version: 66.11
glider: 194
mission: 7
dive: 34
start: 11 1 113 3 2 16
data:
$ID,194
$MISSION,7
$DIVE,34
$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,-4350.6992
$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,50
$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,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
$GPS1,011113,025528,4757.598,-12557.266,37,0.8,37,16.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-68.4
$GPS2,011113,030150,4757.656,-12557.299,5,1.0,5,16.9
$SPEED_LIMITS,0.084,0.260
$TGT_NAME,SEARCH_B
$TGT_LATLONG,4800.000,-12600.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.182,0.146
$KALMAN_X,5076.0,0.0,0.0,-56656.9,230.8
$KALMAN_Y,11342.3,0.0,0.0,71210.2,1456.9
$MHEAD_RNG_PITCHd_Wd,291.7,5482,-19.9,-10.000,-23.22,1755
$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,-0.87,-115.4,133,2246,1192,1107,0.0,0.0,0,60,0.00,0.00,-42.42,0.000,16386,0.000,0.000,131,2246,2329,2321,2338,0,0,0,0,0,0,28.83,28.83,28.83
$GC,61,-0.87,-115.4,130,2246,2321,2339,3.3,-4.6,4,92,8.75,2.25,-14.85,0.000,18948,0.203,0.057,2497,869,2873,2919,2827,0,0,0,0,0,0,25.68,25.99,26.33
$GC,144,-0.70,-115.4,2497,869,2922,2827,15.5,-19.5,12,149,0.22,2.17,0.00,0.000,3078,0.148,0.039,2552,2262,2874,2921,2827,0,0,0,0,0,0,25.84,26.06,28.83
$GC,449,-0.66,-115.4,2551,2262,2923,2827,60.5,-11.2,42,453,0.00,2.20,0.00,0.000,260,0.000,0.047,2543,3674,2875,2923,2827,0,0,0,0,0,0,28.83,26.17,28.83
$GC,516,-0.60,-115.4,2543,3674,2922,2827,69.4,-13.8,48,521,0.17,2.12,0.00,0.000,3078,0.138,0.030,2592,2256,2875,2923,2827,0,0,0,0,0,0,26.07,26.27,28.83
$GC,832,-0.64,-146.6,2592,2256,2924,2827,97.0,-8.0,69,838,0.00,2.12,-0.88,0.000,16900,0.000,0.057,2592,877,3004,3065,2943,0,0,0,0,0,0,28.83,26.31,26.56
$GC,864,-0.69,-146.6,2592,877,3066,2943,98.8,-8.3,70,872,0.00,2.17,0.00,0.000,1030,0.000,0.040,2586,2257,3004,3066,2943,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1171,-0.77,-146.6,2585,2257,3066,2943,130.2,-10.0,86,1173,0.15,0.00,0.00,0.000,4102,0.070,0.000,2487,2257,3005,3067,2944,0,0,0,0,0,0,26.48,28.83,28.83
$GC,1472,-0.73,-146.6,2486,2257,3067,2943,166.9,-12.6,99,1474,0.20,0.00,0.00,0.000,2054,0.132,0.000,2546,2257,3005,3067,2943,0,0,0,0,0,0,26.29,28.83,28.83
$GC,1771,-0.79,-146.6,2546,2257,3067,2943,200.2,-11.0,109,1777,0.00,2.15,0.00,0.000,516,0.000,0.044,2546,872,3005,3067,2943,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1819,-0.84,-146.6,2546,872,3067,2943,203.6,-11.0,110,1823,0.00,2.15,0.00,0.000,1030,0.000,0.041,2539,2274,3005,3067,2943,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2132,-0.89,-146.6,2538,2274,3067,2943,235.8,-9.3,121,2138,0.12,2.15,0.00,0.000,4612,0.079,0.042,2450,876,3004,3067,2942,0,0,0,0,0,0,26.63,26.50,28.83
$GC,2184,-0.92,-146.6,2450,875,3066,2942,239.4,-9.8,122,2192,0.17,2.12,0.00,0.000,3078,0.139,0.041,2489,2261,3005,3067,2943,0,0,0,0,0,0,26.34,26.53,28.83
$GC,2491,-0.92,-146.6,2489,2262,3067,2942,279.9,-12.2,133,2497,0.00,2.17,0.00,0.000,260,0.000,0.048,2481,3672,3004,3066,2942,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2563,-0.92,-146.6,2480,3672,3067,2942,287.4,-12.4,135,2568,0.00,2.15,0.00,0.000,1030,0.000,0.031,2481,2259,3004,3067,2942,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2910,-0.92,-146.6,2480,2259,3066,2941,331.1,-12.1,143,2911,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2259,3004,3067,2941,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3210,-0.92,-146.6,2480,2259,3066