version: 66.11
glider: 194
mission: 7
dive: 29
start: 10 30 113 23 57 28
data:
$ID,194
$MISSION,7
$DIVE,29
$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,-4344.3965
$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,40
$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
$GPS1,301013,234434,4743.718,-12544.263,40,0.9,40,16.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-57.7
$GPS2,301013,235701,4743.766,-12544.128,6,0.9,6,16.8
$SPEED_LIMITS,0.084,0.260
$TGT_NAME,SEARCH_B
$TGT_LATLONG,4800.000,-12600.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.185,0.183
$KALMAN_X,5094.1,0.0,0.0,-40104.8,766.9
$KALMAN_Y,5290.1,0.0,0.0,51567.4,738.7
$MHEAD_RNG_PITCHd_Wd,297.9,35928,-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,-146.6,111,2262,1048,940,0.0,0.0,0,70,0.00,0.00,-53.55,0.000,16386,0.000,0.000,111,2262,2492,2488,2496,0,0,0,0,0,0,28.83,28.83,28.83
$GC,73,-0.76,-146.6,111,2262,2489,2495,3.4,-4.1,5,101,9.00,2.30,-12.50,0.000,18948,0.205,0.057,2528,861,2999,3060,2939,0,0,0,0,0,0,25.56,25.84,26.16
$GC,356,-0.63,-146.6,2528,861,3064,2939,51.6,-13.5,33,366,0.20,2.20,0.00,0.000,3078,0.144,0.040,2577,2270,3001,3063,2939,0,0,0,0,0,0,25.90,26.08,28.83
$GC,666,-0.59,-146.6,2577,2271,3066,2939,87.6,-12.0,61,672,0.00,2.20,0.00,0.000,260,0.000,0.049,2568,3669,3002,3066,2939,0,0,0,0,0,0,28.83,26.19,28.83
$GC,850,-0.56,-146.6,2568,3669,3066,2939,109.4,-11.1,70,855,0.12,2.10,0.00,0.000,3078,0.140,0.028,2603,2248,3002,3066,2939,0,0,0,0,0,0,26.15,26.32,28.83
$GC,1168,-0.61,-146.6,2602,2247,3066,2939,137.0,-8.7,86,1174,0.00,2.22,0.00,0.000,260,0.000,0.050,2595,3668,3002,3066,2939,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1232,-0.66,-146.6,2594,3668,3066,2939,142.4,-8.8,89,1236,0.00,2.08,0.00,0.000,1030,0.000,0.028,2595,2266,3002,3066,2938,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1564,-0.72,-146.6,2594,2266,3066,2938,169.8,-8.0,102,1565,0.12,0.00,0.00,0.000,4102,0.080,0.000,2510,2265,3002,3066,2938,0,0,0,0,0,0,26.52,28.83,28.83
$GC,1863,-0.68,-146.6,2510,2265,3066,2938,206.6,-13.1,112,1865,0.20,0.00,0.00,0.000,2054,0.128,0.000,2570,2264,3001,3066,2937,0,0,0,0,0,0,26.34,28.83,28.83
$GC,2163,-0.73,-146.6,2570,2264,3066,2937,232.3,-7.5,122,2169,0.00,2.15,0.00,0.000,516,0.000,0.044,2571,866,3001,3066,2936,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2232,-0.78,-146.6,2570,866,3066,2936,236.9,-7.3,124,2236,0.00,2.15,0.00,0.000,1030,0.000,0.041,2564,2262,3001,3066,2936,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2549,-0.82,-146.6,2564,2263,3066,2935,261.4,-8.0,135,2551,0.12,0.00,0.00,0.000,4102,0.080,0.000,2482,2263,3001,3067,2935,0,0,0,0,0,0,26.61,28.83,28.83
$GC,2849,-0.76,-146.6,2481,2263,3066,2934,299.6,-13.0,145,2855,0.17,2.17,0.00,0.000,2308,0.135,0.048,2530,3667,3000,3066,2934,0,0,0,0,0,0,26.43,26.52,28.83
$GC,2926,-0.73,-146.6,2530,3667,3066,2934,306.6,-12.4,147,2930,0.00,2.08,0.00,0.000,1030,0.000,0.030,2530,2264,2999,3065,2934,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3270,-0.73,-146.6,2530,2264,3066,2933,346.1,-10.9,153,3271,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2264,2999,3066,2933,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3569,-0.75,-146.6,2529,2264,3066,2932,375.3,-9.6,158,3575,0.00,2.20,0.00,0.000,260,0.000,0.051,2519,3665,2998,3066,2931,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3646,-0.77,-146.6,2519,3665,3066,2931,381.2,-9.5,159,3650,0.00,2.08,0.00,0.000,1030,0.000,0.030,2520,2262,2998,3066,2931,0,0,0,0,0,0,28.83,26.64,28.83
