version: 66.11
glider: 194
mission: 7
dive: 47
start: 11 3 113 23 17 47
data:
$ID,194
$MISSION,7
$DIVE,47
$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,-4367.0728
$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,62
$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
$GPS1,031113,231135,4805.199,-12606.706,40,0.8,40,17.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-65.5
$GPS2,031113,231720,4805.166,-12606.682,6,0.8,6,17.0
$SPEED_LIMITS,0.084,0.260
$TGT_NAME,SEARCH_B
$TGT_LATLONG,4745.000,-12545.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.200,-0.166
$KALMAN_X,-9458.2,0.0,0.0,-53886.7,-1826.9
$KALMAN_Y,21167.9,0.0,0.0,75299.3,343.7
$MHEAD_RNG_PITCHd_Wd,112.6,46084,-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,-146.6,121,2241,1251,1157,0.0,0.0,0,60,0.00,0.00,-42.72,0.000,16386,0.000,0.000,117,2241,2380,2373,2388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,61,-0.76,-146.6,117,2241,2377,2386,3.3,-4.2,4,94,8.75,2.15,-18.15,0.000,19204,0.201,0.057,2531,874,2999,3068,2931,0,0,0,0,0,0,25.83,26.19,26.53
$GC,327,-0.65,-146.6,2530,874,3070,2931,45.1,-16.9,30,338,0.17,2.15,0.00,0.000,3078,0.142,0.040,2572,2262,3000,3070,2931,0,0,0,0,0,0,26.10,26.29,28.83
$GC,637,-0.63,-146.6,2572,2262,3072,2931,82.7,-12.4,60,641,0.00,2.17,0.00,0.000,260,0.000,0.047,2563,3667,3001,3072,2931,0,0,0,0,0,0,28.83,26.33,28.83
$GC,682,-0.61,-146.6,2563,3668,3072,2931,87.3,-12.6,62,686,0.00,2.10,0.00,0.000,1030,0.000,0.029,2564,2259,3001,3072,2931,0,0,0,0,0,0,28.83,26.41,28.83
$GC,993,-0.61,-146.6,2563,2259,3073,2931,125.8,-11.0,78,997,0.00,2.20,0.00,0.000,260,0.000,0.048,2554,3670,3002,3073,2931,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1037,-0.61,-146.6,2553,3670,3073,2931,129.7,-10.7,80,1042,0.08,2.12,0.00,0.000,3078,0.119,0.029,2582,2263,3002,3073,2931,0,0,0,0,0,0,26.29,26.47,28.83
$GC,1360,-0.65,-146.6,2582,2263,3073,2931,158.7,-8.5,95,1361,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2263,3002,3073,2931,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1661,-0.71,-146.6,2582,2263,3073,2931,182.8,-8.0,105,1662,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2263,3002,3073,2931,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1960,-0.77,-146.6,2582,2263,3073,2930,205.9,-7.4,115,1966,0.12,2.17,0.00,0.000,4356,0.080,0.047,2482,3666,3002,3073,2931,0,0,0,0,0,0,26.65,26.49,28.83
$GC,1998,-0.81,-146.6,2482,3666,3073,2931,209.0,-8.0,116,2003,0.15,2.08,0.00,0.000,3078,0.137,0.030,2525,2258,3002,3073,2931,0,0,0,0,0,0,26.37,26.58,28.83
$GC,2314,-0.81,-146.6,2525,2258,3073,2930,239.8,-9.2,127,2316,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2258,3002,3073,2931,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2615,-0.81,-146.6,2525,2258,3073,2930,270.7,-11.0,137,2621,0.00,2.12,0.00,0.000,516,0.000,0.043,2525,872,3001,3073,2930,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2652,-0.81,-146.6,2525,871,3073,2930,274.2,-11.2,138,2656,0.00,2.17,0.00,0.000,1030,0.000,0.040,2518,2261,3001,3073,2930,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3004,-0.81,-146.6,2518,2261,3073,2930,314.4,-11.1,148,3008,0.00,2.17,0.00,0.000,260,0.000,0.048,2508,3674,3001,3073,2929,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3043,-0.81,-146.6,2508,3674,3073,2929,314.4,-11.1,148,3047,0.00,2.12,0.00,0.000,1030,0.000,0.031,2508,2270,3001,3073,2929,0,0,0,0,0,0,28.83,26.64,28.83
