version: 66.11
glider: 194
mission: 7
dive: 40
start: 11 2 113 9 52 59
data:
$ID,194
$MISSION,7
$DIVE,40
$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,-4358.2559
$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,49
$R_STBD_OVSHOOT,42
$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
$GPS1,021113,094558,4808.437,-12607.677,45,0.7,45,17.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-66.2
$GPS2,021113,095233,4808.500,-12607.636,5,0.7,5,17.0
$SPEED_LIMITS,0.084,0.260
$TGT_NAME,SEARCH_B
$TGT_LATLONG,4815.000,-12615.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.186,0.182
$KALMAN_X,1953.0,0.0,0.0,-66522.5,-147.1
$KALMAN_Y,18111.7,0.0,0.0,84490.1,1379.3
$MHEAD_RNG_PITCHd_Wd,297.5,15079,-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,-146.6,108,2254,1085,1005,0.0,0.0,0,70,0.00,0.00,-53.50,0.000,16386,0.000,0.000,108,2254,2509,2511,2508,0,0,0,0,0,0,28.83,28.83,28.83
$GC,73,-0.76,-146.6,108,2254,2511,2508,3.2,-4.2,5,100,8.90,2.28,-12.10,0.000,18948,0.204,0.057,2529,864,3000,3063,2938,0,0,0,0,0,0,25.69,26.00,26.33
$GC,277,-0.62,-146.6,2528,863,3066,2938,37.3,-16.6,25,285,0.17,2.22,0.00,0.000,3078,0.121,0.039,2579,2258,3002,3066,2938,0,0,0,0,0,0,25.97,26.15,28.83
$GC,584,-0.59,-146.6,2579,2258,3068,2938,74.0,-10.6,56,589,0.00,2.20,0.00,0.000,260,0.000,0.047,2570,3673,3003,3068,2938,0,0,0,0,0,0,28.83,26.23,28.83
$GC,702,-0.56,-146.6,2571,3673,3068,2938,87.5,-11.7,64,708,0.12,2.12,0.00,0.000,3078,0.139,0.030,2605,2246,3003,3068,2938,0,0,0,0,0,0,26.16,26.34,28.83
$GC,1022,-0.61,-146.6,2605,2246,3069,2938,117.1,-8.2,80,1023,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,2246,3003,3069,2938,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1323,-0.68,-146.6,2605,2246,3069,2938,140.9,-7.9,95,1325,0.12,0.00,0.00,0.000,4102,0.078,0.000,2526,2246,3003,3068,2938,0,0,0,0,0,0,26.52,28.83,28.83
$GC,1631,-0.64,-146.6,2525,2246,3069,2938,175.2,-11.2,107,1636,0.15,2.12,0.00,0.000,2564,0.138,0.041,2574,866,3003,3069,2938,0,0,0,0,0,0,26.35,26.46,28.83
$GC,1681,-0.62,-146.6,2575,866,3068,2938,177.7,-10.8,108,1689,0.00,2.20,0.00,0.000,1030,0.000,0.040,2568,2263,3003,3068,2938,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1989,-0.65,-146.6,2568,2263,3069,2938,207.1,-9.1,119,1994,0.00,2.17,0.00,0.000,260,0.000,0.048,2557,3674,3002,3068,2937,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2062,-0.68,-146.6,2557,3674,3068,2938,212.7,-9.3,121,2066,0.00,2.10,0.00,0.000,1030,0.000,0.030,2557,2256,3003,3068,2938,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2374,-0.71,-146.6,2557,2256,3068,2937,239.7,-7.8,132,2378,0.00,2.15,0.00,0.000,516,0.000,0.043,2557,865,3003,3069,2937,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2423,-0.74,-146.6,2557,865,3069,2937,242.3,-7.9,133,2427,0.00,2.15,0.00,0.000,1030,0.000,0.040,2556,2264,3002,3068,2937,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2730,-0.77,-146.6,2556,2264,3068,2937,269.8,-8.7,143,2731,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2264,3002,3069,2936,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3031,-0.80,-146.6,2556,2264,3068,2936,298.9,-9.9,153,3037,0.00,2.15,0.00,0.000,260,0.000,0.049,2556,3670,3002,3068,2936,0,0,0,0,0,0,28.83,26.54,28.83
$GC,3098,-0.84,-146.6,2556,3670,3069,2935,304.7,-9.8,155,3103,0.12,2.08,0.00,0.000,5126,0.080,0.031,2474,2263,3002,3069,2935,0,0,0,0,0,0,26.59,26.63,28.83
$GC,3446,-0.78,-146.6,2474,2262,3067,2935,347.8,-12.1,161,3448,0.20,0.00,0.00,0.000,2054,0.133,0.000,2534,2262,3001,3068,2935,0,0,0,0,0,0,26.44,28.83,28.83
