version: 66.11
glider: 194
mission: 7
dive: 48
start: 11 4 113 4 27 10
data:
$ID,194
$MISSION,7
$DIVE,48
$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,-4368.3291
$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,61
$R_STBD_OVSHOOT,44
$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
$GPS1,041113,042052,4803.178,-12604.376,36,1.0,36,17.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-65.6
$GPS2,041113,042644,4803.182,-12604.391,6,1.0,6,17.0
$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,-10565.3,0.0,0.0,-49936.5,-1494.1
$KALMAN_Y,20769.7,0.0,0.0,72039.1,-105.5
$MHEAD_RNG_PITCHd_Wd,112.8,41435,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-0.76,-146.6,120,2246,1305,1216,0.0,0.0,0,60,0.00,0.00,-41.95,0.000,16386,0.000,0.000,118,2247,2409,2400,2418,0,0,0,0,0,0,28.83,28.83,28.83
$GC,61,-0.76,-146.6,118,2247,2404,2417,3.5,-4.5,4,91,8.88,2.30,-15.05,0.000,19204,0.204,0.060,2526,3663,2999,3068,2931,0,0,0,0,0,0,25.79,26.11,26.46
$GC,97,-0.07,-146.6,2526,3663,3068,2931,6.5,-9.9,7,105,0.73,2.10,0.00,0.000,3078,0.120,0.029,2757,2261,3000,3069,2931,0,0,0,0,0,0,25.94,26.19,28.83
$GC,405,-0.27,-146.6,2756,2260,3071,2931,25.2,-4.8,38,415,0.15,2.12,0.00,0.000,4612,0.068,0.041,2653,883,3001,3071,2931,0,0,0,0,0,0,26.37,26.25,28.83
$GC,633,-0.33,-146.6,2653,883,3071,2931,47.1,-9.5,60,642,0.08,2.17,0.00,0.000,3078,0.112,0.039,2675,2260,3001,3071,2931,0,0,0,0,0,0,26.19,26.34,28.83
$GC,941,-0.42,-146.6,2674,2260,3073,2932,66.9,-8.1,91,950,0.00,2.17,0.00,0.000,260,0.000,0.047,2667,3667,3002,3073,2931,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1013,-0.53,-146.6,2667,3667,3073,2932,73.1,-8.5,98,1023,0.15,2.08,0.00,0.000,5126,0.066,0.029,2569,2263,3002,3073,2932,0,0,0,0,0,0,26.44,26.45,28.83
$GC,1324,-0.53,-146.6,2568,2263,3073,2932,105.5,-10.0,117,1330,0.12,2.15,0.00,0.000,2564,0.141,0.040,2611,852,3002,3073,2932,0,0,0,0,0,0,26.36,26.44,28.83
$GC,1417,-0.57,-146.6,2610,852,3074,2932,112.4,-8.6,121,1424,0.00,2.17,0.00,0.000,1030,0.000,0.038,2608,2272,3003,3074,2932,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1724,-0.64,-146.6,2608,2272,3074,2932,137.6,-7.8,137,1725,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2272,3003,3074,2932,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2033,-0.72,-146.6,2608,2272,3074,2932,164.7,-9.1,150,2035,0.15,0.00,0.00,0.000,4102,0.069,0.000,2514,2272,3003,3074,2932,0,0,0,0,0,0,26.63,28.83,28.83
$GC,2333,-0.69,-146.6,2514,2272,3073,2931,202.5,-12.4,160,2335,0.17,0.00,0.00,0.000,2054,0.130,0.000,2567,2272,3003,3074,2932,0,0,0,0,0,0,26.42,28.83,28.83
$GC,2633,-0.73,-146.6,2566,2271,3073,2932,230.3,-8.7,170,2639,0.00,2.15,0.00,0.000,260,0.000,0.048,2559,3670,3003,3074,2932,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2668,-0.78,-146.6,2558,3670,3074,2932,232.8,-8.6,171,2672,0.00,2.08,0.00,0.000,1030,0.000,0.030,2558,2263,3002,3074,2931,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2989,-0.82,-146.6,2558,2263,3073,2931,261.4,-8.9,182,2991,0.12,0.00,0.00,0.000,4102,0.077,0.000,2473,2263,3002,3073,2931,0,0,0,0,0,0,26.70,28.83,28.83
$GC,3289,-0.76,-146.6,2473,2263,3074,2930,299.7,-13.0,192,3295,0.20,2.17,0.00,0.000,2308,0.131,0.047,2530,3664,3001,3073,2930,0,0,0,0,0,0,26.43,26.56,28.83
$GC,3342,-0.71,-146.6,2530,3664,3073,2930,303.1,-12.5,193,3349,0.00,2.08,0.00,0.000,1030,0.000,0.030,2531,2258,3001,3073,2930,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3649,-0.73,-146.6,2530,2259,3073,2930,335.4,-9.7,199,3655,0.00,2.12,0.00,0.000,516,0.000,0.043,2530,870,3001,3073,2930,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3712,-0.75,-146.6,2530,869,3074,2929,341.3,-9.7,200,3716,0.00,2.15,0.00,0.000,1030,0.000,0.040,2520,2269,3001,3073,2929,0,0,0,0,0,0,28.83,26.61,28.83