$GC,3360,-0.81,-146.6,2508,2270,3073,2929,351.6,-10.2,154,3361,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2270,3001,3073,2929,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3660,-0.81,-146.6,2508,2270,3072,2929,380.7,-9.7,159,3661,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2270,3000,3072,2928,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3960,-0.81,-146.6,2508,2270,3073,2928,410.2,-9.8,164,3964,0.00,2.17,0.00,0.000,260,0.000,0.050,2498,3670,3000,3073,2927,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4009,-0.81,-146.6,2498,3670,3073,2927,410.2,-9.8,164,4016,0.00,2.10,0.00,0.000,1030,0.000,0.031,2498,2258,3000,3073,2927,0,0,0,0,0,0,28.83,26.66,28.83
$GC,4316,-0.81,-146.6,2497,2257,3073,2927,449.8,-11.4,170,4320,0.00,2.12,0.00,0.000,516,0.000,0.044,2498,873,3000,3073,2927,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4389,-0.81,-146.6,2498,873,3073,2927,456.7,-11.7,171,4394,0.10,2.20,0.00,0.000,3078,0.116,0.041,2525,2268,2999,3073,2926,0,0,0,0,0,0,26.45,26.63,28.83
$GC,4733,-0.85,-146.6,2525,2268,3073,2926,494.7,-10.3,177,4739,0.00,2.17,0.00,0.000,260,0.000,0.050,2517,3677,2999,3073,2926,0,0,0,0,0,0,28.83,26.59,28.83
$GC,4795,-0.89,-146.6,2517,3677,3073,2926,500.9,-10.3,178,4799,0.00,2.10,0.00,0.000,1030,0.000,0.031,2517,2262,2999,3073,2926,0,0,0,0,0,0,28.83,26.68,28.83
$GC,5152,-0.93,-146.6,2517,2261,3073,2925,535.4,-9.3,184,5158,0.00,2.15,0.00,0.000,516,0.000,0.044,2517,863,2999,3073,2925,0,0,0,0,0,0,28.83,26.62,28.83
$GC,5190,-0.96,-146.6,2517,863,3073,2925,535.4,-9.3,184,5195,0.10,2.15,0.00,0.000,5126,0.093,0.041,2442,2264,2998,3072,2925,0,0,0,0,0,0,26.62,26.64,28.83
$GC,5507,-0.91,-146.6,2441,2264,3073,2924,577.2,-12.3,190,5509,0.17,0.00,0.00,0.000,2054,0.134,0.000,2493,2264,2998,3073,2924,0,0,0,0,0,0,26.51,28.83,28.83
$GC,5807,-0.93,-146.6,2492,2264,3073,2924,606.8,-9.8,195,5809,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2264,2998,3073,2923,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6107,-0.95,-146.6,2492,2264,3072,2922,634.4,-9.1,200,6113,0.00,2.15,0.00,0.000,516,0.000,0.045,2493,873,2997,3073,2922,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6150,-0.98,-146.6,2493,873,3073,2922,634.4,-9.1,200,6154,0.00,2.15,0.00,0.000,1030,0.000,0.041,2486,2272,2997,3073,2922,0,0,0,0,0,0,28.83,26.65,28.83
$GC,6462,-1.00,-146.6,2486,2273,3073,2922,668.1,-9.5,206,6468,0.00,2.15,0.00,0.000,260,0.000,0.050,2476,3664,2997,3073,2921,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6525,-1.02,-146.6,2476,3664,3073,2921,674.3,-9.7,207,6529,0.00,2.10,0.00,0.000,1030,0.000,0.031,2476,2255,2997,3073,2922,0,0,0,0,0,0,28.83,26.70,28.83
$GC,6877,-1.02,-146.6,2476,2255,3072,2921,713.6,-11.3,213,6881,0.00,2.12,0.00,0.000,516,0.000,0.045,2476,874,2996,3073,2920,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6910,-1.02,-146.6,2476,874,3072,2921,713.6,-11.3,213,6915,0.00,2.17,0.00,0.000,1030,0.000,0.041,2467,2254,2996,3072,2920,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7232,-1.02,-146.6,2467,2254,3072,2920,755.2,-11.7,219,7236,0.00,2.20,0.00,0.000,260,0.000,0.050,2456,3677,2996,3072,2920,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7326,-1.02,-146.6,2457,3677,3073,2920,762.1,-11.8,220,7330,0.00,2.15,0.00,0.000,1030,0.000,0.032,2457,2265,2996,3072,2920,0,0,0,0,0,0,28.83,26.70,28.83
$GC,7648,-1.02,-146.6,2456,2265,3072,2919,804.6,-11.7,226,7652,0.00,2.20,0.00,0.000,260,0.000,0.051,2446,3674,2995,3072,2919,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7696,-1.02,-146.6,2446,3674,3073,2919,804.6,-11.7,226,7704,0.00,2.15,0.00,0.000,1030,0.000,0.032,2446,2260,2995,3072,2919,0,0,0,0,0,0,28.83,26.70,28.83
