920,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8363,-0.93,-146.6,2456,3668,3069,2920,856.6,-11.1,241,8367,0.00,2.12,0.00,0.000,1030,0.000,0.033,2456,2266,2994,3069,2920,0,0,0,0,0,0,28.83,26.72,28.83
$GC,8685,-0.93,-146.6,2456,2266,3069,2919,897.1,-11.2,247,8690,0.12,2.17,0.00,0.000,2564,0.147,0.046,2497,861,2994,3069,2919,0,0,0,0,0,0,26.59,26.64,28.83
$GC,8744,-0.93,-146.6,2496,860,3069,2919,902.7,-10.9,248,8749,0.00,2.15,0.00,0.000,1030,0.000,0.046,2497,2255,2994,3070,2919,0,0,0,0,0,0,28.83,26.67,28.83
$GC,9103,-0.99,-146.6,2497,2255,3069,2919,935.2,-9.0,254,9104,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2255,2994,3069,2919,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9404,-1.06,-146.6,2496,2255,3069,2918,960.7,-8.5,259,9406,0.15,0.00,0.00,0.000,4102,0.073,0.000,2404,2255,2993,3069,2918,0,0,0,0,0,0,26.77,28.83,28.83
$STATE,9641,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9641,begin apogee
$GC,9645,-0.22,0.0,2404,2367,3069,2918,990.0,-12.2,263,9766,0.90,0.00,116.35,1.232,10246,0.111,0.000,2708,2367,2400,2463,2338,0,0,0,0,0,0,26.48,28.83,23.66
$STATE,9767,end apogee,CONTROL_FINISHED_OK
$STATE,9768,begin climb
$GC,9769,0.76,146.6,2708,2367,2463,2337,992.8,0.0,265,9898,0.90,0.00,125.40,1.207,10502,0.043,0.000,3048,2367,1801,1860,1743,0,0,0,0,0,0,24.69,28.83,23.23
$GC,10182,0.60,146.6,3048,2367,1852,1737,946.3,14.3,272,10184,0.25,0.00,0.00,0.000,4102,0.137,0.000,2977,2367,1795,1853,1737,0,0,0,0,0,0,25.35,28.83,28.83
$GC,10482,0.53,146.6,2977,2367,1852,1735,914.3,10.5,277,10483,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2367,1793,1852,1735,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10782,0.47,146.6,2977,2367,1851,1734,883.8,10.2,282,10788,0.12,2.25,0.00,0.000,4612,0.149,0.046,2943,964,1793,1852,1734,0,0,0,0,0,0,25.94,26.02,28.83
$GC,10835,0.41,146.6,2943,964,1849,1733,883.8,10.2,282,10842,0.00,2.22,0.00,0.000,1030,0.000,0.045,2943,2361,1791,1849,1734,0,0,0,0,0,0,28.83,26.06,28.83
$GC,11142,0.41,171.4,2943,2361,1849,1733,851.9,8.9,288,11164,0.00,0.00,20.08,1.063,8198,0.000,0.000,2943,2361,1701,1761,1642,0,0,0,0,0,0,28.83,28.83,24.72
$GC,11442,0.41,188.7,2943,2361,1759,1639,824.7,9.2,293,11465,0.00,2.35,15.65,1.021,8452,0.000,0.054,2943,3757,1629,1691,1568,0,0,0,0,0,0,28.83,25.58,24.68
$GC,11530,0.41,203.5,2943,3757,1691,1568,818.8,9.3,294,11550,0.12,2.17,13.52,0.991,13318,0.142,0.033,2920,2352,1570,1633,1507,0,0,0,0,0,0,25.67,25.79,24.53
$GC,11863,0.45,236.4,2920,2352,1631,1504,787.3,8.5,300,11897,0.00,2.30,28.42,1.053,8708,0.000,0.047,2927,960,1435,1502,1369,0,0,0,0,0,0,28.83,25.22,24.38
$GC,11958,0.50,268.0,2927,960,1498,1367,782.2,8.5,301,11991,0.00,2.28,27.12,1.050,9222,0.000,0.045,2927,2355,1308,1377,1239,0,0,0,0,0,0,28.83,25.52,24.10
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$GC,14153,0.64,280.1,2974,953,1323,1183,491.6,12.7,338,14157,0.00,2.22,0.00,0.000,1030,0.000,0.044,2974,2368,1253,1323,1183,0,0,0,0,0,0,28.83,26.41,28.83
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$STATE,18151,end climb,SURFACE_DEPTH_REACHED
$STATE,18151,begin surface coast
$FINISH,0.8,1.000653
$STATE,18171,end surface coast,CONTROL_FINISHED_OK
$STATE,18171,begin surface
$SM_CCo,18245,0.00,0.000,0,0,1253,281.36
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$IRIDIUM_FIX,4713.38,-12536.34,291013,212137
$TT8_MAMPS,0.026215,0.026215
$HUMID,39.88
$INTERNAL_PRESSURE,8.92837
$TCM_TEMP,13.90
$XPDR_PINGS,0
$24V_AH,23.2,4.900
$10V_AH,10.3,4.344
$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
$DEVICE_SECS,20.975,122.675,359.425,0.000,0.000,0.000,0.000,391.700,22.500,0.000,6.489,1624.332,14508.147,435.203,2110.632,91.095,0.389,1735.803,0.000,1644.049,0.000,142.724,0.000
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$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,37201,503
$CAP_FILE_SIZE,154630,0
$CFSIZE,2097872896,2092466176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,301013,023034,4731.934,-12538.160,26,0.7,26,16.8