$GC,4064,-0.76,-146.6,2521,2269,3073,2928,375.9,-9.8,206,4065,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2269,3000,3073,2928,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4364,-0.78,-146.6,2521,2269,3073,2927,405.7,-9.9,211,4365,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2269,3001,3074,2928,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4664,-0.81,-146.6,2520,2269,3073,2927,435.1,-9.8,216,4665,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2269,3000,3074,2927,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4964,-0.84,-146.6,2521,2269,3073,2926,463.2,-9.3,221,4970,0.00,2.15,0.00,0.000,516,0.000,0.044,2521,877,3000,3074,2926,0,0,0,0,0,0,28.83,26.62,28.83
$GC,4997,-0.87,-146.6,2520,877,3073,2926,463.2,-9.3,221,5001,0.00,2.12,0.00,0.000,1030,0.000,0.040,2512,2263,3000,3074,2926,0,0,0,0,0,0,28.83,26.64,28.83
$GC,5319,-0.89,-146.6,2512,2263,3073,2926,497.0,-9.5,227,5325,0.00,2.17,0.00,0.000,260,0.000,0.049,2503,3674,2999,3073,2925,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5382,-0.92,-146.6,2502,3674,3073,2925,502.8,-9.4,228,5386,0.00,2.10,0.00,0.000,1030,0.000,0.031,2502,2262,2999,3073,2925,0,0,0,0,0,0,28.83,26.69,28.83
$GC,5734,-0.93,-146.6,2502,2262,3073,2925,538.7,-10.2,234,5738,0.00,2.12,0.00,0.000,516,0.000,0.044,2503,873,2998,3073,2924,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5763,-0.95,-146.6,2502,873,3073,2924,538.7,-10.2,234,5767,0.00,2.15,0.00,0.000,1030,0.000,0.041,2499,2269,2998,3073,2924,0,0,0,0,0,0,28.83,26.64,28.83
$GC,6090,-0.97,-146.6,2499,2269,3073,2923,572.7,-9.4,240,6096,0.00,2.17,0.00,0.000,260,0.000,0.050,2498,3676,2998,3073,2923,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6184,-0.99,-146.6,2498,3676,3073,2923,578.3,-9.4,241,6188,0.00,2.10,0.00,0.000,1030,0.000,0.032,2498,2260,2998,3073,2923,0,0,0,0,0,0,28.83,26.69,28.83
$GC,6506,-1.02,-146.6,2498,2260,3073,2922,611.1,-9.1,247,6508,0.12,0.00,0.00,0.000,4102,0.082,0.000,2413,2260,2997,3073,2922,0,0,0,0,0,0,26.77,28.83,28.83
$GC,6805,-0.93,-146.6,2412,2260,3073,2921,649.4,-12.9,252,6807,0.22,0.00,0.00,0.000,2054,0.130,0.000,2481,2260,2997,3073,2921,0,0,0,0,0,0,26.46,28.83,28.83
$GC,7107,-0.95,-146.6,2480,2260,3073,2921,679.3,-9.8,257,7108,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2260,2997,3073,2921,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7406,-0.96,-146.6,2480,2260,3073,2920,707.9,-9.5,262,7407,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2260,2996,3073,2920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7706,-0.99,-146.6,2480,2260,3073,2919,735.6,-9.2,267,7711,0.00,2.15,0.00,0.000,516,0.000,0.045,2481,864,2996,3073,2919,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7754,-1.01,-146.6,2480,864,3073,2919,735.6,-9.2,267,7758,0.00,2.15,0.00,0.000,1030,0.000,0.042,2474,2261,2996,3073,2919,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8060,-1.02,-146.6,2474,2262,3073,2919,772.4,-10.4,272,8061,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2261,2996,3073,2919,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8361,-1.04,-146.6,2474,2261,3073,2918,802.3,-9.9,277,8366,0.00,2.17,0.00,0.000,260,0.000,0.050,2464,3667,2995,3073,2918,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8399,-1.06,-146.6,2464,3667,3073,2918,802.3,-9.9,277,8403,0.00,2.10,0.00,0.000,1030,0.000,0.032,2464,2255,2995,3073,2918,0,0,0,0,0,0,28.83,26.70,28.83
