version: 66.11
glider: 194
mission: 7
dive: 46
start: 11 3 113 18 7 23
data:
$ID,194
$MISSION,7
$DIVE,46
$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,-4365.8125
$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,55
$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
$GPS1,031113,175622,4806.941,-12608.151,40,0.9,40,17.0
$_CALLS,2
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-60.4
$GPS2,031113,180657,4806.993,-12608.078,5,1.1,5,17.0
$SPEED_LIMITS,0.084,0.260
$TGT_NAME,SEARCH_B
$TGT_LATLONG,4745.000,-12545.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.186,-0.182
$KALMAN_X,-7567.1,0.0,0.0,-57568.0,-1439.6
$KALMAN_Y,20944.0,0.0,0.0,78901.0,466.0
$MHEAD_RNG_PITCHd_Wd,117.4,49848,-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,-146.6,109,2244,1284,1200,0.0,0.0,0,60,0.00,0.00,-42.38,0.000,16386,0.000,0.000,109,2244,2405,2399,2411,0,0,0,0,0,0,28.83,28.83,28.83
$GC,61,-0.76,-146.6,109,2244,2400,2411,3.3,-4.4,4,93,8.95,2.22,-16.33,0.000,19204,0.203,0.057,2531,874,2999,3069,2929,0,0,0,0,0,0,25.61,25.91,26.25
$GC,346,-0.64,-146.6,2531,874,3073,2929,48.9,-18.8,32,355,0.15,2.22,0.00,0.000,3078,0.120,0.041,2574,2263,3001,3073,2929,0,0,0,0,0,0,25.94,26.12,28.83
$GC,654,-0.62,-146.6,2574,2263,3075,2929,85.8,-12.3,61,659,0.00,2.20,0.00,0.000,260,0.000,0.047,2566,3677,3001,3074,2929,0,0,0,0,0,0,28.83,26.21,28.83
$GC,734,-0.58,-146.6,2566,3677,3074,2929,94.6,-11.0,65,741,0.12,2.12,0.00,0.000,3078,0.141,0.030,2600,2258,3001,3074,2929,0,0,0,0,0,0,26.12,26.30,28.83
$GC,1055,-0.62,-146.6,2599,2257,3076,2929,123.7,-9.7,81,1060,0.00,2.20,0.00,0.000,260,0.000,0.047,2592,3674,3002,3075,2929,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1136,-0.65,-146.6,2591,3674,3075,2929,131.1,-9.0,85,1141,0.00,2.15,0.00,0.000,1030,0.000,0.030,2592,2262,3002,3075,2929,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1464,-0.70,-146.6,2592,2260,3075,2929,158.5,-7.8,100,1469,0.00,2.15,0.00,0.000,516,0.000,0.043,2592,866,3002,3075,2929,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1527,-0.75,-146.6,2591,866,3075,2929,163.0,-7.5,102,1532,0.12,2.17,0.00,0.000,5126,0.077,0.039,2497,2280,3002,3075,2929,0,0,0,0,0,0,26.43,26.43,28.83
$GC,1850,-0.69,-146.6,2497,2280,3075,2928,200.4,-11.9,113,1856,0.17,2.15,0.00,0.000,2308,0.136,0.046,2547,3663,3001,3075,2928,0,0,0,0,0,0,26.31,26.44,28.83
$GC,1922,-0.66,-146.6,2546,3663,3075,2928,206.5,-11.1,115,1926,0.00,2.08,0.00,0.000,1030,0.000,0.030,2547,2262,3001,3075,2928,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2240,-0.67,-146.6,2546,2261,3075,2928,237.5,-9.2,126,2241,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2261,3001,3075,2928,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2540,-0.69,-146.6,2546,2261,3075,2928,263.9,-8.5,136,2545,0.00,2.15,0.00,0.000,516,0.000,0.044,2547,865,3001,3076,2927,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2578,-0.70,-146.6,2546,864,3075,2927,266.5,-8.4,137,2582,0.00,2.15,0.00,0.000,1030,0.000,0.040,2537,2266,3001,3075,2927,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2895,-0.72,-146.6,2537,2266,3075,2927,295.7,-9.2,148,2896,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2266,3001,3075,2927,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3194,-0.73,-146.6,2537,2267,3075,2926,326.0,-10.3,154,3195,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2267,3000,3075,2926,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3494,-0.76,-146.6,2537,2267,3075,2926,358.1,-10.7,159,3498,0.00,2.15,0.00,0.000,260,0.000,0.049,2527,3667,3000,3075,2925,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