version: 66.11
glider: 194
mission: 7
dive: 41
start: 11 2 113 15 16 58
data:
$ID,194
$MISSION,7
$DIVE,41
$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,-4359.5142
$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,52
$R_STBD_OVSHOOT,46
$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
$GPS1,021113,150958,4810.888,-12611.101,58,0.8,58,17.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-57.4
$GPS2,021113,151632,4810.728,-12611.106,5,1.0,5,17.0
$SPEED_LIMITS,0.084,0.260
$TGT_NAME,SEARCH_B
$TGT_LATLONG,4815.000,-12615.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.141,0.218
$KALMAN_X,1281.0,0.0,0.0,-70189.6,-468.9
$KALMAN_Y,18678.1,0.0,0.0,88108.6,912.6
$MHEAD_RNG_PITCHd_Wd,310.1,9255,-17.5,-10.000,-21.04,2226
$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,-146.6,110,2251,1252,1168,0.0,0.0,0,75,0.00,0.00,-57.35,0.000,16386,0.000,0.000,110,2249,2733,2756,2710,0,0,0,0,0,0,28.83,28.83,28.83
$GC,77,-0.76,-146.6,110,2249,2759,2708,3.7,-4.0,6,98,8.85,2.20,-6.82,0.000,18948,0.199,0.060,2534,870,2999,3061,2938,0,0,0,0,0,0,25.63,25.93,26.25
$GC,235,-0.63,-146.6,2534,870,3064,2938,21.2,-8.3,21,243,0.12,2.22,0.00,0.000,3078,0.130,0.041,2575,2255,3000,3064,2937,0,0,0,0,0,0,25.87,26.06,28.83
$GC,542,-0.58,-146.6,2575,2256,3065,2938,55.9,-7.0,52,552,0.00,2.22,0.00,0.000,260,0.000,0.047,2567,3680,3001,3065,2938,0,0,0,0,0,0,28.83,26.17,28.83
$GC,665,-0.52,-146.6,2566,3680,3066,2938,69.2,-11.2,64,670,0.17,2.15,0.00,0.000,3078,0.131,0.030,2617,2247,3002,3066,2938,0,0,0,0,0,0,26.10,26.29,28.83
$GC,972,-0.57,-146.6,2617,2247,3067,2938,95.6,-9.1,85,977,0.00,2.10,0.00,0.000,516,0.000,0.043,2617,881,3002,3066,2938,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1099,-0.61,-146.6,2617,880,3067,2938,106.6,-9.1,91,1103,0.00,2.15,0.00,0.000,1030,0.000,0.039,2612,2275,3002,3067,2938,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1405,-0.68,-146.6,2611,2275,3067,2938,131.2,-7.1,106,1412,0.12,2.17,0.00,0.000,4612,0.079,0.041,2523,876,3002,3067,2938,0,0,0,0,0,0,26.52,26.40,28.83
$GC,1449,-0.70,-146.6,2523,876,3067,2938,135.1,-8.4,108,1453,0.15,2.15,0.00,0.000,3078,0.141,0.040,2555,2271,3002,3067,2938,0,0,0,0,0,0,26.27,26.43,28.83
$GC,1780,-0.72,-146.6,2554,2271,3067,2938,169.0,-10.1,122,1782,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2271,3002,3067,2938,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2081,-0.74,-146.6,2555,2271,3067,2938,198.4,-9.1,132,2086,0.00,2.15,0.00,0.000,260,0.000,0.048,2547,3665,3002,3067,2938,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2143,-0.75,-146.6,1680,3665,3038,2934,204.1,-9.2,134,2148,0.00,2.12,0.00,0.000,1030,0.000,0.030,2547,2268,3002,3067,2938,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2472,-0.76,-146.6,2547,2267,3067,2937,236.0,-9.7,145,2473,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2267,3002,3067,2937,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2771,-0.78,-146.6,2547,2267,3067,2937,265.3,-9.8,155,2772,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2267,3002,3067,2937,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3072,-0.81,-146.6,2547,2267,3067,2937,292.9,-9.1,165,3073,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2267,3001,3067,2936,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3401,-0.85,-146.6,2547,2267,3067,2936,324.0,-9.6,172,3403,0.10,0.00,0.00,0.000,4102,0.096,0.000,2475,2268,3001,3067,2936,0,0,0,0,0,0,26.70,28.83,28.83
$GC,3701,-0.79,-146.6,2474,2267,3067,2935,362.0,-12.8,177,3708,0.15,2.15,0.00,0.000,2564,0.139,0.042,2524,872,3001,3067,2935,0,0,0,0,0,0,26.48,26.59,28.83