$GC,8004,-1.00,-146.6,2446,2260,3072,2919,845.3,-11.3,232,8005,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,2260,2995,3072,2919,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8303,-1.00,-146.6,2445,2260,3073,2919,878.3,-11.1,237,8305,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,2260,2995,3073,2918,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8603,-1.00,-146.6,2446,2260,3072,2918,910.7,-10.7,242,8605,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,2260,2995,3072,2918,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8903,-1.00,-146.6,2446,2260,3073,2918,941.1,-10.0,247,8908,0.00,2.20,0.00,0.000,260,0.000,0.051,2436,3669,2995,3073,2917,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8932,-1.00,-146.6,2436,3669,3072,2917,941.1,-10.0,247,8937,0.00,2.12,0.00,0.000,1030,0.000,0.033,2436,2246,2994,3072,2917,0,0,0,0,0,0,28.83,26.69,28.83
$GC,9259,-1.00,-146.6,2435,2245,3072,2917,977.6,-10.3,253,9260,0.00,0.00,0.00,0.000,6,0.000,0.000,2435,2246,2995,3073,2917,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9438,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9438,begin apogee
$GC,9442,-0.22,0.0,2434,2370,3072,2917,996.4,-10.4,256,9563,0.80,0.00,116.55,1.236,10246,0.104,0.000,2709,2370,2400,2470,2330,0,0,0,0,0,0,26.43,28.83,23.75
$STATE,9565,end apogee,CONTROL_FINISHED_OK
$STATE,9565,begin climb
$GC,9566,0.76,146.6,2708,2370,2469,2330,998.3,0.0,258,9696,0.90,0.00,125.62,1.212,10246,0.044,0.000,3047,2370,1801,1866,1737,0,0,0,0,0,0,24.73,28.83,23.13
$GC,9976,0.62,146.6,3046,2370,1855,1733,951.5,14.5,265,9978,0.22,0.00,0.00,0.000,4102,0.137,0.000,2984,2370,1794,1855,1734,0,0,0,0,0,0,25.25,28.83,28.83
$GC,10275,0.56,146.6,2984,2370,1855,1731,917.3,11.2,270,10276,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2370,1793,1856,1731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10575,0.50,146.6,2984,2369,1855,1730,884.2,11.1,275,10581,0.12,2.25,0.00,0.000,4612,0.148,0.043,2950,957,1792,1855,1730,0,0,0,0,0,0,25.91,25.98,28.83
$GC,10668,0.46,146.6,2950,957,1854,1730,878.2,11.0,276,10673,0.00,2.20,0.00,0.000,1030,0.000,0.042,2950,2348,1791,1853,1730,0,0,0,0,0,0,28.83,26.05,28.83
$GC,10989,0.46,152.0,2950,2349,1854,1730,843.5,9.8,282,10995,0.00,0.00,4.12,0.641,8198,0.000,0.000,2950,2349,1780,1842,1718,0,0,0,0,0,0,28.83,28.83,25.03
$GC,11289,0.46,170.4,2950,2349,1843,1718,816.0,9.2,287,11309,0.00,0.00,16.85,1.035,8710,0.000,0.000,2950,2348,1704,1769,1640,0,0,0,0,0,0,28.83,28.83,24.87
$GC,11645,0.46,175.4,2950,2349,1768,1637,781.7,9.8,293,11657,0.00,2.30,5.25,0.735,8708,0.000,0.046,2960,958,1684,1750,1619,0,0,0,0,0,0,28.83,26.00,25.00
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$STATE,18010,end climb,SURFACE_DEPTH_REACHED
$STATE,18010,begin surface coast
$FINISH,0.9,1.013647
$STATE,18042,end surface coast,CONTROL_FINISHED_OK
$STATE,18042,begin surface
$SM_CCo,18116,0.00,0.000,0,0,1268,277.68
$SM_GC,2.08,7.47,0.12,0.00,0.032,0.080,0.000,165,2251,1268,-8.06,1.61,277.68,0,0,0,0,0,0,26.65,26.67,28.83
$IRIDIUM_FIX,4748.51,-12652.84,031113,181847
$TT8_MAMPS,0.026964,0.026964
$HUMID,39.01
$INTERNAL_PRESSURE,8.92837
$TCM_TEMP,14.00
$XPDR_PINGS,1
$24V_AH,23.1,7.592
$10V_AH,10.3,5.966
$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,20.200,140.050,355.450,0.000,0.000,0.000,0.000,278.200,0.250,0.000,6.534,1588.604,14356.262,441.585,1996.173,84.842,0.389,1661.656,0.000,1693.033,0.000,0.540,0.000
$DEVICE_MAMPS,201.195,80.325,1236.240,0.000,0.000,0.000,0.000,70.380,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,69.640,15.000,0.000,8.990,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,342.055,658.943,313.389,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,311224
$DATA_FILE_SIZE,37002,497
$CAP_FILE_SIZE,149362,0
$CFSIZE,2097872896,2089451520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,041113,042052,4803.178,-12604.376,36,1.0,36,17.0