version: 66.11
glider: 194
mission: 7
dive: 42
start: 11 2 113 20 42 1
data:
$ID,194
$MISSION,7
$DIVE,42
$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,-4360.7744
$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,43
$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
$GPS1,021113,203435,4813.742,-12614.697,33,0.9,33,17.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-47.7
$GPS2,021113,204135,4813.663,-12614.795,5,1.2,5,17.0
$SPEED_LIMITS,0.084,0.260
$TGT_NAME,SEARCH_B
$TGT_LATLONG,4745.000,-12545.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.169,-0.198
$KALMAN_X,-553.3,0.0,0.0,-72966.7,-1307.6
$KALMAN_Y,19759.7,0.0,0.0,92430.0,1033.2
$MHEAD_RNG_PITCHd_Wd,122.5,64764,-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,-146.6,117,2262,1082,975,0.0,0.0,0,80,0.00,0.00,-62.10,0.000,16386,0.000,0.000,111,2262,2665,2698,2633,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.76,-146.6,111,2261,2697,2633,3.1,-2.6,6,110,8.85,2.22,-8.32,0.000,19204,0.200,0.058,2521,3667,2999,3064,2934,0,0,0,0,0,0,25.63,25.93,26.25
$GC,145,-0.58,-146.6,1664,3666,3037,2931,11.7,-12.5,12,154,0.22,2.20,0.00,0.000,3078,0.129,0.030,2593,2247,2999,3065,2934,0,0,0,0,0,0,25.79,26.02,28.83
$GC,454,-0.56,-146.6,2593,2247,3066,2934,53.5,-15.2,43,462,0.00,2.12,0.00,0.000,516,0.000,0.043,2593,877,3000,3066,2934,0,0,0,0,0,0,28.83,26.15,28.83
$GC,585,-0.56,-146.6,2593,877,3066,2934,70.1,-11.1,56,589,0.00,2.15,0.00,0.000,1030,0.000,0.040,2586,2263,3000,3066,2934,0,0,0,0,0,0,28.83,26.22,28.83
$GC,902,-0.58,-146.6,2585,2263,3067,2934,99.2,-9.5,77,907,0.00,2.15,0.00,0.000,260,0.000,0.047,2575,3657,3000,3067,2934,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1074,-0.60,-146.6,2575,3658,3067,2934,115.5,-10.7,85,1081,0.00,2.08,0.00,0.000,1030,0.000,0.030,2575,2263,3000,3067,2934,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1382,-0.64,-146.6,2575,2263,3067,2934,146.5,-9.6,101,1387,0.00,2.12,0.00,0.000,516,0.000,0.043,2575,875,3000,3066,2934,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1429,-0.67,-146.6,2575,876,3067,2934,150.8,-10.0,103,1433,0.00,2.15,0.00,0.000,1030,0.000,0.040,2566,2266,3000,3067,2934,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1737,-0.71,-146.6,2566,2266,3067,2934,179.4,-9.0,113,1742,0.00,2.17,0.00,0.000,260,0.000,0.048,2555,3680,3000,3067,2934,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1796,-0.74,-146.6,2555,3680,3067,2934,185.3,-9.3,115,1802,0.00,2.12,0.00,0.000,1030,0.000,0.030,2555,2256,3000,3067,2934,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2126,-0.78,-146.6,2555,2256,3067,2934,219.4,-10.2,126,2129,0.00,2.12,0.00,0.000,516,0.000,0.043,2555,875,3000,3067,2934,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2186,-0.81,-146.6,2555,874,3067,2934,225.8,-10.3,128,2190,0.00,2.15,0.00,0.000,1030,0.000,0.040,2547,2268,3000,3067,2934,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2513,-0.84,-146.6,2547,2268,3066,2934,257.4,-9.7,139,2518,0.00,2.15,0.00,0.000,260,0.000,0.048,2537,3665,3000,3067,2933,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2586,-0.86,-146.6,2537,3664,3067,2933,263.4,-9.8,141,2590,0.00,2.08,0.00,0.000,1030,0.000,0.030,2537,2262,3000,3067,2933,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2898,-0.89,-146.6,2537,2261,3067,2933,293.9,-9.2,152,2904,0.12,2.15,0.00,0.000,4612,0.081,0.041,2453,866,2999,3067,2932,0,0,0,0,0,0,26.66,26.53,28.83
