version: 66.11
glider: 194
mission: 7
dive: 25
start: 10 30 113 2 36 44
data:
$ID,194
$MISSION,7
$DIVE,25
$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,-4339.3516
$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,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
$GPS1,301013,023034,4731.934,-12538.160,26,0.7,26,16.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.87
$_SM_ANGLEo,-69.1
$GPS2,301013,023618,4731.967,-12538.206,5,0.7,5,16.8
$SPEED_LIMITS,0.084,0.260
$TGT_NAME,SEARCH_B
$TGT_LATLONG,4745.000,-12545.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.113,0.234
$KALMAN_X,2811.0,0.0,0.0,-30354.1,427.4
$KALMAN_Y,1536.0,0.0,0.0,33441.4,500.5
$MHEAD_RNG_PITCHd_Wd,317.3,25576,-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,-146.6,159,2265,1291,1202,0.0,0.0,0,61,0.00,0.00,-42.90,0.000,16386,0.000,0.000,159,2266,2440,2434,2446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,62,-0.76,-146.6,159,2265,2436,2445,3.3,-5.0,4,92,8.62,2.28,-14.40,0.000,18948,0.202,0.059,2533,863,2999,3063,2935,0,0,0,0,0,0,25.86,26.15,26.49
$GC,127,-0.56,-146.6,1664,863,3036,2932,11.7,-14.0,10,136,0.22,2.22,0.00,0.000,3078,0.130,0.041,2597,2257,3000,3065,2935,0,0,0,0,0,0,26.00,26.20,28.83
$GC,436,-0.53,-146.6,2597,2256,3067,2935,53.3,-9.3,41,444,0.00,2.15,0.00,0.000,516,0.000,0.044,2597,866,3001,3067,2935,0,0,0,0,0,0,28.83,26.29,28.83
$GC,741,-0.50,-146.6,2597,866,3069,2935,84.4,-9.7,69,747,0.08,2.12,0.00,0.000,3078,0.125,0.041,2618,2258,3002,3069,2935,0,0,0,0,0,0,26.24,26.39,28.83
$GC,1061,-0.56,-146.6,2617,2258,3069,2935,113.7,-8.2,85,1066,0.00,2.15,0.00,0.000,516,0.000,0.044,2618,865,3002,3069,2935,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1140,-0.61,-146.6,2617,865,3069,2935,119.7,-7.4,89,1146,0.00,2.15,0.00,0.000,1030,0.000,0.041,2613,2270,3002,3069,2935,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1461,-0.69,-146.6,2612,2270,3069,2935,143.2,-7.2,105,1467,0.12,2.15,0.00,0.000,4356,0.079,0.048,2513,3669,3002,3069,2935,0,0,0,0,0,0,26.58,26.46,28.83
$GC,1552,-0.63,-146.6,2513,3669,3069,2935,152.7,-11.0,110,1558,0.20,2.08,0.00,0.000,3078,0.111,0.030,2583,2250,3002,3069,2935,0,0,0,0,0,0,26.34,26.54,28.83
$GC,1882,-0.68,-146.6,2582,2250,3069,2935,177.9,-7.3,121,1887,0.00,2.10,0.00,0.000,516,0.000,0.044,2582,877,3002,3069,2935,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1964,-0.73,-146.6,2582,877,3069,2935,182.7,-7.7,123,1971,0.00,2.15,0.00,0.000,1030,0.000,0.042,2577,2270,3002,3069,2935,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2271,-0.77,-146.6,2576,2269,3069,2934,207.1,-7.5,134,2273,0.12,0.00,0.00,0.000,4102,0.082,0.000,2492,2270,3001,3069,2934,0,0,0,0,0,0,26.65,28.83,28.83
$GC,2571,-0.71,-146.6,2491,2270,3069,2934,242.1,-12.5,144,2573,0.22,0.00,0.00,0.000,2054,0.127,0.000,2560,2270,3001,3069,2934,0,0,0,0,0,0,26.43,28.83,28.83
$GC,2873,-0.75,-146.6,2560,2270,3069,2934,270.6,-9.7,154,2874,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2270,3001,3069,2934,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3171,-0.80,-146.6,2560,2270,3069,2933,297.8,-8.9,164,3172,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2270,3000,3069,2932,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3502,-0.85,-146.6,2560,2270,3069,2932,327.2,-9.0,170,3508,0.12,2.15,0.00,0.000,4612,0.080,0.044,2470,876,3000,3069,2932,0,0,0,0,0,0,26.73,26.60,28.83