$GC,3984,-0.77,-146.6,2519,2261,3066,2930,415.1,-9.6,165,3985,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2261,2998,3066,2930,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4286,-0.79,-146.6,2519,2261,3066,2929,443.6,-9.5,170,4287,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2262,2997,3066,2929,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4583,-0.82,-146.6,2519,2261,3066,2929,469.9,-8.6,175,4585,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2261,2997,3066,2928,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4883,-0.85,-146.6,2519,2261,3066,2927,496.3,-8.9,180,4889,0.00,2.20,0.00,0.000,260,0.000,0.053,2510,3668,2996,3066,2927,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4968,-0.88,-146.6,2510,3668,3066,2927,501.7,-9.0,181,4972,0.00,2.08,0.00,0.000,1030,0.000,0.031,2510,2265,2996,3066,2927,0,0,0,0,0,0,28.83,26.68,28.83
$GC,5302,-0.90,-146.6,2509,2264,3066,2926,532.8,-8.7,187,5307,0.00,2.12,0.00,0.000,516,0.000,0.046,2511,875,2996,3066,2926,0,0,0,0,0,0,28.83,26.64,28.83
$GC,5360,-0.93,-146.6,2510,875,3066,2925,538.4,-8.7,188,5365,0.00,2.15,0.00,0.000,1030,0.000,0.044,2501,2262,2996,3066,2926,0,0,0,0,0,0,28.83,26.65,28.83
$GC,5721,-0.95,-146.6,2500,2262,3065,2925,572.8,-9.6,194,5722,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2262,2995,3066,2925,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6021,-0.98,-146.6,2500,2262,3066,2924,602.0,-9.7,199,6022,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2262,2995,3066,2924,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6321,-1.00,-146.6,2500,2262,3066,2923,630.5,-9.6,204,6323,0.12,0.00,0.00,0.000,4102,0.081,0.000,2417,2262,2994,3066,2923,0,0,0,0,0,0,26.76,28.83,28.83
$GC,6621,-0.93,-146.6,2417,2262,3066,2922,670.6,-13.6,209,6623,0.22,0.00,0.00,0.000,2054,0.129,0.000,2485,2262,2993,3066,2921,0,0,0,0,0,0,26.51,28.83,28.83
$GC,6920,-0.93,-146.6,2485,2262,3065,2921,700.7,-9.7,214,6926,0.00,2.17,0.00,0.000,260,0.000,0.053,2477,3664,2993,3066,2920,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6989,-0.93,-146.6,2477,3664,3065,2921,706.6,-9.7,215,6993,0.00,2.08,0.00,0.000,1030,0.000,0.032,2477,2262,2993,3066,2921,0,0,0,0,0,0,28.83,26.71,28.83
$GC,7337,-0.93,-146.6,2477,2261,3065,2920,743.1,-10.2,221,7342,0.00,2.12,0.00,0.000,516,0.000,0.047,2477,875,2992,3065,2920,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7387,-0.93,-146.6,2477,874,3066,2920,743.1,-10.2,221,7395,0.00,2.20,0.00,0.000,1030,0.000,0.046,2468,2264,2993,3066,2920,0,0,0,0,0,0,28.83,26.67,28.83
$GC,7695,-0.93,-146.6,2468,2265,3066,2920,778.1,-9.5,227,7699,0.00,2.20,0.00,0.000,260,0.000,0.054,2458,3678,2992,3065,2919,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7774,-0.93,-146.6,2457,3678,3065,2919,783.6,-9.6,228,7778,0.00,2.10,0.00,0.000,1030,0.000,0.032,2457,2264,2992,3066,2919,0,0,0,0,0,0,28.83,26.72,28.83
$GC,8110,-0.93,-146.6,2457,2264,3066,2919,819.5,-10.2,234,8114,0.00,2.15,0.00,0.000,516,0.000,0.047,2458,873,2992,3066,2919,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8174,-0.93,-146.6,2457,872,3065,2918,825.6,-10.5,235,8179,0.10,2.22,0.00,0.000,3078,0.117,0.046,2484,2269,2992,3065,2919,0,0,0,0,0,0,26.51,26.67,28.83
$GC,8528,-0.97,-146.6,2484,2270,3065,2918,857.8,-8.8,241,8533,0.00,2.15,0.00,0.000,260,0.000,0.054,2477,3664,2992,3066,2918,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8596,-1.01,-146.6,2477,3664,3065,2919,863.5,-9.0,242,8601,0.00,2.10,0.00,0.000,1030,0.000,0.032,2477,2255,2991,3065,2918,0,0,0,0,0,0,28.83,26.71,28.83
