version: 66.11
glider: 194
mission: 7
dive: 74
start: 11 11 113 6 2 29
data:
$ID,194
$MISSION,7
$DIVE,74
$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,440
$T_MISSION,480
$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,-4418.9375
$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,2.5
$ROLL_MIN,291
$ROLL_MAX,3873
$ROLL_DEG,40
$C_ROLL_DIVE,2263
$C_ROLL_CLIMB,2173
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,51
$R_STBD_OVSHOOT,40
$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,400
$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
$GPS1,111113,055622,4805.671,-12546.099,35,0.8,36,17.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-68.3
$GPS2,111113,060202,4805.704,-12546.104,5,0.9,5,17.0
$SPEED_LIMITS,0.063,0.235
$TGT_NAME,SEARCH_A
$TGT_LATLONG,4805.000,-12545.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.152,-0.031
$KALMAN_X,-36504.8,0.0,0.0,-933.7,-2659.8
$KALMAN_Y,29861.6,0.0,0.0,67568.2,-466.9
$MHEAD_RNG_PITCHd_Wd,84.4,1888,-22.2,-7.500,-25.82,1184
$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,-0.97,-58.4,122,2263,1394,1335,0.0,0.0,0,60,0.00,0.00,-42.05,0.000,16386,0.000,0.000,121,2262,2521,2525,2518,0,0,0,0,0,0,28.83,28.83,28.83
$GC,61,-0.97,-58.4,121,2262,2527,2518,3.7,-5.4,4,80,8.70,2.20,-2.85,0.000,18948,0.203,0.053,2465,867,2638,2674,2602,0,0,0,0,0,0,25.58,25.96,26.29
$GC,135,-0.84,-58.4,2465,867,2678,2600,15.1,-15.8,11,143,0.15,2.22,0.00,0.000,3078,0.135,0.037,2505,2263,2639,2678,2600,0,0,0,0,0,0,25.77,26.03,28.83
$GC,443,-0.78,-58.4,2505,2263,2682,2599,55.6,-10.6,42,444,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2263,2640,2682,2599,0,0,0,0,0,0,28.83,28.83,28.83
$GC,744,-0.73,-58.4,2505,2263,2683,2599,84.9,-7.9,69,750,0.12,2.17,0.00,0.000,2308,0.160,0.044,2537,3673,2641,2683,2599,0,0,0,0,0,0,26.14,26.25,28.83
$GC,1044,-0.73,-60.5,2537,3673,2683,2599,108.2,-7.3,84,1048,0.00,2.12,0.00,0.000,1030,0.000,0.029,2537,2246,2641,2683,2599,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1360,-0.73,-64.9,2537,2246,2684,2599,130.8,-7.1,100,1367,0.00,2.22,-0.15,0.000,16644,0.000,0.059,2526,3669,2670,2718,2623,0,0,0,0,0,0,28.83,26.36,26.25
$GC,1428,-0.73,-67.5,2525,3669,2718,2623,135.2,-7.3,103,1432,0.00,2.15,0.00,0.000,1030,0.000,0.029,2526,2253,2670,2718,2623,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1750,-0.73,-77.2,2525,2253,2718,2623,156.6,-6.7,118,1757,0.00,2.15,-0.25,0.000,16900,0.000,0.054,2526,865,2719,2768,2670,0,0,0,0,0,0,28.83,26.42,26.50
$GC,1918,-0.73,-77.2,2525,864,2769,2670,169.5,-8.7,123,1923,0.08,2.20,0.00,0.000,3078,0.132,0.037,2542,2264,2720,2770,2670,0,0,0,0,0,0,26.25,26.46,28.83