3543,-0.78,-146.6,2527,3667,3076,2925,358.1,-10.7,159,3550,0.00,2.10,0.00,0.000,1030,0.000,0.031,2527,2252,3000,3075,2925,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3850,-0.80,-146.6,2527,2252,3075,2925,396.5,-10.7,165,3852,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2251,3000,3075,2925,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4151,-0.82,-146.6,2527,2252,3075,2924,426.7,-9.9,170,4152,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2252,2999,3075,2924,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4451,-0.85,-146.6,2527,2252,3075,2923,454.2,-9.1,175,4456,0.00,2.20,0.00,0.000,260,0.000,0.050,2517,3668,2998,3075,2922,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4494,-0.88,-146.6,2517,3668,3075,2922,454.2,-9.1,175,4498,0.00,2.10,0.00,0.000,1030,0.000,0.031,2518,2258,2998,3075,2922,0,0,0,0,0,0,28.83,26.66,28.83
$GC,4806,-0.91,-146.6,2516,2257,3075,2922,487.7,-9.5,181,4812,0.00,2.15,0.00,0.000,516,0.000,0.044,2517,862,2998,3075,2922,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4860,-0.93,-146.6,2517,861,3075,2922,487.7,-9.5,181,4867,0.00,2.15,0.00,0.000,1030,0.000,0.041,2508,2264,2998,3075,2921,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5166,-0.95,-146.6,2508,2264,3075,2920,522.4,-9.4,187,5167,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2264,2998,3075,2921,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5466,-0.97,-146.6,2508,2265,3075,2920,551.1,-9.6,192,5471,0.00,2.17,0.00,0.000,260,0.000,0.049,2498,3674,2997,3074,2920,0,0,0,0,0,0,28.83,26.59,28.83
$GC,5519,-0.98,-146.6,2498,3674,3075,2920,551.1,-9.6,192,5526,0.00,2.15,0.00,0.000,1030,0.000,0.031,2498,2262,2997,3075,2920,0,0,0,0,0,0,28.83,26.68,28.83
$GC,5826,-1.00,-146.6,2498,2261,3074,2919,586.3,-9.8,198,5827,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2262,2997,3075,2919,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6125,-1.01,-146.6,2498,2262,3074,2919,616.4,-10.2,203,6127,0.12,0.00,0.00,0.000,4102,0.082,0.000,2415,2262,2996,3074,2919,0,0,0,0,0,0,26.77,28.83,28.83
$GC,6425,-0.92,-146.6,2414,2262,3074,2918,657.2,-13.7,208,6432,0.20,2.15,0.00,0.000,2564,0.135,0.044,2481,870,2996,3074,2918,0,0,0,0,0,0,26.47,26.62,28.83
$GC,6468,-0.84,-146.6,2480,870,3074,2918,657.2,-13.7,208,6473,0.15,2.15,0.00,0.000,3078,0.135,0.042,2518,2263,2996,3074,2918,0,0,0,0,0,0,26.47,26.64,28.83
$GC,6781,-0.89,-146.6,2517,2263,3074,2917,688.0,-8.1,214,6786,0.00,2.17,0.00,0.000,260,0.000,0.050,2510,3669,2995,3074,2917,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6854,-0.95,-146.6,2510,3669,3074,2917,692.9,-8.0,215,6858,0.00,2.10,0.00,0.000,1030,0.000,0.033,2509,2257,2995,3074,2917,0,0,0,0,0,0,28.83,26.68,28.83
$GC,7196,-1.00,-146.6,2510,2256,3074,2917,721.2,-8.0,221,7198,0.12,0.00,0.00,0.000,4102,0.080,0.000,2428,2256,2995,3074,2917,0,0,0,0,0,0,26.78,28.83,28.83
$GC,7495,-0.95,-146.6,2427,2257,3074,2916,758.0,-12.6,226,7502,0.15,2.20,0.00,0.000,2308,0.138,0.049,2468,3666,2995,3074,2916,0,0,0,0,0,0,26.53,26.60,28.83
$GC,7538,-0.89,-146.6,2468,3666,3074,2916,758.0,-12.6,226,7542,0.00,2.10,0.00,0.000,1030,0.000,0.033,2468,2260,2995,3074,2916,0,0,0,0,0,0,28.83,26.69,28.83
$GC,7855,-0.89,-146.6,2468,2260,3074,2915,799.0,-11.3,232,7859,0.00,2.15,0.00,0.000,516,0.000,0.046,2468,869,2994,3074,2915,0,0,0,0,0,0,28.83,26.62,28.83
$GC,7878,-0.89,-146.6,2468,869,3074,2915,799.0,-11.3,232,7884,0.10,2.20,0.00,0.000,3078,0.114,0.042,2495,2265,2995,3075,2915,0,0,0,0,0,0,26.46,26.65,28.83
$GC,8211,-0.94,-146.6,2495,2265,3073,2915,833.5,-9.4,238,8217,0.00,2.17,0.00,0.000,260,0.000,0.051,2495,3666,2994,3074,2914,0,0,0,0,0,0,28.83,26.59,28.83