$GC,8944,-1.04,-146.6,2477,2255,3066,2918,895.5,-9.0,248,8945,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2255,2991,3065,2918,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9244,-1.08,-146.6,2477,2255,3065,2918,923.9,-9.5,253,9246,0.12,0.00,0.00,0.000,4102,0.083,0.000,2396,2255,2991,3065,2918,0,0,0,0,0,0,26.77,28.83,28.83
$GC,9544,-1.01,-146.6,2395,2254,3065,2917,965.0,-13.9,258,9546,0.20,0.00,0.00,0.000,2054,0.133,0.000,2455,2255,2991,3065,2917,0,0,0,0,0,0,26.52,28.83,28.83
$STATE,9782,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9782,begin apogee
$GC,9786,-0.22,0.0,2454,2364,3066,2917,990.9,-10.8,262,9907,0.73,0.00,115.93,1.230,10246,0.101,0.000,2709,2364,2400,2463,2337,0,0,0,0,0,0,26.53,28.83,23.70
$STATE,9908,end apogee,CONTROL_FINISHED_OK
$STATE,9908,begin climb
$GC,9909,0.76,146.6,2709,2364,2463,2337,993.8,0.0,264,10038,0.90,0.00,124.53,1.203,10758,0.044,0.000,3046,2364,1801,1860,1743,0,0,0,0,0,0,24.71,28.83,23.22
$GC,10318,0.61,146.6,3047,2364,1853,1737,948.8,14.0,271,10320,0.22,0.00,0.00,0.000,4102,0.138,0.000,2984,2364,1795,1853,1737,0,0,0,0,0,0,25.33,28.83,28.83
$GC,10618,0.54,146.6,2984,2364,1853,1735,913.6,11.6,276,10619,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2364,1794,1853,1735,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10920,0.47,146.6,2984,2364,1852,1734,878.4,11.8,281,10926,0.12,2.22,0.00,0.000,4612,0.153,0.046,2950,964,1792,1851,1734,0,0,0,0,0,0,25.94,26.01,28.83
$GC,11013,0.41,146.6,2950,963,1849,1733,871.8,11.7,282,11018,0.12,2.20,0.00,0.000,5126,0.141,0.045,2916,2351,1791,1849,1734,0,0,0,0,0,0,25.97,26.08,28.83
$GC,11335,0.44,160.4,2915,2351,1849,1733,837.9,9.4,288,11348,0.00,0.00,11.10,0.971,8198,0.000,0.000,2916,2351,1745,1804,1687,0,0,0,0,0,0,28.83,28.83,24.96
$GC,11635,0.47,180.0,2916,2352,1804,1686,810.3,9.1,293,11655,0.00,0.00,17.62,1.026,8198,0.000,0.000,2916,2351,1665,1727,1604,0,0,0,0,0,0,28.83,28.83,24.76
$GC,11935,0.52,215.0,2915,2351,1725,1601,785.0,8.4,298,11973,0.12,2.38,29.62,1.053,10756,0.083,0.048,3001,964,1523,1588,1458,0,0,0,0,0,0,26.10,25.27,24.41
$GC,12058,0.52,215.0,3001,964,1583,1457,770.8,10.0,300,12063,0.12,2.30,0.00,0.000,5126,0.116,0.044,2959,2351,1520,1583,1457,0,0,0,0,0,0,25.52,25.63,28.83
$GC,12415,0.52,215.0,2959,2351,1583,1455,731.4,10.8,306,12419,0.00,2.22,0.00,0.000,516,0.000,0.049,2966,963,1519,1583,1455,0,0,0,0,0,0,28.83,26.01,28.83
$GC,12470,0.52,215.0,2966,963,1582,1454,725.0,11.0,307,12475,0.00,2.22,0.00,0.000,1030,0.000,0.044,2966,2358,1518,1582,1454,0,0,0,0,0,0,28.83,26.06,28.83
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$STATE,18964,end climb,SURFACE_DEPTH_REACHED
$STATE,18964,begin surface coast
$FINISH,0.8,1.013900
$STATE,18994,end surface coast,CONTROL_FINISHED_OK
$STATE,18995,begin surface
$SM_CCo,19068,0.00,0.000,0,0,1247,282.83
$SM_GC,1.74,7.40,0.12,0.00,0.024,0.083,0.000,156,2250,1247,-8.06,1.41,282.83,0,0,0,0,0,0,26.41,26.40,28.83
$IRIDIUM_FIX,4722.92,-12543.78,301013,181816
$TT8_MAMPS,0.026964,0.026964
$HUMID,39.01
$INTERNAL_PRESSURE,8.93814
$TCM_TEMP,17.70
$XPDR_PINGS,2
$24V_AH,23.2,5.545
$10V_AH,10.3,4.701
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,20.950,131.625,346.975,0.000,0.000,0.000,0.000,680.925,23.000,0.000,6.526,1712.860,15077.920,415.581,2513.817,101.263,0.389,2064.021,0.000,1764.856,0.000,142.333,0.000
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$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,363.238,699.997,334.825,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,311324
$DATA_FILE_SIZE,37043,528
$CAP_FILE_SIZE,169201,0
$CFSIZE,2097872896,2091778048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,311013,051629,4746.238,-12547.078,40,0.8,40,16.9