$GC,3783,-0.74,-146.6,2524,872,3067,2935,368.5,-12.3,178,3788,0.00,2.15,0.00,0.000,1030,0.000,0.041,2517,2267,3001,3067,2935,0,0,0,0,0,0,28.83,26.61,28.83
$GC,4120,-0.74,-146.6,2516,2268,3067,2934,404.8,-10.1,184,4124,0.00,2.17,0.00,0.000,260,0.000,0.049,2507,3678,3000,3067,2934,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4154,-0.74,-146.6,2506,3678,3067,2934,404.8,-10.1,184,4159,0.10,2.15,0.00,0.000,3078,0.113,0.031,2543,2258,3000,3067,2934,0,0,0,0,0,0,26.47,26.66,28.83
$GC,4477,-0.80,-146.6,2543,2258,3067,2933,436.3,-8.6,190,4478,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2258,3000,3067,2933,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4777,-0.86,-146.6,2543,2257,3067,2933,464.9,-9.6,195,4779,0.12,0.00,0.00,0.000,4102,0.081,0.000,2464,2257,2999,3067,2932,0,0,0,0,0,0,26.68,28.83,28.83
$GC,5076,-0.81,-146.6,2463,2257,3067,2932,503.7,-13.1,200,5078,0.20,0.00,0.00,0.000,2054,0.129,0.000,2524,2258,2999,3067,2932,0,0,0,0,0,0,26.50,28.83,28.83
$GC,5377,-0.86,-146.6,2524,2258,3067,2931,530.1,-8.6,205,5378,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2258,2999,3067,2931,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5677,-0.90,-146.6,2524,2258,3067,2930,554.5,-8.1,210,5682,0.00,2.12,0.00,0.000,516,0.000,0.046,2524,876,2998,3067,2930,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5740,-0.95,-146.6,2524,876,3067,2930,559.6,-8.2,211,5744,0.12,2.15,0.00,0.000,5126,0.078,0.043,2439,2272,2998,3067,2930,0,0,0,0,0,0,26.66,26.65,28.83
$GC,6094,-0.89,-146.6,2438,2272,3067,2929,603.4,-12.5,217,6100,0.17,2.12,0.00,0.000,2308,0.135,0.049,2487,3656,2998,3067,2929,0,0,0,0,0,0,26.51,26.62,28.83
$GC,6213,-0.86,-146.6,2487,3656,3067,2928,616.9,-12.0,219,6218,0.00,2.08,0.00,0.000,1030,0.000,0.033,2488,2267,2997,3066,2929,0,0,0,0,0,0,28.83,26.70,28.83
$GC,6574,-0.87,-146.6,2487,2266,3067,2928,653.2,-10.0,225,6580,0.00,2.15,0.00,0.000,516,0.000,0.045,2487,860,2997,3067,2928,0,0,0,0,0,0,28.83,26.64,28.83
$GC,6625,-0.88,-146.6,2487,860,3067,2928,653.2,-10.0,225,6632,0.00,2.17,0.00,0.000,1030,0.000,0.043,2481,2263,2997,3067,2927,0,0,0,0,0,0,28.83,26.66,28.83
$GC,6932,-0.89,-146.6,2481,2263,3067,2927,688.5,-9.7,231,6938,0.00,2.17,0.00,0.000,260,0.000,0.050,2471,3668,2996,3066,2926,0,0,0,0,0,0,28.83,26.61,28.83
$GC,7025,-0.89,-146.6,2471,3669,3067,2927,694.6,-9.8,232,7029,0.00,2.10,0.00,0.000,1030,0.000,0.033,2471,2258,2996,3067,2926,0,0,0,0,0,0,28.83,26.70,28.83
$GC,7352,-0.89,-146.6,2471,2258,3067,2926,728.8,-9.4,238,7356,0.00,2.15,0.00,0.000,516,0.000,0.046,2471,865,2996,3067,2926,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7421,-0.89,-146.6,2471,864,3067,2926,734.5,-9.6,239,7426,0.12,2.17,0.00,0.000,3078,0.144,0.043,2497,2277,2996,3067,2926,0,0,0,0,0,0,26.50,26.65,28.83
$GC,7763,-0.94,-146.6,2497,2277,3067,2925,765.1,-8.5,245,7765,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2277,2996,3067,2926,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8063,-0.99,-146.6,2497,2277,3067,2925,791.0,-8.8,250,8069,0.00,2.15,0.00,0.000,260,0.000,0.052,2497,3664,2996,3067,2925,0,0,0,0,0,0,28.83,26.61,28.83
$GC,8116,-1.04,-146.6,2497,3664,3066,2925,791.0,-8.8,250,8124,0.12,2.10,0.00,0.000,5126,0.081,0.032,2417,2255,2996,3067,2925,0,0,0,0,0,0,26.67,26.70,28.83
$GC,8423,-0.98,-146.6,2416,2255,3067,2924,833.6,-12.5,256,8430,0.15,2.20,0.00,0.000,2308,0.145,0.050,2457,3666,2995,3067,2924,0,0,0,0,0,0,26.53,26.61,28.83
$GC,8484,-0.94,-146.6,2457,3666,3067,2923,840.3,-12.3,257,8490,0.00,2.10,0.00,0.000,1030,0.000,0.034,2457,2263,2995,3067,2924,0,0,0,0,0,0,28.83,26.70,28.83