$GC,2935,-0.89,-146.6,2453,866,3067,2932,297.4,-9.7,153,2940,0.20,2.15,0.00,0.000,3078,0.134,0.040,2501,2265,2999,3066,2932,0,0,0,0,0,0,26.37,26.56,28.83
$GC,3258,-0.87,-146.6,2501,2264,3067,2932,333.4,-10.7,159,3259,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2265,2999,3067,2932,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3558,-0.86,-146.6,2501,2264,3067,2931,365.4,-10.6,164,3562,0.00,2.15,0.00,0.000,516,0.000,0.044,2501,874,2999,3067,2931,0,0,0,0,0,0,28.83,26.57,28.83
$GC,3607,-0.85,-146.6,2501,874,3067,2931,365.4,-10.6,164,3614,0.00,2.15,0.00,0.000,1030,0.000,0.041,2495,2270,2998,3066,2931,0,0,0,0,0,0,28.83,26.59,28.83
$GC,3914,-0.84,-146.6,2495,2270,3067,2930,405.4,-11.2,170,3918,0.00,2.15,0.00,0.000,260,0.000,0.049,2485,3666,2998,3067,2930,0,0,0,0,0,0,28.83,26.56,28.83
$GC,3973,-0.82,-146.6,2485,3666,3067,2930,411.7,-11.1,171,3977,0.12,2.08,0.00,0.000,3078,0.142,0.031,2520,2262,2999,3067,2931,0,0,0,0,0,0,26.46,26.64,28.83
$GC,4331,-0.85,-146.6,2520,2262,3067,2929,446.5,-9.5,177,4332,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2262,2998,3067,2930,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4630,-0.89,-146.6,2520,2262,3067,2929,474.8,-9.4,182,4631,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2262,2997,3066,2929,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4930,-0.93,-146.6,2520,2262,3067,2928,501.9,-8.9,187,4932,0.12,0.00,0.00,0.000,4102,0.080,0.000,2441,2262,2997,3067,2928,0,0,0,0,0,0,26.74,28.83,28.83
$GC,5230,-0.87,-146.6,2441,2262,3067,2927,539.0,-12.6,192,5232,0.20,0.00,0.00,0.000,2054,0.129,0.000,2501,2262,2996,3066,2927,0,0,0,0,0,0,26.49,28.83,28.83
$GC,5530,-0.90,-146.6,2501,2262,3067,2927,568.9,-9.8,197,5536,0.00,2.20,0.00,0.000,260,0.000,0.050,2493,3674,2996,3067,2926,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5578,-0.93,-146.6,2493,3674,3066,2926,568.9,-9.8,197,5582,0.00,2.10,0.00,0.000,1030,0.000,0.032,2493,2265,2996,3067,2926,0,0,0,0,0,0,28.83,26.68,28.83
$GC,5885,-0.96,-146.6,2493,2265,3067,2925,606.2,-10.5,202,5889,0.00,2.15,0.00,0.000,516,0.000,0.045,2493,867,2996,3067,2926,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5989,-0.98,-146.6,2493,867,3067,2925,612.4,-10.6,203,5993,0.00,2.15,0.00,0.000,1030,0.000,0.043,2485,2264,2996,3067,2925,0,0,0,0,0,0,28.83,26.65,28.83
$GC,6303,-0.99,-146.6,2484,2265,3067,2925,653.3,-11.3,209,6308,0.00,2.15,0.00,0.000,260,0.000,0.050,2474,3667,2995,3066,2924,0,0,0,0,0,0,28.83,26.61,28.83
$GC,6354,-1.01,-146.6,2474,3668,3067,2924,653.3,-11.3,209,6361,0.00,2.10,0.00,0.000,1030,0.000,0.032,2474,2255,2996,3067,2925,0,0,0,0,0,0,28.83,26.69,28.83
$GC,6661,-1.02,-146.6,2474,2255,3067,2924,693.1,-10.9,215,6662,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2254,2995,3067,2923,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6961,-1.03,-146.6,2474,2255,3066,2923,724.6,-10.4,220,6962,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2255,2995,3067,2923,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7262,-1.05,-146.6,2474,2254,3067,2922,755.7,-10.3,225,7268,0.00,2.15,0.00,0.000,516,0.000,0.046,2474,862,2994,3066,2922,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7315,-1.07,-146.6,2474,862,3067,2922,755.7,-10.3,225,7322,0.00,2.17,0.00,0.000,1030,0.000,0.043,2466,2274,2994,3066,2922,0,0,0,0,0,0,28.83,26.66,28.83
