version: 66.11
glider: 194
mission: 7
dive: 33
start: 10 31 113 21 47 35
data:
$ID,194
$MISSION,7
$DIVE,33
$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,250
$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,-4349.4404
$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,0.5
$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,61
$R_STBD_OVSHOOT,43
$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,0
$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
$GPS1,311013,214105,4754.773,-12555.138,39,0.8,39,16.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.95
$_SM_ANGLEo,-68.1
$GPS2,311013,214709,4754.779,-12555.123,5,0.8,5,16.9
$SPEED_LIMITS,0.084,0.260
$TGT_NAME,SEARCH_B
$TGT_LATLONG,4800.000,-12600.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.164,0.202
$KALMAN_X,4584.7,0.0,0.0,-53404.3,-188.4
$KALMAN_Y,9991.9,0.0,0.0,67214.4,1428.5
$MHEAD_RNG_PITCHd_Wd,304.0,11402,-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,-146.6,129,2247,1249,1164,0.0,0.0,0,60,0.00,0.00,-42.03,0.000,16386,0.000,0.000,127,2247,2380,2370,2390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,61,-0.76,-146.6,127,2247,2371,2390,3.4,-4.7,4,91,8.80,0.00,-16.83,0.000,18950,0.200,0.000,2530,2246,3000,3063,2938,0,0,0,0,0,0,25.69,28.83,26.31
$GC,389,-0.66,-146.6,2530,2247,3067,2938,57.2,-14.5,37,399,0.12,2.15,0.00,0.000,2564,0.158,0.042,2571,878,3002,3067,2938,0,0,0,0,0,0,26.10,26.16,28.83
$GC,482,-0.60,-146.6,2570,878,3068,2938,69.1,-12.6,46,486,0.00,2.15,0.00,0.000,1030,0.000,0.039,2563,2266,3002,3067,2938,0,0,0,0,0,0,28.83,26.22,28.83
$GC,798,-0.57,-146.6,2562,2266,3069,2938,103.1,-9.8,66,804,0.12,2.17,0.00,0.000,2564,0.148,0.042,2602,876,3003,3069,2938,0,0,0,0,0,0,26.23,26.30,28.83
$GC,900,-0.59,-146.6,2602,876,3069,2938,112.4,-8.7,71,905,0.00,2.12,0.00,0.000,1030,0.000,0.040,2596,2263,3003,3069,2938,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1219,-0.64,-146.6,2596,2263,3069,2938,139.1,-7.9,87,1225,0.00,2.17,0.00,0.000,260,0.000,0.048,2585,3667,3003,3069,2938,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1348,-0.68,-146.6,2585,3667,3068,2938,147.7,-7.0,93,1353,0.00,2.08,0.00,0.000,1030,0.000,0.030,2585,2269,3003,3069,2938,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1674,-0.73,-146.6,2585,2269,3069,2938,172.2,-8.0,104,1680,0.10,2.15,0.00,0.000,4612,0.093,0.042,2513,873,3003,3069,2938,0,0,0,0,0,0,26.57,26.45,28.83
$GC,1772,-0.72,-146.6,2513,873,3069,2938,182.6,-10.8,107,1777,0.17,2.15,0.00,0.000,3078,0.132,0.041,2554,2270,3003,3069,2938,0,0,0,0,0,0,26.33,26.48,28.83
$GC,2089,-0.75,-146.6,2554,2270,3069,2938,215.6,-10.2,118,2093,0.00,2.15,0.00,0.000,260,0.000,0.049,2546,3665,3003,3069,2938,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2198,-0.77,-146.6,2546,3665,3069,2938,224.7,-10.4,121,2205,0.00,2.08,0.00,0.000,1030,0.000,0.031,2546,2263,3003,3069,2938,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2505,-0.79,-146.6,2546,2263,3069,2938,259.0,-10.4,132,2506,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2263,3003,3069,2937,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2805,-0.82,-146.6,2546,2263,3069,2937,288.7,-9.9,142,2807,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2263,3002,3068,2937,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3105,-0.85,-146.6,2546,2263,3069,2936,317.9,-9.8,149,3107,0.10,0.00,0.00,0.000,4102,0.093,0.000,2470,2263,3003,3069,2937,0,0,0,0,0,0,26.70,28.83,28.83