$GC,8715,-1.08,-146.6,2464,2254,3073,2918,838.7,-10.2,283,8717,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2254,2996,3074,2918,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9015,-1.09,-146.6,2464,2254,3073,2918,868.7,-10.0,288,9017,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2254,2995,3073,2918,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9315,-1.11,-146.6,2464,2254,3073,2917,900.0,-10.4,293,9317,0.10,0.00,0.00,0.000,4102,0.096,0.000,2392,2254,2995,3073,2917,0,0,0,0,0,0,26.81,28.83,28.83
$GC,9615,-1.04,-146.6,2392,2254,3073,2917,941.8,-14.1,298,9617,0.20,0.00,0.00,0.000,2054,0.135,0.000,2451,2254,2994,3073,2916,0,0,0,0,0,0,26.48,28.83,28.83
$GC,9915,-1.06,-146.6,2451,2254,3073,2916,973.0,-10.2,303,9917,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2255,2995,3073,2917,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10094,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10094,begin apogee
$GC,10098,-0.22,0.0,2451,2362,3073,2916,991.5,-10.2,306,10219,0.75,0.00,116.70,1.234,10246,0.100,0.000,2713,2363,2399,2469,2330,0,0,0,0,0,0,26.45,28.83,23.77
$STATE,10220,end apogee,CONTROL_FINISHED_OK
$STATE,10220,begin climb
$GC,10222,0.76,146.6,2712,2363,2469,2330,994.2,0.0,308,10351,0.88,0.00,125.10,1.205,10502,0.044,0.000,3043,2362,1801,1866,1736,0,0,0,0,0,0,24.74,28.83,23.13
$GC,10630,0.63,146.6,3043,2363,1856,1733,951.4,13.1,315,10637,0.17,2.30,0.00,0.000,4612,0.142,0.044,2998,962,1794,1856,1732,0,0,0,0,0,0,25.27,25.37,28.83
$GC,10690,0.51,146.6,2998,961,1854,1732,944.6,12.8,316,10697,0.17,2.25,0.00,0.000,5126,0.132,0.041,2950,2348,1792,1854,1731,0,0,0,0,0,0,25.37,25.48,28.83
$GC,11051,0.50,180.1,2950,2348,1853,1731,914.0,8.5,322,11084,0.00,2.33,27.83,1.119,8452,0.000,0.049,2950,3757,1665,1732,1598,0,0,0,0,0,0,28.83,25.16,24.32
$GC,11119,0.48,208.6,2950,3757,1731,1597,908.7,8.7,323,11150,0.00,2.20,25.30,1.109,9222,0.000,0.033,2958,2362,1549,1619,1479,0,0,0,0,0,0,28.83,25.41,24.02
$GC,11462,0.48,208.6,2957,2362,1615,1473,869.6,11.1,329,11468,0.00,2.25,0.00,0.000,516,0.000,0.046,2967,956,1543,1614,1473,0,0,0,0,0,0,28.83,25.77,28.83
$GC,11575,0.48,208.6,2966,956,1612,1473,863.0,11.1,330,11582,0.00,2.28,0.00,0.000,1030,0.000,0.042,2966,2351,1542,1612,1473,0,0,0,0,0,0,28.83,25.89,28.83
$GC,11882,0.48,208.6,2966,2351,1612,1473,821.3,11.7,336,11883,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2351,1542,1612,1473,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,19020,end climb,SURFACE_DEPTH_REACHED
$STATE,19021,begin surface coast
$FINISH,1.0,1.014318
$STATE,19040,end surface coast,CONTROL_FINISHED_OK
$STATE,19040,begin surface
$SM_CCo,19114,0.00,0.000,0,0,1243,283.57
$SM_GC,2.30,7.50,0.10,0.00,0.029,0.091,0.000,153,2253,1243,-8.05,1.53,283.57,0,0,0,0,0,0,26.45,26.47,28.83
$IRIDIUM_FIX,4748.51,-12558.09,031113,232352
$TT8_MAMPS,0.026964,0.026964
$HUMID,38.65
$INTERNAL_PRESSURE,8.92837
$TCM_TEMP,17.70
$XPDR_PINGS,2
$24V_AH,23.1,7.711
$10V_AH,10.3,6.036
$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,22.050,136.025,354.200,0.000,0.000,0.000,0.000,285.725,0.500,0.000,7.511,1717.445,15198.995,433.450,2031.280,91.309,0.390,1681.526,0.000,1723.729,0.000,0.541,0.000
$DEVICE_MAMPS,204.255,91.035,1233.945,0.000,0.000,0.000,0.000,78.030,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,69.640,15.000,0.000,8.990,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,383.150,739.669,373.543,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40371,558
$CAP_FILE_SIZE,156704,0
$CFSIZE,2097872896,2089320448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,041113,094658,4802.125,-12602.411,41,0.8,41,17.0