,2940,366.0,-11.6,148,3211,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2259,3003,3066,2940,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3513,-0.92,-146.6,2481,2258,3066,2939,398.6,-10.8,153,3518,0.00,2.12,0.00,0.000,516,0.000,0.044,2480,869,3003,3067,2939,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3550,-0.92,-146.6,2481,869,3066,2938,398.6,-10.8,153,3554,0.00,2.15,0.00,0.000,1030,0.000,0.041,2471,2269,3002,3067,2938,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3865,-0.92,-146.6,2471,2269,3066,2938,436.1,-10.5,159,3869,0.00,2.15,0.00,0.000,260,0.000,0.050,2460,3666,3002,3066,2938,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3914,-0.92,-146.6,2460,3666,3066,2938,436.1,-10.5,159,3921,0.00,2.12,0.00,0.000,1030,0.000,0.031,2460,2268,3002,3066,2938,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4221,-0.92,-146.6,2460,2269,3066,2938,477.5,-11.9,165,4222,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,2269,3001,3066,2937,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4521,-0.92,-146.6,2460,2269,3066,2937,515.3,-12.7,170,4525,0.00,2.15,0.00,0.000,516,0.000,0.045,2460,872,3001,3066,2936,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4581,-0.92,-146.6,2460,872,3066,2936,522.8,-13.0,171,4586,0.15,2.15,0.00,0.000,3078,0.141,0.042,2493,2269,3001,3066,2936,0,0,0,0,0,0,26.46,26.63,28.83
$GC,4934,-0.97,-146.6,2492,2269,3066,2935,562.4,-10.8,177,4939,0.00,2.15,0.00,0.000,260,0.000,0.050,2484,3667,3000,3066,2935,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4986,-1.03,-146.6,2484,3667,3066,2935,562.4,-10.8,177,4993,0.00,2.10,0.00,0.000,1030,0.000,0.032,2485,2258,3000,3066,2935,0,0,0,0,0,0,28.83,26.67,28.83
$GC,5293,-1.07,-146.6,2484,2257,3066,2935,601.1,-10.6,183,5295,0.12,0.00,0.00,0.000,4102,0.081,0.000,2399,2258,3000,3066,2934,0,0,0,0,0,0,26.75,28.83,28.83
$GC,5593,-1.01,-146.6,2399,2257,3066,2933,643.6,-14.3,188,5599,0.17,2.15,0.00,0.000,2564,0.142,0.044,2454,866,2999,3066,2933,0,0,0,0,0,0,26.49,26.63,28.83
$GC,5671,-0.97,-146.6,2454,866,3066,2933,651.1,-13.9,189,5675,0.00,2.17,0.00,0.000,1030,0.000,0.043,2448,2273,2999,3066,2933,0,0,0,0,0,0,28.83,26.65,28.83
$GC,6013,-0.98,-146.6,2447,2273,3066,2932,692.6,-11.5,195,6014,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,2273,2998,3065,2932,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6313,-0.99,-146.6,2447,2273,3066,2932,727.4,-11.6,200,6317,0.00,2.17,0.00,0.000,516,0.000,0.047,2448,870,2999,3066,2932,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6370,-1.01,-146.6,2447,870,3067,2932,734.2,-11.7,201,6376,0.00,2.17,0.00,0.000,1030,0.000,0.043,2437,2274,2999,3066,2932,0,0,0,0,0,0,28.83,26.66,28.83
$GC,6729,-1.02,-146.6,2438,2275,3066,2931,777.3,-12.1,207,6733,0.00,2.15,0.00,0.000,260,0.000,0.051,2428,3666,2998,3066,2931,0,0,0,0,0,0,28.83,26.62,28.83
$GC,6794,-1.02,-146.6,2428,3666,3066,2930,784.5,-12.3,208,6798,0.00,2.10,0.00,0.000,1030,0.000,0.033,2429,2256,2998,3066,2930,0,0,0,0,0,0,28.83,26.70,28.83
$GC,7140,-1.02,-146.6,2428,2256,3066,2930,829.4,-12.7,214,7144,0.00,2.15,0.00,0.000,516,0.000,0.047,2429,865,2997,3065,2929,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7228,-1.02,-146.6,2428,865,3066,2929,836.8,-12.8,215,7233,0.10,2.20,0.00,0.000,3078,0.123,0.044,2454,2258,2997,3066,2929,0,0,0,0,0,0,26.48,26.66,28.83