$GC,2230,-0.79,-77.2,2542,2265,2770,2669,195.2,-8.2,134,2234,0.00,2.15,0.00,0.000,516,0.000,0.041,2542,874,2720,2770,2670,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2279,-0.84,-77.2,2542,874,2770,2669,197.6,-8.4,135,2287,0.00,2.15,0.00,0.000,1030,0.000,0.037,2536,2276,2720,2770,2670,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2586,-0.90,-77.2,2536,2276,2769,2670,226.5,-8.5,146,2588,0.12,0.00,0.00,0.000,4102,0.081,0.000,2453,2276,2719,2769,2669,0,0,0,0,0,0,26.65,28.83,28.83
$GC,2886,-0.90,-77.2,2452,2276,2770,2670,257.1,-9.8,156,2891,0.12,2.17,0.00,0.000,2564,0.154,0.039,2491,870,2719,2770,2669,0,0,0,0,0,0,26.40,26.50,28.83
$GC,3006,-0.90,-77.2,2491,870,2769,2669,267.3,-8.9,160,3010,0.00,2.15,0.00,0.000,1030,0.000,0.038,2483,2272,2720,2770,2670,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3333,-0.90,-77.2,2483,2271,2770,2669,296.7,-9.3,171,3334,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2271,2719,2770,2669,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3633,-0.90,-77.2,2483,2271,2770,2669,324.6,-9.4,177,3635,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2271,2719,2769,2669,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3933,-0.90,-77.2,2483,2271,2769,2669,352.3,-9.2,182,3937,0.00,2.15,0.00,0.000,260,0.000,0.047,2473,3667,2719,2770,2668,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4126,-0.90,-77.2,2473,3668,2770,2668,370.0,-9.9,185,4131,0.00,2.12,0.00,0.000,1030,0.000,0.030,2473,2264,2718,2769,2668,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4471,-0.90,-77.2,2473,2264,2770,2667,403.0,-8.9,191,4476,0.00,2.12,0.00,0.000,516,0.000,0.042,2473,871,2718,2769,2667,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4551,-0.90,-77.2,2473,870,2769,2667,408.6,-8.8,192,4556,0.08,2.17,0.00,0.000,3078,0.132,0.039,2489,2263,2717,2769,2666,0,0,0,0,0,0,26.35,26.58,28.83
$GC,4888,-0.90,-77.2,2489,2263,2770,2666,437.7,-7.7,198,4892,0.00,2.17,0.00,0.000,260,0.000,0.047,2481,3673,2718,2770,2666,0,0,0,0,0,0,28.83,26.52,28.83
$GC,4949,-0.90,-77.2,2481,3673,2769,2666,442.2,-7.5,199,4954,0.00,2.08,0.00,0.000,1030,0.000,0.030,2481,2266,2717,2769,2666,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5307,-0.90,-77.2,2480,2265,2769,2665,476.5,-9.9,205,5312,0.00,2.17,0.00,0.000,260,0.000,0.048,2471,3667,2717,2769,2665,0,0,0,0,0,0,28.83,26.51,28.83
$STATE,5364,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5365,begin apogee
$GC,5371,-0.22,0.0,2470,2167,2769,2665,483.4,-10.2,206,5433,0.70,0.00,58.53,0.907,10246,0.112,0.000,2705,2167,2400,2462,2339,0,0,0,0,0,0,26.25,28.83,24.69
$STATE,5434,end apogee,CONTROL_FINISHED_OK
$STATE,5434,begin climb
