version: 66.11
glider: 194
mission: 7
dive: 84
start: 11 13 113 1 51 39
data:
$ID,194
$MISSION,7
$DIVE,84
$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,40
$SPEED_FACTOR,1
$RHO,1.023
$MASS,58592
$MASS_COMP,3867
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,14
$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,-4465.3081
$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,55
$R_STBD_OVSHOOT,35
$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
$GPS1,131113,014429,4802.210,-12554.543,40,0.9,40,16.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.05
$_SM_ANGLEo,-64.5
$GPS2,131113,015112,4802.360,-12554.501,5,1.0,5,16.9
$SPEED_LIMITS,0.089,0.235
$TGT_NAME,SEARCH_A
$TGT_LATLONG,4800.000,-12554.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.114,-0.149
$KALMAN_X,-31849.0,0.0,0.0,-8995.2,362.4
$KALMAN_Y,35974.9,0.0,0.0,59568.0,538.1
$MHEAD_RNG_PITCHd_Wd,155.0,4415,-20.4,-7.500,-24.15,1386
$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,-0.89,-68.4,113,2241,1097,998,0.0,0.0,0,65,0.00,0.00,-48.10,0.000,16386,0.000,0.000,111,2241,2368,2362,2375,0,0,0,0,0,0,28.83,28.83,28.83
$GC,68,-0.89,-127.0,111,2241,2361,2377,3.3,-3.2,5,97,8.65,2.33,-15.12,0.000,18692,0.194,0.060,2488,3670,2920,2973,2867,0,0,0,0,0,0,25.55,25.98,26.36
$GC,135,-0.77,-127.0,2487,3670,2975,2867,12.6,-16.2,12,145,0.17,2.12,0.00,0.000,3078,0.145,0.029,2535,2258,2921,2975,2867,0,0,0,0,0,0,25.79,26.08,28.83
$GC,445,-0.77,-127.0,2534,2257,2977,2867,56.9,-13.7,43,454,0.00,2.15,0.00,0.000,516,0.000,0.041,2535,874,2922,2977,2867,0,0,0,0,0,0,28.83,26.16,28.83
$GC,548,-0.77,-127.0,2535,874,2978,2867,72.1,-14.8,53,557,0.00,2.17,0.00,0.000,1030,0.000,0.037,2526,2283,2922,2978,2867,0,0,0,0,0,0,28.83,26.22,28.83
$GC,867,-0.77,-127.0,2526,2283,2978,2867,112.8,-12.4,72,868,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2283,2923,2979,2867,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1167,-0.77,-127.0,2526,2283,2978,2867,151.5,-12.7,87,1173,0.00,2.15,0.00,0.000,260,0.000,0.046,2516,3674,2922,2978,2867,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1305,-0.77,-127.0,2515,3675,2979,2867,166.3,-12.2,91,1309,0.00,2.10,0.00,0.000,1030,0.000,0.028,2516,2264,2922,2978,2867,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1617,-0.77,-127.0,2515,2263,2979,2867,203.4,-11.1,102,1621,0.00,2.15,0.00,0.000,516,0.000,0.040,2516,864,2923,2979,2867,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1673,-0.77,-127.0,2515,865,2979,2867,209.8,-11.3,104,1677,0.12,2.15,0.00,0.000,3078,0.150,0.038,2540,2262,2922,2978,2867,0,0,0,0,0,0,26.21,26.43,28.83
$GC,1999,-0.77,-127.0,2539,2261,2978,2867,241.7,-9.3,115,2003,0.00,2.17,0.00,0.000,260,0.000,0.047,2532,3668,2922,2979,2866,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2073,-0.77,-127.0,2532,3668,2978,2866,246.9,-9.2,117,2077,0.00,2.12,0.00,0.000,1030,0.000,0.029,2532,2266,2922,2979,2866,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2385,-0.77,-127.0,2532,2266,2979,2866,277.2,-9.1,128,2386,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2266,2922,2978,2866,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2715,-0.82,-127.0,2532,2266,2978,2866,307.8,-9.4,138,2719,0.00,2.15,0.00,0.000,516,0.000,0.041,2532,867,2921,2978,2865,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2771,-0.82,-127.0,2532,867,2978