$GC,3745,-0.80,-146.6,2533,2262,3068,2934,373.1,-8.3,166,3747,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2262,3001,3069,2934,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4045,-0.83,-146.6,2533,2262,3068,2934,399.5,-8.8,171,4047,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2262,3001,3069,2933,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4345,-0.86,-146.6,2533,2262,3068,2933,426.5,-9.0,176,4351,0.00,2.15,0.00,0.000,516,0.000,0.044,2534,862,3000,3068,2932,0,0,0,0,0,0,28.83,26.61,28.83
$GC,4408,-0.89,-146.6,2534,861,3068,2932,432.2,-9.2,177,4412,0.00,2.20,0.00,0.000,1030,0.000,0.041,2526,2259,3000,3068,2932,0,0,0,0,0,0,28.83,26.64,28.83
$GC,4766,-0.92,-146.6,2526,2259,3068,2932,466.4,-9.6,183,4772,0.12,2.17,0.00,0.000,4356,0.080,0.047,2429,3669,2999,3068,2931,0,0,0,0,0,0,26.75,26.60,28.83
$GC,4868,-0.92,-146.6,2428,3669,3068,2931,474.4,-10.4,184,4873,0.15,2.12,0.00,0.000,3078,0.117,0.031,2480,2265,2999,3068,2931,0,0,0,0,0,0,26.46,26.68,28.83
$GC,5186,-0.90,-146.6,2480,2265,3068,2930,516.1,-11.0,190,5187,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2265,2999,3068,2931,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5486,-0.88,-146.6,2481,2265,3068,2930,549.9,-11.3,195,5490,0.00,2.15,0.00,0.000,516,0.000,0.045,2481,863,2998,3068,2929,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5544,-0.86,-146.6,1632,863,3040,2925,556.5,-11.4,196,5549,0.08,2.20,0.00,0.000,3078,0.124,0.041,2502,2255,2998,3068,2929,0,0,0,0,0,0,26.49,26.65,28.83
$GC,5902,-0.88,-146.6,2502,2255,3068,2928,590.9,-9.3,202,5904,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2255,2998,3068,2928,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6202,-0.91,-146.6,2502,2255,3068,2928,619.6,-9.6,207,6208,0.00,2.20,0.00,0.000,260,0.000,0.050,2495,3680,2997,3068,2927,0,0,0,0,0,0,28.83,26.62,28.83
$GC,6255,-0.93,-146.6,2494,3680,3068,2927,619.6,-9.6,207,6262,0.00,2.12,0.00,0.000,1030,0.000,0.033,2494,2256,2997,3068,2927,0,0,0,0,0,0,28.83,26.70,28.83
$GC,6562,-0.95,-146.6,2494,2256,3068,2926,658.0,-10.5,213,6563,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2256,2997,3068,2926,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6862,-0.97,-146.6,2494,2256,3069,2926,686.3,-9.3,218,6863,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2256,2997,3068,2926,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7162,-1.00,-146.6,2494,2256,3068,2925,713.6,-9.1,223,7168,0.00,2.22,0.00,0.000,260,0.000,0.051,2485,3680,2996,3068,2925,0,0,0,0,0,0,28.83,26.61,28.83
$GC,7230,-1.02,-146.6,2484,3680,3069,2925,719.3,-9.2,224,7234,0.00,2.12,0.00,0.000,1030,0.000,0.033,2484,2260,2996,3068,2925,0,0,0,0,0,0,28.83,26.70,28.83
$GC,7577,-1.04,-146.6,2484,2259,3068,2925,753.7,-9.6,230,7583,0.10,2.15,0.00,0.000,4612,0.097,0.044,2414,867,2996,3068,2924,0,0,0,0,0,0,26.77,26.63,28.83
$GC,7620,-1.06,-146.6,2414,867,3068,2924,753.7,-9.6,230,7625,0.15,2.17,0.00,0.000,3078,0.147,0.042,2446,2274,2996,3068,2924,0,0,0,0,0,0,26.46,26.65,28.83
$GC,7932,-1.03,-146.6,2445,2274,3068,2924,794.7,-11.2,236,7933,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,2275,2996,3068,2924,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8233,-1.01,-146.6,2446,2274,3068,2923,826.5,-10.5,241,8234,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,2274,2995,3068,2923,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8532,-1.00,-146.6,2445,2274,3068,2922,857.3,-10.3,246,8533,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,2274,2995,3068,2923,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8832,-0.99,-146.6,2446,2274,3068,2922,889.7,-11.0,251,8836,0.00,2.17,0.00,0.000,260,0.000,0.051,2438,3676,2995,3068,2922,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8912,-0.97,-146.6,2438,3676,3068,2921,896.4,-11.3,252,8917,0.12,2.12,0.00,0.000,3078,0.141,0.034,2473,2252,2995,3068,2922,0,0,0,0,0,0,26.49,26.68,28.83