$GC,8843,-0.94,-146.6,2457,2263,3067,2923,878.5,-10.6,263,8847,0.00,2.15,0.00,0.000,516,0.000,0.047,2457,870,2995,3067,2923,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8946,-0.94,-146.6,2457,870,3067,2923,884.8,-10.9,264,8951,0.10,2.20,0.00,0.000,3078,0.114,0.044,2484,2256,2995,3067,2923,0,0,0,0,0,0,26.48,26.65,28.83
$GC,9259,-0.99,-146.6,2484,2256,3067,2922,918.7,-9.1,270,9265,0.00,2.20,0.00,0.000,260,0.000,0.052,2477,3674,2994,3067,2922,0,0,0,0,0,0,28.83,26.60,28.83
$GC,9327,-1.03,-146.6,2476,3674,3067,2922,924.2,-9.0,271,9331,0.00,2.10,0.00,0.000,1030,0.000,0.034,2477,2263,2994,3067,2921,0,0,0,0,0,0,28.83,26.70,28.83
$GC,9674,-1.07,-146.6,2476,2263,3067,2922,957.1,-9.3,277,9680,0.10,2.15,0.00,0.000,4612,0.096,0.045,2406,873,2994,3067,2921,0,0,0,0,0,0,26.79,26.63,28.83
$GC,9737,-1.09,-146.6,1536,872,3036,2917,964.6,-10.0,278,9742,0.12,2.17,0.00,0.000,3078,0.156,0.044,2437,2279,2993,3066,2921,0,0,0,0,0,0,26.46,26.65,28.83
$STATE,10028,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10028,begin apogee
$GC,10032,-0.22,0.0,2437,2360,3067,2921,995.7,-10.4,283,10153,0.80,0.00,116.32,1.239,10246,0.105,0.000,2713,2360,2400,2463,2337,0,0,0,0,0,0,26.45,28.83,23.72
$STATE,10154,end apogee,CONTROL_FINISHED_OK
$STATE,10154,begin climb
$GC,10155,0.76,146.6,2713,2360,2463,2337,997.3,0.0,285,10284,0.85,0.00,125.12,1.212,10758,0.044,0.000,3035,2360,1801,1861,1742,0,0,0,0,0,0,24.72,28.83,23.15
$GC,10565,0.63,146.6,3035,2359,1853,1736,950.0,14.2,292,10567,0.17,0.00,0.00,0.000,4102,0.142,0.000,2988,2360,1794,1853,1736,0,0,0,0,0,0,25.29,28.83,28.83
$GC,10865,0.56,146.6,2988,2360,1853,1734,915.5,11.3,297,10867,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2359,1793,1853,1734,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11164,0.50,146.6,2988,2359,1852,1733,884.0,10.4,302,11166,0.15,0.00,0.00,0.000,4102,0.142,0.000,2945,2360,1792,1852,1733,0,0,0,0,0,0,25.91,28.83,28.83
$GC,11464,0.50,176.8,2944,2360,1852,1732,858.2,8.6,307,11494,0.00,2.30,24.30,1.091,8708,0.000,0.046,2953,961,1678,1740,1617,0,0,0,0,0,0,28.83,25.49,24.59
$GC,11589,0.50,202.5,2952,961,1736,1616,847.3,8.8,309,11618,0.00,2.25,22.30,1.080,9222,0.000,0.043,2952,2355,1574,1636,1512,0,0,0,0,0,0,28.83,25.75,24.31
$GC,11941,0.51,202.5,2952,2355,1634,1507,810.1,10.5,315,11945,0.00,2.25,0.00,0.000,516,0.000,0.047,2962,962,1570,1634,1507,0,0,0,0,0,0,28.83,25.89,28.83
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$STATE,18875,end climb,SURFACE_DEPTH_REACHED
$STATE,18875,begin surface coast
$FINISH,1.1,1.024624
$STATE,18916,end surface coast,CONTROL_FINISHED_OK
$STATE,18916,begin surface
$SM_CCo,18990,0.00,0.000,0,0,1034,335.08
$SM_GC,1.53,7.47,0.10,0.00,0.031,0.094,0.000,167,2265,1034,-8.04,1.41,335.08,0,0,0,0,0,0,26.29,26.31,28.83
$IRIDIUM_FIX,4751.72,-12608.99,021113,090917
$TT8_MAMPS,0.026964,0.026964
$HUMID,37.95
$INTERNAL_PRESSURE,8.88931
$TCM_TEMP,13.20
$XPDR_PINGS,2
$24V_AH,23.2,6.841
$10V_AH,10.3,5.552
$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,21.000,131.175,392.725,0.000,0.000,0.000,0.000,328.750,0.500,0.000,6.514,1705.903,15002.741,453.396,2142.133,86.365,0.389,1763.760,0.000,1788.506,0.000,0.540,0.000
$DEVICE_MAMPS,198.900,106.335,1238.535,0.000,0.000,0.000,0.000,80.325,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,69.640,15.000,0.000,8.990,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,375.884,725.006,362.855,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,311200
$DATA_FILE_SIZE,40485,547
$CAP_FILE_SIZE,156444,0
$CFSIZE,2097872896,2090237952
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,2146.31,0x212c64,0,24
$INTR,1,8488.35,0x212c64,0,24
$GPS,021113,203435,4813.742,-12614.697,33,0.9,33,17.0