,2865,313.5,-9.8,139,2775,0.00,2.15,0.00,0.000,1030,0.000,0.038,2522,2263,2921,2978,2865,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3128,-0.82,-127.0,2522,2263,2978,2864,350.1,-10.3,145,3133,0.00,2.17,0.00,0.000,260,0.000,0.047,2512,3668,2921,2978,2864,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3160,-0.82,-127.0,2511,3668,2979,2864,350.1,-10.3,145,3164,0.00,2.12,0.00,0.000,1030,0.000,0.029,2512,2266,2921,2978,2864,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3487,-0.82,-127.0,2511,2266,2979,2863,387.0,-10.1,151,3488,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2266,2921,2979,2863,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3787,-0.82,-127.0,2511,2266,2978,2863,416.4,-9.9,156,3788,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2266,2920,2978,2863,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4088,-0.82,-127.0,2511,2266,2979,2862,447.7,-10.4,161,4093,0.00,2.20,0.00,0.000,260,0.000,0.047,2501,3676,2920,2978,2862,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4140,-0.82,-127.0,2501,3676,2978,2862,447.7,-10.4,161,4151,0.00,2.15,0.00,0.000,1030,0.000,0.031,2501,2266,2920,2978,2862,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4450,-0.82,-127.0,2501,2266,2978,2862,486.1,-10.8,167,4455,0.00,2.12,0.00,0.000,516,0.000,0.042,2501,876,2920,2978,2862,0,0,0,0,0,0,28.83,26.52,28.83
$GC,4561,-0.82,-127.0,2501,876,2979,2861,492.6,-10.7,168,4569,0.00,2.17,0.00,0.000,1030,0.000,0.039,2497,2258,2919,2978,2861,0,0,0,0,0,0,28.83,26.54,28.83
$GC,4869,-0.82,-127.0,2497,2258,2978,2861,530.0,-10.3,174,4874,0.00,2.17,0.00,0.000,260,0.000,0.048,2487,3670,2920,2978,2862,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4980,-0.82,-127.0,2487,3670,2978,2861,536.7,-10.4,175,4992,0.08,2.15,0.00,0.000,3078,0.122,0.031,2525,2255,2919,2978,2861,0,0,0,0,0,0,26.34,26.61,28.83
$GC,5291,-0.91,-127.0,2525,2255,2979,2861,571.9,-9.4,181,5296,0.00,2.12,0.00,0.000,516,0.000,0.043,2525,870,2919,2978,2861,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5366,-0.99,-127.0,2525,870,2978,2861,577.4,-9.3,182,5371,0.15,2.15,0.00,0.000,5126,0.069,0.040,2427,2269,2919,2978,2860,0,0,0,0,0,0,26.56,26.54,28.83
$GC,5704,-0.99,-127.0,2426,2270,2978,2860,622.2,-13.0,188,5711,0.12,2.20,0.00,0.000,2564,0.153,0.041,2466,863,2919,2978,2860,0,0,0,0,0,0,26.44,26.51,28.83
$GC,5796,-0.99,-127.0,2466,862,2978,2860,629.6,-12.9,189,5801,0.00,2.20,0.00,0.000,1030,0.000,0.040,2458,2262,2919,2978,2860,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6124,-0.99,-127.0,2458,2262,2978,2859,671.9,-12.0,195,6125,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,2262,2918,2978,2859,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6423,-0.99,-127.0,2458,2262,2978,2858,708.0,-12.0,200,6424,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,2262,2918,2979,2858,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6726,-0.99,-127.0,2458,2262,2978,2857,743.2,-11.6,205,6727,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,2261,2917,2978,2857,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7026,-0.99,-127.0,2458,2262,2978,2857,776.5,-11.1,210,7027,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,2262,2917,2978,2856,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7323,-0.99,-127.0,2457,2262,2978,2856,808.8,-10.7,215,7327,0.00,2.20,0.00,0.000,260,0.000,0.050,2447,3667,2916,2978,2855,0,0,0,0,0,0,28.83,26.47,28.83