$GC,5436,0.97,77.2,2705,2167,2462,2339,486.7,0.0,207,5504,1.08,2.33,61.40,0.889,10756,0.060,0.044,3108,772,2084,2144,2024,0,0,0,0,0,0,25.44,24.89,24.18
$GC,5534,0.97,77.2,3108,772,2140,2022,486.0,0.0,208,5542,0.00,2.30,0.00,0.000,1030,0.000,0.037,3108,2163,2081,2140,2022,0,0,0,0,0,0,28.83,25.27,28.83
$GC,5841,0.90,77.2,3108,2163,2138,2020,454.4,9.8,214,5848,0.12,2.25,0.00,0.000,4356,0.163,0.044,3072,3584,2079,2138,2020,0,0,0,0,0,0,25.74,25.85,28.83
$GC,5962,0.83,77.2,3071,3584,2138,2020,440.7,10.7,216,5967,0.00,2.17,0.00,0.000,1030,0.000,0.031,3080,2171,2079,2138,2020,0,0,0,0,0,0,28.83,26.01,28.83
$GC,6321,0.83,77.2,3080,2172,2137,2019,401.4,10.7,222,6325,0.00,2.22,0.00,0.000,260,0.000,0.046,3080,3584,2078,2137,2019,0,0,0,0,0,0,28.83,26.12,28.83
$GC,6405,0.83,77.2,3080,3584,2137,2019,395.0,10.8,223,6410,0.15,2.15,0.00,0.000,5126,0.149,0.031,3050,2173,2078,2137,2019,0,0,0,0,0,0,25.97,26.22,28.83
$GC,6737,0.83,77.2,3050,2173,2137,2018,361.8,8.7,229,6741,0.00,2.20,0.00,0.000,516,0.000,0.045,3059,772,2077,2137,2018,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6852,0.83,77.2,3059,772,2135,2017,352.4,8.3,231,6857,0.00,2.20,0.00,0.000,1030,0.000,0.037,3059,2184,2076,2135,2017,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7209,0.83,81.4,3059,2184,2135,2018,326.5,7.1,237,7213,0.00,2.17,0.00,0.000,260,0.000,0.046,3059,3585,2076,2135,2018,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7422,0.83,81.4,3059,3585,2135,2017,312.7,7.6,240,7432,0.00,2.17,3.40,0.392,9222,0.000,0.031,3070,2171,2067,2126,2009,0,0,0,0,0,0,28.83,26.43,25.39
$GC,7745,0.83,82.5,3070,2171,2126,2009,284.1,7.4,249,7751,0.00,2.20,0.00,0.000,260,0.000,0.046,3070,3580,2067,2126,2009,0,0,0,0,0,0,28.83,26.37,28.83
$GC,7917,0.83,82.5,3069,3580,2126,2009,270.6,9.0,254,7926,0.08,2.17,0.00,0.000,5126,0.141,0.031,3055,2170,2067,2126,2009,0,0,0,0,0,0,26.22,26.46,28.83
$GC,8226,0.83,89.2,3055,2170,2126,2009,246.2,6.9,265,8238,0.00,2.22,7.38,0.638,8452,0.000,0.047,3055,3585,2035,2094,1977,0,0,0,0,0,0,28.83,26.37,25.52
$GC,8328,0.83,91.1,3055,3585,2094,1977,239.7,7.3,268,8332,0.00,2.12,0.00,0.000,1030,0.000,0.031,3064,2172,2035,2094,1977,0,0,0,0,0,0,28.83,26.42,28.83
$GC,8635,0.83,91.1,3064,2171,2094,1976,213.6,8.3,278,8639,0.00,2.20,0.00,0.000,260,0.000,0.046,3064,3580,2035,2094,1976,0,0,0,0,0,0,28.83,26.37,28.83
$GC,8781,0.83,91.1,3064,3580,2094,1976,199.4,9.9,283,8785,0.00,2.12,0.00,0.000,1030,0.000,0.031,3074,2172,2035,2094,1976,0,0,0,0,0,0,28.83,26.47,28.83
$GC,9106,0.83,91.1,3074,2171,2094,1976,168.1,9.9,294,9110,0.00,2.17,0.00,0.000,516,0.000,0.044,3085,775,2034,2094,1975,0,0,0,0,0,0,28.83,26.42,28.83
$GC,9205,0.83,91.1,3085,775,2093,1975,159.2,10.4,297,9210,0.08,2.20,0.00,0.000,5126,0.131,0.037,3058,2176,2034,2093,1975,0,0,0,0,0,0,26.27,26.48,28.83