$GC,3544,-0.91,-146.6,2470,875,3069,2932,327.2,-9.0,170,3549,0.12,2.15,0.00,0.000,3078,0.151,0.043,2493,2273,3000,3069,2932,0,0,0,0,0,0,26.47,26.63,28.83
$GC,3857,-0.88,-146.6,2493,2273,3069,2932,370.7,-12.2,176,3858,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2273,3000,3069,2932,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4156,-0.85,-146.6,2493,2273,3069,2931,405.3,-11.4,181,4158,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2273,3000,3069,2931,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4457,-0.85,-146.6,2493,2273,3069,2930,435.8,-10.1,186,4459,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2273,2999,3069,2930,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4755,-0.85,-146.6,2493,2272,3069,2929,466.2,-10.2,191,4759,0.00,2.15,0.00,0.000,260,0.000,0.052,2485,3664,2999,3069,2929,0,0,0,0,0,0,28.83,26.62,28.83
$GC,4825,-0.85,-146.6,2485,3664,3069,2929,471.9,-10.2,192,4830,0.00,2.10,0.00,0.000,1030,0.000,0.031,2485,2273,2998,3069,2928,0,0,0,0,0,0,28.83,26.70,28.83
$GC,5173,-0.85,-146.6,2485,2272,3069,2928,510.2,-10.7,198,5179,0.00,2.15,0.00,0.000,516,0.000,0.046,2485,873,2998,3069,2928,0,0,0,0,0,0,28.83,26.64,28.83
$GC,5225,-0.85,-146.6,2485,873,3069,2928,510.2,-10.7,198,5234,0.08,2.20,0.00,0.000,3078,0.122,0.044,2504,2264,2998,3069,2927,0,0,0,0,0,0,26.51,26.66,28.83
$GC,5533,-0.85,-146.6,2504,2264,3069,2927,546.9,-10.0,204,5534,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2264,2998,3069,2927,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5834,-0.87,-146.6,2504,2264,3069,2926,577.7,-10.3,209,5839,0.00,2.17,0.00,0.000,260,0.000,0.053,2496,3668,2997,3069,2926,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5902,-0.87,-146.6,2496,3668,3069,2926,584.0,-10.3,210,5906,0.00,2.12,0.00,0.000,1030,0.000,0.031,2496,2267,2997,3069,2926,0,0,0,0,0,0,28.83,26.71,28.83
$GC,6256,-0.87,-146.6,2496,2267,3069,2925,621.0,-10.1,216,6262,0.00,2.12,0.00,0.000,516,0.000,0.047,2496,876,2997,3069,2925,0,0,0,0,0,0,28.83,26.65,28.83
$GC,6322,-0.87,-146.6,2495,875,3069,2925,627.2,-10.1,217,6326,0.00,2.20,0.00,0.000,1030,0.000,0.045,2487,2267,2997,3069,2925,0,0,0,0,0,0,28.83,26.66,28.83
$GC,6676,-0.87,-146.6,2487,2268,3069,2924,663.5,-10.0,223,6677,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2268,2997,3070,2924,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6975,-0.87,-146.6,2487,2268,3069,2924,693.2,-9.9,228,6981,0.00,2.17,0.00,0.000,260,0.000,0.053,2477,3668,2996,3069,2923,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7044,-0.87,-146.6,2477,3668,3069,2923,699.3,-9.9,229,7048,0.00,2.08,0.00,0.000,1030,0.000,0.032,2477,2263,2996,3069,2923,0,0,0,0,0,0,28.83,26.72,28.83
$GC,7392,-0.87,-146.6,2477,2263,3069,2922,734.2,-9.7,235,7397,0.00,2.12,0.00,0.000,516,0.000,0.048,2477,877,2995,3069,2922,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7429,-0.87,-146.6,2477,877,3069,2922,734.2,-9.7,235,7434,0.12,2.15,0.00,0.000,3078,0.145,0.045,2503,2267,2995,3069,2922,0,0,0,0,0,0,26.53,26.67,28.83
$GC,7748,-0.93,-146.6,2503,2267,3069,2922,764.0,-8.1,241,7749,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2267,2995,3069,2922,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8046,-0.98,-146.6,2503,2267,3069,2921,787.2,-7.7,246,8052,0.00,2.17,0.00,0.000,260,0.000,0.054,2499,3667,2995,3069,2921,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8130,-1.04,-146.6,2499,3667,3069,2921,791.9,-7.7,247,8134,0.15,2.08,0.00,0.000,5126,0.071,0.033,2409,2262,2995,3069,2921,0,0,0,0,0,0,26.71,26.72,28.83