$GC,3405,-0.79,-146.6,2469,2263,3069,2935,355.1,-12.5,154,3407,0.20,0.00,0.00,0.000,2054,0.129,0.000,2530,2262,3002,3069,2935,0,0,0,0,0,0,26.47,28.83,28.83
$GC,3705,-0.81,-146.6,2530,2262,3069,2935,383.5,-9.3,159,3707,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2262,3002,3069,2935,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4005,-0.85,-146.6,2530,2262,3069,2934,410.9,-9.1,164,4011,0.00,2.15,0.00,0.000,516,0.000,0.046,2530,865,3001,3069,2933,0,0,0,0,0,0,28.83,26.61,28.83
$GC,4078,-0.88,-146.6,2530,865,3069,2933,416.8,-9.4,165,4082,0.00,2.15,0.00,0.000,1030,0.000,0.042,2523,2259,3000,3068,2933,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4420,-0.90,-146.6,2523,2259,3068,2933,451.5,-9.8,171,4422,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2260,3000,3068,2933,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4720,-0.93,-146.6,2523,2260,3069,2932,480.2,-9.5,176,4727,0.12,2.17,0.00,0.000,4356,0.080,0.049,2429,3669,3000,3069,2932,0,0,0,0,0,0,26.75,26.61,28.83
$GC,4780,-0.93,-146.6,2428,3668,3068,2932,487.8,-10.0,177,4787,0.20,2.10,0.00,0.000,3078,0.134,0.032,2487,2258,3000,3068,2932,0,0,0,0,0,0,26.48,26.69,28.83
$GC,5140,-0.92,-146.6,2487,2257,3069,2931,527.5,-10.8,183,5144,0.00,2.20,0.00,0.000,260,0.000,0.051,2479,3670,2999,3068,2930,0,0,0,0,0,0,28.83,26.62,28.83
$GC,5250,-0.91,-146.6,2479,3670,3068,2930,533.9,-10.8,184,5257,0.00,2.15,0.00,0.000,1030,0.000,0.033,2479,2262,2999,3068,2930,0,0,0,0,0,0,28.83,26.69,28.83
$GC,5556,-0.89,-146.6,2479,2261,3068,2930,574.3,-11.2,190,5560,0.00,2.15,0.00,0.000,516,0.000,0.047,2479,865,2999,3068,2930,0,0,0,0,0,0,28.83,26.64,28.83
$GC,5630,-0.87,-146.6,2479,865,3069,2930,580.9,-11.4,191,5635,0.12,2.17,0.00,0.000,3078,0.145,0.043,2504,2273,2999,3068,2930,0,0,0,0,0,0,26.51,26.66,28.83
$GC,5968,-0.90,-146.6,2504,2273,3069,2929,615.1,-9.3,197,5974,0.00,2.15,0.00,0.000,260,0.000,0.051,2496,3666,2998,3068,2929,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6028,-0.93,-146.6,2496,3666,3069,2928,620.6,-9.1,198,6033,0.00,2.10,0.00,0.000,1030,0.000,0.032,2496,2259,2999,3069,2929,0,0,0,0,0,0,28.83,26.70,28.83
$GC,6388,-0.95,-146.6,2496,2259,3069,2928,653.2,-9.1,204,6394,0.00,2.20,0.00,0.000,260,0.000,0.051,2485,3671,2997,3068,2927,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6436,-0.97,-146.6,2485,3671,3068,2927,653.2,-9.1,204,6440,0.00,2.12,0.00,0.000,1030,0.000,0.033,2485,2260,2998,3068,2928,0,0,0,0,0,0,28.83,26.70,28.83
$GC,6748,-0.98,-146.6,2485,2260,3068,2928,687.1,-9.4,210,6749,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2260,2998,3069,2927,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7048,-1.00,-146.6,2485,2260,3068,2927,714.3,-9.0,215,7054,0.00,2.20,0.00,0.000,260,0.000,0.052,2475,3672,2997,3069,2926,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7091,-1.01,-146.6,2475,3672,3069,2926,714.3,-9.0,215,7095,0.00,2.10,0.00,0.000,1030,0.000,0.033,2475,2264,2997,3068,2926,0,0,0,0,0,0,28.83,26.71,28.83
$GC,7402,-1.01,-146.6,2475,2264,3068,2926,748.5,-9.7,221,7403,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2264,2996,3068,2924,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7703,-1.02,-146.6,2475,2264,3068,2925,777.8,-9.8,226,7704,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2264,2997,3069,2925,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8003,-1.04,-146.6,2475,2264,3068,2925,806.7,-9.7,231,8004,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2264,2996,3068,2925,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8303,-1.06,-146.6,2474,2264,3068,2925,836.0,-9.8,236,8308,0.00,2.20,0.00,0.000,260,0.000,0.052,2464,3674,2996,3069,2924,0,0,0,0,0,0,28.83,26.64,28.83