$GC,9513,0.83,91.1,3058,2177,2093,1975,128.9,8.7,311,9519,0.00,2.20,0.00,0.000,516,0.000,0.045,3067,771,2034,2093,1975,0,0,0,0,0,0,28.83,26.45,28.83
$GC,9615,0.83,91.1,3067,771,2093,1975,120.8,8.0,316,9620,0.00,2.20,0.00,0.000,1030,0.000,0.037,3066,2170,2034,2093,1975,0,0,0,0,0,0,28.83,26.51,28.83
$GC,9932,0.83,91.1,3066,2170,2093,1975,93.7,9.2,332,9936,0.00,2.17,0.00,0.000,260,0.000,0.045,3067,3584,2034,2093,1975,0,0,0,0,0,0,28.83,26.46,28.83
$GC,10031,0.83,91.1,3066,3584,2093,1976,84.3,9.9,337,10036,0.00,2.15,0.00,0.000,1030,0.000,0.031,3076,2173,2035,2094,1976,0,0,0,0,0,0,28.83,26.55,28.83
$GC,10340,0.83,130.0,3076,2172,2093,1975,64.9,4.1,365,10380,0.00,2.25,31.02,0.627,8708,0.000,0.044,3087,779,1868,1932,1804,0,0,0,0,0,0,28.83,26.11,25.46
$GC,10433,0.88,130.0,3087,779,1930,1802,58.8,7.9,374,10443,0.00,2.20,0.00,0.000,1030,0.000,0.037,3087,2183,1865,1929,1802,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10744,0.94,156.4,3087,2183,1929,1801,40.3,5.2,405,10773,0.00,2.25,20.62,0.601,8452,0.000,0.046,3087,3573,1761,1825,1698,0,0,0,0,0,0,28.83,25.97,25.31
$GC,10880,0.94,156.4,3087,3573,1822,1698,30.5,8.1,418,10888,0.00,2.17,0.00,0.000,1030,0.000,0.030,3097,2174,1759,1822,1697,0,0,0,0,0,0,28.83,26.12,28.83
$GC,11188,1.00,161.1,3097,2174,1819,1696,6.4,7.1,449,11198,0.00,2.22,1.50,0.073,8452,0.000,0.047,3097,3581,1742,1804,1681,0,0,0,0,0,0,28.83,26.17,26.14
$STATE,11230,end climb,SURFACE_DEPTH_REACHED
$STATE,11230,begin surface coast
$FINISH,1.0,1.024809
$STATE,11244,end surface coast,CONTROL_FINISHED_OK
$STATE,11244,begin surface
$SM_CCo,11260,36.22,0.056,0,0,1380,250.21
$SM_GC,1.72,7.53,2.08,36.22,0.025,0.030,0.056,153,2252,1380,-8.04,1.16,250.21,0,0,0,0,0,0,26.32,26.27,26.14
$IRIDIUM_FIX,4929.71,-12607.52,111113,020252
$TT8_MAMPS,0.026964,0.026964
$HUMID,38.18
$INTERNAL_PRESSURE,8.93814
$TCM_TEMP,17.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,452.9,34.4
$24V_AH,24.2,11.076
$10V_AH,10.4,8.330
$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,19.100,104.875,183.850,36.225,0.000,0.000,0.000,274.775,2.250,0.000,6.532,1376.673,7986.411,298.192,1915.588,71.433,0.385,1384.353,0.000,1604.630,0.000,21.848,0.000
$DEVICE_MAMPS,203.490,58.905,907.290,55.845,0.000,0.000,0.000,79.560,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,69.640,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,311.237,602.149,371.367,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,311204
$DATA_FILE_SIZE,33677,454
$CAP_FILE_SIZE,112567,0
$CFSIZE,2097872896,2085650432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,111113,091159,4805.876,-12544.712,38,0.8,38,17.0