$GC,8462,-0.96,-146.6,2409,2262,3069,2921,835.6,-12.9,253,8464,0.22,0.00,0.00,0.000,2054,0.130,0.000,2477,2260,2995,3069,2921,0,0,0,0,0,0,26.51,28.83,28.83
$GC,8762,-0.99,-146.6,2477,2260,3069,2920,864.4,-9.5,258,8764,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2260,2994,3069,2920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9062,-1.02,-146.6,2477,2260,3069,2920,891.7,-9.1,263,9064,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2260,2994,3069,2920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9362,-1.06,-146.6,2477,2260,3069,2919,918.0,-8.8,268,9363,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2260,2994,3069,2919,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9664,-1.10,-146.6,2477,2260,3069,2919,944.7,-9.0,273,9666,0.15,0.00,0.00,0.000,4102,0.073,0.000,2389,2260,2994,3070,2919,0,0,0,0,0,0,26.79,28.83,28.83
$GC,9964,-1.02,-146.6,2388,2260,3069,2918,983.9,-13.3,278,9966,0.22,0.00,0.00,0.000,2054,0.132,0.000,2456,2260,2994,3069,2919,0,0,0,0,0,0,26.51,28.83,28.83
$STATE,10020,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10021,begin apogee
$GC,10024,-0.22,0.0,2456,2368,3069,2919,990.4,-12.8,279,10146,0.73,0.00,116.45,1.231,10246,0.101,0.000,2709,2368,2399,2462,2337,0,0,0,0,0,0,26.52,28.83,23.67
$STATE,10147,end apogee,CONTROL_FINISHED_OK
$STATE,10147,begin climb
$GC,10148,0.76,146.6,2708,2368,2462,2336,992.3,0.0,281,10280,0.90,2.45,124.78,1.206,10756,0.043,0.047,3060,969,1801,1860,1743,0,0,0,0,0,0,24.70,24.10,23.22
$GC,10310,0.76,146.6,3060,969,1853,1741,986.7,7.1,283,10318,0.00,2.38,0.00,0.000,1030,0.000,0.044,3060,2343,1797,1854,1741,0,0,0,0,0,0,28.83,24.58,28.83
$GC,10618,0.59,146.6,3060,2344,1852,1737,932.1,15.8,289,10620,0.30,0.00,0.00,0.000,4102,0.139,0.000,2973,2344,1794,1852,1737,0,0,0,0,0,0,25.42,28.83,28.83
$GC,10917,0.53,146.6,2973,2344,1852,1735,898.0,11.1,294,10919,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2344,1793,1852,1735,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11217,0.47,146.6,2973,2344,1852,1734,864.8,11.1,299,11224,0.12,2.28,0.00,0.000,4356,0.147,0.052,2930,3771,1793,1852,1734,0,0,0,0,0,0,25.98,26.03,28.83
$GC,11260,0.42,146.6,2930,3770,1852,1734,864.8,11.1,299,11265,0.00,2.17,0.00,0.000,1030,0.000,0.033,2939,2352,1793,1852,1734,0,0,0,0,0,0,28.83,26.11,28.83
$GC,11579,0.42,146.6,2939,2352,1852,1733,827.6,10.2,305,11580,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2351,1792,1852,1733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11877,0.42,148.6,2939,2351,1852,1733,797.7,9.9,310,11881,0.00,2.20,0.00,0.000,516,0.000,0.048,2949,954,1792,1852,1733,0,0,0,0,0,0,28.83,26.27,28.83
$GC,11958,0.42,153.4,2949,954,1849,1732,792.4,9.8,311,11968,0.00,2.22,5.30,0.738,9222,0.000,0.045,2949,2366,1773,1832,1715,0,0,0,0,0,0,28.83,26.30,25.16
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$STATE,18846,end climb,SURFACE_DEPTH_REACHED
$STATE,18846,begin surface coast
$FINISH,0.8,1.010741
$STATE,18868,end surface coast,CONTROL_FINISHED_OK
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$FG_AHR_10Vo,0.000
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$DATA_FILE_SIZE,37193,532
$CAP_FILE_SIZE,159945,0
$CFSIZE,2097872896,2092335104
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