$GC,7556,-1.07,-146.6,2454,2258,3066,2929,878.0,-11.1,221,7557,0.00,0.00,0.00,0.000,6,0.000,0.000,2454,2258,2997,3066,2929,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7856,-1.12,-146.6,2454,2258,3066,2928,909.7,-10.6,226,7860,0.00,2.20,0.00,0.000,260,0.000,0.051,2446,3677,2997,3066,2928,0,0,0,0,0,0,28.83,26.62,28.83
$GC,7912,-1.18,-146.6,2446,3677,3066,2928,916.0,-10.6,227,7916,0.12,2.12,0.00,0.000,5126,0.080,0.033,2370,2256,2996,3066,2927,0,0,0,0,0,0,26.68,26.71,28.83
$GC,8269,-1.12,-146.6,2370,2256,3066,2927,968.3,-14.9,233,8276,0.15,2.15,0.00,0.000,2564,0.148,0.046,2418,870,2996,3066,2927,0,0,0,0,0,0,26.51,26.63,28.83
$GC,8336,-1.09,-146.6,2417,870,3066,2927,976.2,-14.5,234,8340,0.00,2.17,0.00,0.000,1030,0.000,0.044,2411,2278,2997,3067,2927,0,0,0,0,0,0,28.83,26.66,28.83
$STATE,8447,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8447,begin apogee
$GC,8451,-0.22,0.0,2410,2354,3066,2927,990.9,-13.1,236,8572,0.88,0.00,116.82,1.231,10246,0.110,0.000,2708,2354,2400,2463,2337,0,0,0,0,0,0,26.45,28.83,23.72
$STATE,8574,end apogee,CONTROL_FINISHED_OK
$STATE,8574,begin climb
$GC,8575,0.87,146.6,2707,2354,2462,2337,993.3,0.0,238,8704,0.98,0.00,125.03,1.202,10246,0.044,0.000,3071,2354,1802,1861,1744,0,0,0,0,0,0,24.72,28.83,23.20
$GC,8983,0.73,146.6,3071,2354,1853,1737,943.1,15.3,245,8985,0.17,0.00,0.00,0.000,4102,0.150,0.000,3025,2354,1795,1853,1737,0,0,0,0,0,0,25.31,28.83,28.83
$GC,9283,0.66,146.6,3024,2354,1853,1735,903.6,13.1,250,9290,0.00,2.28,0.00,0.000,516,0.000,0.047,3033,955,1794,1853,1735,0,0,0,0,0,0,28.83,25.79,28.83
$GC,9331,0.59,146.6,3032,955,1850,1735,903.6,13.1,250,9336,0.12,2.28,0.00,0.000,5126,0.112,0.043,2976,2347,1792,1850,1735,0,0,0,0,0,0,25.71,25.85,28.83
$GC,9643,0.59,146.6,2976,2347,1850,1735,862.1,11.0,256,9644,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2347,1792,1850,1735,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9943,0.59,146.6,2976,2347,1850,1734,828.2,11.4,261,9944,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2347,1792,1850,1734,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10243,0.59,146.6,2976,2347,1851,1734,794.2,11.3,266,10247,0.00,2.22,0.00,0.000,516,0.000,0.048,2984,953,1792,1850,1734,0,0,0,0,0,0,28.83,26.25,28.83
$GC,10277,0.59,146.6,2983,953,1849,1733,794.2,11.3,266,10281,0.00,2.25,0.00,0.000,1030,0.000,0.043,2983,2356,1791,1849,1733,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10599,0.59,146.6,2983,2355,1849,1733,755.9,10.6,272,10600,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2355,1791,1849,1733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10899,0.59,146.6,2983,2355,1849,1733,723.1,11.0,277,10903,0.00,2.20,0.00,0.000,516,0.000,0.048,2994,961,1791,1849,1733,0,0,0,0,0,0,28.83,26.38,28.83
$GC,10933,0.59,146.6,2993,962,1849,1732,723.1,11.0,277,10937,0.00,2.22,0.00,0.000,1030,0.000,0.042,2993,2360,1790,1848,1732,0,0,0,0,0,0,28.83,26.41,28.83
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$STATE,17466,end climb,SURFACE_DEPTH_REACHED
$STATE,17466,begin surface coast
$FINISH,0.9,1.003447
$STATE,17489,end surface coast,CONTROL_FINISHED_OK
$STATE,17489,begin surface
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$TT8_MAMPS,0.026964,0.026964
$HUMID,39.95
$INTERNAL_PRESSURE,8.93814
$TCM_TEMP,17.60
$XPDR_PINGS,2
$24V_AH,23.2,6.149
$10V_AH,10.3,5.049
$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,311192
$DATA_FILE_SIZE,36963,498
$CAP_FILE_SIZE,144650,0
$CFSIZE,2097872896,2091155456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,011113,075604,4759.874,-12600.803,32,0.7,32,16.9