$GC,8254,-0.98,-146.6,2495,3667,3074,2914,833.5,-9.4,238,8258,0.00,2.10,0.00,0.000,1030,0.000,0.033,2495,2263,2994,3074,2914,0,0,0,0,0,0,28.83,26.69,28.83
$GC,8566,-1.04,-146.6,2496,2262,3074,2914,865.1,-8.8,244,8568,0.12,0.00,0.00,0.000,4102,0.082,0.000,2414,2262,2994,3074,2914,0,0,0,0,0,0,26.78,28.83,28.83
$GC,8867,-0.99,-146.6,2414,2262,3074,2912,903.7,-13.1,249,8873,0.15,2.15,0.00,0.000,2564,0.142,0.045,2463,873,2994,3075,2913,0,0,0,0,0,0,26.52,26.61,28.83
$GC,8904,-0.93,-146.6,2463,873,3074,2913,903.7,-13.1,249,8908,0.00,2.15,0.00,0.000,1030,0.000,0.043,2457,2262,2993,3074,2913,0,0,0,0,0,0,28.83,26.65,28.83
$GC,9226,-0.93,-146.6,2457,2263,3074,2912,943.6,-11.0,255,9230,0.00,2.20,0.00,0.000,260,0.000,0.051,2446,3680,2993,3074,2912,0,0,0,0,0,0,28.83,26.59,28.83
$GC,9269,-0.93,-146.6,2446,3680,3074,2912,943.6,-11.0,255,9274,0.10,2.15,0.00,0.000,3078,0.113,0.033,2482,2266,2993,3074,2912,0,0,0,0,0,0,26.46,26.68,28.83
$GC,9582,-0.98,-146.6,2482,2266,3074,2911,978.9,-9.5,261,9588,0.00,2.15,0.00,0.000,516,0.000,0.047,2482,873,2992,3074,2911,0,0,0,0,0,0,28.83,26.60,28.83
$GC,9635,-1.03,-146.6,2482,873,3073,2911,978.9,-9.5,261,9642,0.00,2.17,0.00,0.000,1030,0.000,0.044,2478,2276,2992,3074,2911,0,0,0,0,0,0,28.83,26.63,28.83
$STATE,9700,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9700,begin apogee
$GC,9704,-0.22,0.0,2477,2355,3074,2911,990.3,-9.6,263,9826,0.68,0.00,116.15,1.239,10246,0.099,0.000,2712,2354,2399,2469,2330,0,0,0,0,0,0,26.44,28.83,23.74
$STATE,9827,end apogee,CONTROL_FINISHED_OK
$STATE,9827,begin climb
$GC,9828,0.76,146.6,2712,2354,2468,2330,993.1,0.0,265,9958,0.88,0.00,125.12,1.211,10502,0.044,0.000,3041,2354,1801,1866,1737,0,0,0,0,0,0,24.77,28.83,23.13
$GC,10242,0.63,146.6,3041,2354,1855,1734,947.6,14.0,272,10248,0.17,2.30,0.00,0.000,4612,0.143,0.044,2996,958,1794,1855,1733,0,0,0,0,0,0,25.28,25.37,28.83
$GC,10362,0.52,146.6,2996,958,1853,1733,933.2,13.0,274,10369,0.15,2.28,0.00,0.000,5126,0.139,0.042,2955,2358,1793,1853,1733,0,0,0,0,0,0,25.46,25.58,28.83
$GC,10722,0.49,146.6,2955,2359,1853,1733,896.7,10.1,280,10723,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2359,1792,1853,1732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11022,0.48,158.6,2955,2359,1852,1732,868.1,9.4,285,11034,0.00,0.00,9.75,0.968,8198,0.000,0.000,2955,2359,1752,1814,1691,0,0,0,0,0,0,28.83,28.83,24.90
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$STATE,18073,end climb,SURFACE_DEPTH_REACHED
$STATE,18073,begin surface coast
$FINISH,0.9,1.012387
$STATE,18104,end surface coast,CONTROL_FINISHED_OK
$STATE,18104,begin surface
$SM_CCo,18178,0.00,0.000,0,0,1211,291.66
$SM_GC,2.04,7.50,0.12,0.00,0.032,0.080,0.000,158,2245,1211,-8.06,1.39,291.66,0,0,0,0,0,0,26.67,26.69,28.83
$IRIDIUM_FIX,4751.72,-12706.39,031113,171747
$TT8_MAMPS,0.026964,0.026964
$HUMID,38.93
$INTERNAL_PRESSURE,8.91861
$TCM_TEMP,17.30
$XPDR_PINGS,1
$24V_AH,23.1,7.471
$10V_AH,10.3,5.900
$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
$DEVICE_SECS,21.200,157.750,366.300,0.000,0.000,0.000,0.000,508.800,0.250,0.000,6.475,1610.184,14449.022,459.974,2212.592,87.479,0.389,1929.085,0.000,1679.625,0.000,0.543,0.000
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$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,340.877,657.439,313.366,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,311160
$DATA_FILE_SIZE,36994,496
$CAP_FILE_SIZE,161648,0
$CFSIZE,2097872896,2089582592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,031113,231135,4805.199,-12606.706,40,0.8,40,17.0