$GC,8381,-1.08,-146.6,2464,3674,3069,2924,842.1,-9.9,237,8385,0.00,2.10,0.00,0.000,1030,0.000,0.033,2464,2265,2996,3069,2924,0,0,0,0,0,0,28.83,26.72,28.83
$GC,8717,-1.09,-146.6,2464,2265,3068,2924,878.6,-10.2,243,8718,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2264,2996,3068,2924,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9018,-1.10,-146.6,2464,2265,3068,2923,906.3,-9.1,248,9019,0.10,0.00,0.00,0.000,4102,0.096,0.000,2392,2264,2995,3068,2923,0,0,0,0,0,0,26.81,28.83,28.83
$GC,9317,-1.03,-146.6,2391,2265,3068,2923,942.0,-12.0,253,9319,0.20,0.00,0.00,0.000,2054,0.135,0.000,2451,2265,2995,3068,2923,0,0,0,0,0,0,26.52,28.83,28.83
$GC,9617,-1.03,-146.6,2450,2264,3068,2922,970.5,-9.3,258,9618,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,2264,2995,3068,2922,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9856,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9856,begin apogee
$GC,9859,-0.22,0.0,2451,2357,3068,2922,994.1,-9.8,262,9981,0.75,0.00,116.65,1.232,10246,0.101,0.000,2712,2357,2400,2463,2338,0,0,0,0,0,0,26.52,28.83,23.71
$STATE,9982,end apogee,CONTROL_FINISHED_OK
$STATE,9982,begin climb
$GC,9983,0.76,146.6,2712,2357,2463,2337,996.2,0.0,264,10116,0.88,2.45,124.30,1.210,10756,0.043,0.047,3054,965,1801,1860,1742,0,0,0,0,0,0,24.72,24.05,23.18
$GC,10161,0.76,146.6,3054,965,1853,1740,985.1,8.7,267,10165,0.00,2.38,0.00,0.000,1030,0.000,0.042,3054,2343,1796,1853,1740,0,0,0,0,0,0,28.83,24.66,28.83
$GC,10511,0.60,146.6,3054,2343,1851,1736,934.4,14.0,273,10516,0.22,2.28,0.00,0.000,4356,0.139,0.050,2985,3761,1794,1852,1736,0,0,0,0,0,0,25.48,25.59,28.83
$GC,10552,0.43,146.6,2985,3761,1851,1736,934.4,14.0,273,10557,0.22,2.20,0.00,0.000,5126,0.133,0.034,2928,2352,1793,1851,1736,0,0,0,0,0,0,25.53,25.67,28.83
$GC,10864,0.43,200.3,2928,2351,1851,1734,904.7,7.5,279,10913,0.00,2.35,44.03,1.141,8708,0.000,0.046,2936,951,1583,1647,1520,0,0,0,0,0,0,28.83,24.89,24.03
$GC,10994,0.45,247.9,2936,951,1641,1518,895.3,7.8,281,11042,0.00,2.30,41.42,1.130,9222,0.000,0.043,2936,2360,1388,1455,1322,0,0,0,0,0,0,28.83,25.40,23.80
$GC,11341,0.48,259.4,2936,2360,1450,1315,861.8,9.5,287,11358,0.00,2.40,10.12,0.955,8708,0.000,0.048,2947,951,1342,1411,1273,0,0,0,0,0,0,28.83,25.45,24.60
$GC,11469,0.51,264.8,2947,950,1407,1272,849.9,9.8,289,11480,0.00,2.28,5.82,0.836,9222,0.000,0.043,2947,2361,1320,1388,1252,0,0,0,0,0,0,28.83,25.70,24.69
$GC,11817,0.54,264.8,2946,2361,1388,1250,814.0,10.2,295,11821,0.00,2.28,0.00,0.000,516,0.000,0.048,2957,950,1319,1388,1250,0,0,0,0,0,0,28.83,25.94,28.83
$GC,11916,0.57,264.8,2957,950,1386,1250,807.6,10.4,296,11920,0.00,2.25,0.00,0.000,1030,0.000,0.043,2957,2365,1317,1385,1250,0,0,0,0,0,0,28.83,26.02,28.83
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$STATE,18297,end climb,SURFACE_DEPTH_REACHED
$STATE,18297,begin surface coast
$FINISH,1.0,1.024226
$STATE,18329,end surface coast,CONTROL_FINISHED_OK
$STATE,18329,begin surface
$SM_CCo,18403,0.00,0.000,0,0,1159,304.42
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$TT8_MAMPS,0.026964,0.026964
$HUMID,40.07
$INTERNAL_PRESSURE,8.91861
$TCM_TEMP,14.00
$XPDR_PINGS,3
$24V_AH,23.2,6.044
$10V_AH,10.3,4.984
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,311208
$DATA_FILE_SIZE,36958,507
$CAP_FILE_SIZE,157722,0
$CFSIZE,2097872896,2091286528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,011113,025528,4757.598,-12557.266,37,0.8,37,16.9