$GC,9245,-1.00,-146.6,2472,2252,3068,2921,931.6,-9.4,258,9246,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2252,2994,3068,2921,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9545,-1.04,-146.6,2472,2252,3068,2921,960.2,-9.6,263,9546,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2252,2994,3068,2921,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9843,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9843,begin apogee
$GC,9847,-0.22,0.0,2472,2358,3067,2920,990.3,-10.0,268,9968,0.68,0.00,116.22,1.235,10246,0.099,0.000,2709,2358,2400,2463,2337,0,0,0,0,0,0,26.48,28.83,23.72
$STATE,9969,end apogee,CONTROL_FINISHED_OK
$STATE,9969,begin climb
$GC,9970,0.76,146.6,2709,2358,2462,2337,993.4,0.0,270,10102,0.90,2.45,124.93,1.209,10756,0.046,0.046,3056,966,1801,1860,1742,0,0,0,0,0,0,24.72,24.01,23.16
$GC,10162,0.76,146.6,3055,966,1852,1740,981.5,9.1,273,10167,0.00,2.38,0.00,0.000,1030,0.000,0.041,3056,2351,1795,1852,1739,0,0,0,0,0,0,28.83,24.72,28.83
$GC,10505,0.60,146.6,3055,2351,1851,1736,929.6,14.4,279,10507,0.25,0.00,0.00,0.000,4102,0.140,0.000,2985,2351,1793,1851,1736,0,0,0,0,0,0,25.46,28.83,28.83
$GC,10805,0.53,146.6,2985,2351,1851,1734,896.7,10.9,284,10806,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2351,1792,1851,1734,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11106,0.47,146.6,2985,2351,1851,1733,861.2,11.9,289,11108,0.17,0.00,0.00,0.000,4102,0.136,0.000,2932,2351,1792,1851,1734,0,0,0,0,0,0,25.96,28.83,28.83
$GC,11405,0.49,174.3,2931,2351,1851,1733,834.3,8.7,294,11429,0.00,0.00,22.42,1.073,8198,0.000,0.000,2932,2351,1688,1749,1628,0,0,0,0,0,0,28.83,28.83,24.70
$GC,11705,0.51,200.4,2931,2351,1747,1624,808.0,8.8,299,11733,0.00,2.30,22.52,1.056,8708,0.000,0.047,2939,963,1581,1643,1519,0,0,0,0,0,0,28.83,25.40,24.51
$GC,11790,0.54,223.8,2939,964,1641,1517,802.9,8.9,300,11821,0.00,2.25,20.73,1.031,9222,0.000,0.043,2940,2358,1486,1552,1421,0,0,0,0,0,0,28.83,25.63,24.28
$GC,12120,0.57,223.8,2939,2358,1550,1417,766.6,10.2,306,12124,0.00,2.25,0.00,0.000,516,0.000,0.047,2950,965,1483,1550,1417,0,0,0,0,0,0,28.83,25.86,28.83
$GC,12194,0.60,223.8,2950,965,1546,1417,760.7,10.3,307,12198,0.00,2.22,0.00,0.000,1030,0.000,0.043,2950,2361,1482,1547,1417,0,0,0,0,0,0,28.83,25.94,28.83
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$STATE,18846,end climb,SURFACE_DEPTH_REACHED
$STATE,18846,begin surface coast
$FINISH,2.9,1.024552
$STATE,18849,end surface coast,CONTROL_FINISHED_OK
$STATE,18849,begin surface
$SM_CCo,18926,0.00,0.000,0,0,1219,289.70
$SM_GC,1.54,7.68,2.33,0.00,0.044,0.030,0.000,162,2256,1219,-8.04,1.39,289.70,0,0,0,0,0,0,26.27,26.25,28.83
$IRIDIUM_FIX,4745.30,-12605.19,021113,040419
$TT8_MAMPS,0.026964,0.026964
$HUMID,39.28
$INTERNAL_PRESSURE,8.90884
$TCM_TEMP,17.70
$XPDR_PINGS,34
$24V_AH,23.2,6.714
$10V_AH,10.3,5.480
$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
$DEVICE_SECS,20.575,131.775,359.175,0.000,0.000,0.000,0.000,329.475,8.500,0.000,6.578,1633.454,15121.927,439.932,2047.975,84.594,0.389,1698.333,0.000,1696.413,0.000,0.541,0.000
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$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,356.693,687.851,328.364,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,311244
$DATA_FILE_SIZE,37043,519
$CAP_FILE_SIZE,152907,0
$CFSIZE,2097872896,2090369024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,021113,150958,4810.888,-12611.101,58,0.8,58,17.0