$GC,7620,-1.07,-146.6,2466,2274,3067,2921,794.0,-10.8,231,7622,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2274,2994,3066,2922,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7921,-1.08,-146.6,2466,2275,3067,2920,827.3,-11.1,236,7922,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2275,2994,3067,2921,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8222,-1.10,-146.6,2465,2275,3066,2920,860.1,-10.9,241,8228,0.10,2.15,0.00,0.000,4356,0.098,0.050,2387,3668,2993,3067,2920,0,0,0,0,0,0,26.79,26.62,28.83
$GC,8343,-1.08,-146.6,2387,3668,3066,2920,877.1,-12.5,243,8349,0.12,2.08,0.00,0.000,3078,0.122,0.034,2431,2265,2993,3066,2920,0,0,0,0,0,0,26.46,26.71,28.83
$GC,8702,-1.06,-146.6,2430,2264,3066,2920,920.9,-12.0,249,8703,0.00,0.00,0.00,0.000,6,0.000,0.000,2431,2264,2993,3066,2920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9001,-1.05,-146.6,2430,2264,3067,2919,957.1,-12.0,254,9005,0.00,2.15,0.00,0.000,516,0.000,0.047,2431,874,2992,3066,2919,0,0,0,0,0,0,28.83,26.63,28.83
$GC,9045,-1.04,-146.6,2430,874,3067,2919,957.1,-12.0,254,9049,0.00,2.15,0.00,0.000,1030,0.000,0.044,2428,2265,2992,3066,2919,0,0,0,0,0,0,28.83,26.66,28.83
$STATE,9295,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9295,begin apogee
$GC,9299,-0.22,0.0,2428,2362,3067,2919,992.9,-12.1,259,9420,0.82,0.00,115.93,1.240,10246,0.104,0.000,2711,2362,2400,2463,2337,0,0,0,0,0,0,26.46,28.83,23.72
$STATE,9421,end apogee,CONTROL_FINISHED_OK
$STATE,9421,begin climb
$GC,9423,0.76,146.6,2711,2362,2462,2337,996.3,0.0,261,9552,0.88,0.00,124.28,1.211,10502,0.045,0.000,3041,2361,1802,1861,1743,0,0,0,0,0,0,24.72,28.83,23.15
$GC,9837,0.63,146.6,3041,2361,1853,1736,953.5,13.2,268,9843,0.15,2.30,0.00,0.000,4612,0.146,0.044,3002,966,1794,1853,1735,0,0,0,0,0,0,25.30,25.39,28.83
$GC,9930,0.50,146.6,3002,966,1850,1735,946.4,13.1,269,9935,0.20,2.25,0.00,0.000,5126,0.132,0.042,2947,2355,1792,1850,1735,0,0,0,0,0,0,25.44,25.56,28.83
$GC,10252,0.50,153.5,2946,2355,1850,1734,911.1,9.7,275,10260,0.00,0.00,5.75,0.856,8198,0.000,0.000,2947,2356,1774,1833,1715,0,0,0,0,0,0,28.83,28.83,24.83
$GC,10552,0.50,153.5,2946,2356,1832,1715,880.4,10.4,280,10556,0.00,2.22,0.00,0.000,516,0.000,0.047,2954,965,1773,1832,1714,0,0,0,0,0,0,28.83,26.00,28.83
$GC,10581,0.50,153.5,2954,965,1831,1713,880.4,10.4,280,10585,0.00,2.28,0.00,0.000,1030,0.000,0.042,2954,2361,1772,1830,1714,0,0,0,0,0,0,28.83,26.03,28.83
$GC,10908,0.49,153.5,2954,2361,1830,1714,843.9,10.2,286,10909,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2361,1772,1831,1714,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11208,0.48,164.7,2954,2361,1831,1714,815.3,9.5,291,11226,0.00,2.30,10.55,0.961,8452,0.000,0.051,2954,3760,1728,1788,1669,0,0,0,0,0,0,28.83,26.00,25.04
$GC,11256,0.47,176.0,2954,3760,1788,1669,815.3,9.5,291,11272,0.00,2.15,11.00,0.991,9222,0.000,0.034,2964,2359,1681,1742,1621,0,0,0,0,0,0,28.83,26.08,24.84
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$STATE,17767,end climb,SURFACE_DEPTH_REACHED
$STATE,17767,begin surface coast
$FINISH,1.1,1.024734
$STATE,17789,end surface coast,CONTROL_FINISHED_OK
$STATE,17789,begin surface
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$XPDR_PINGS,1
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$10V_AH,10.3,5.620
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,311232
$DATA_FILE_SIZE,37177,500
$CAP_FILE_SIZE,151256,0
$CFSIZE,2097872896,2090106880
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
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$GPS,031113,014058,4811.536,-12613.860,39,0.7,39,17.0