$GC,7402,-0.99,-127.0,2447,3667,2978,2855,814.7,-10.5,216,7407,0.00,2.15,0.00,0.000,1030,0.000,0.031,2447,2261,2916,2978,2855,0,0,0,0,0,0,28.83,26.62,28.83
$GC,7741,-0.99,-127.0,2447,2260,2978,2854,850.9,-9.9,222,7742,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,2260,2916,2978,2855,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8041,-0.99,-127.0,2447,2260,2978,2854,880.0,-9.7,227,8046,0.00,2.17,0.00,0.000,516,0.000,0.044,2447,859,2915,2978,2853,0,0,0,0,0,0,28.83,26.50,28.83
$GC,8117,-0.99,-127.0,2447,859,2978,2853,886.0,-9.6,228,8121,0.00,2.22,0.00,0.000,1030,0.000,0.041,2438,2265,2915,2979,2852,0,0,0,0,0,0,28.83,26.53,28.83
$GC,8461,-0.99,-127.0,2438,2266,2978,2852,920.6,-9.6,234,8462,0.00,0.00,0.00,0.000,6,0.000,0.000,2438,2266,2915,2978,2852,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8761,-0.99,-127.0,2438,2266,2978,2852,950.2,-9.8,239,8762,0.00,0.00,0.00,0.000,6,0.000,0.000,2438,2266,2914,2978,2851,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9059,-0.99,-127.0,2438,2266,2978,2851,978.0,-9.1,244,9063,0.00,2.20,0.00,0.000,516,0.000,0.044,2438,860,2914,2978,2851,0,0,0,0,0,0,28.83,26.49,28.83
$GC,9130,-0.99,-127.0,2438,860,2978,2851,983.3,-9.1,245,9135,0.12,2.17,0.00,0.000,3078,0.150,0.041,2463,2265,2914,2978,2851,0,0,0,0,0,0,26.31,26.53,28.83
$STATE,9231,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9232,begin apogee
$GC,9236,-0.22,0.0,2463,2163,2978,2851,993.3,-8.9,247,9344,0.73,0.00,102.15,1.225,10246,0.101,0.000,2714,2162,2400,2465,2335,0,0,0,0,0,0,26.22,28.83,23.81
$STATE,9345,end apogee,CONTROL_FINISHED_OK
$STATE,9345,begin climb
$GC,9347,0.89,127.0,2714,2163,2464,2335,994.1,0.0,248,9465,0.98,2.50,108.45,1.204,10756,0.044,0.045,3093,779,1881,1945,1818,0,0,0,0,0,0,24.85,23.98,23.13
$GC,9490,0.89,127.0,3093,779,1941,1816,986.3,6.9,251,9494,0.00,2.40,0.00,0.000,1030,0.000,0.038,3093,2159,1879,1942,1816,0,0,0,0,0,0,28.83,24.41,28.83
$GC,9834,0.75,127.0,3093,2159,1937,1812,932.2,15.1,257,9840,0.20,2.30,0.00,0.000,4356,0.149,0.046,3033,3583,1875,1938,1812,0,0,0,0,0,0,25.29,25.47,28.83
$GC,9941,0.61,127.0,3033,3582,1937,1812,924.3,14.6,258,9946,0.20,2.20,0.00,0.000,5126,0.143,0.033,2987,2179,1874,1937,1812,0,0,0,0,0,0,25.41,25.67,28.83
$GC,10247,0.61,127.0,2986,2178,1937,1809,887.6,10.0,263,10251,0.00,2.28,0.00,0.000,516,0.000,0.046,2995,769,1873,1937,1809,0,0,0,0,0,0,28.83,25.88,28.83
$GC,10296,0.61,127.0,2994,769,1936,1808,887.6,10.0,263,10304,0.00,2.30,0.00,0.000,1030,0.000,0.039,2995,2187,1872,1936,1808,0,0,0,0,0,0,28.83,25.95,28.83
$GC,10603,0.61,127.0,2994,2187,1936,1808,854.1,9.4,269,10604,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2187,1872,1936,1808,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10903,0.61,127.0,2994,2187,1936,1808,825.4,9.6,274,10907,0.00,2.22,0.00,0.000,260,0.000,0.048,2994,3588,1872,1936,1808,0,0,0,0,0,0,28.83,26.14,28.83
$GC,10967,0.61,127.0,2995,3588,1936,1808,819.8,9.6,275,10971,0.00,2.17,0.00,0.000,1030,0.000,0.033,3005,2169,1872,1936,1808,0,0,0,0,0,0,28.83,26.25,28.83
$GC,11320,0.61,127.0,3005,2169,1936,1808,781.1,11.1,281,11325,0.00,2.25,0.00,0.000,260,0.000,0.048,3005,3582,1872,1936,1808,0,0,0,0,0,0,28.83,26.22,28.83
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$STATE,18963,end climb,SURFACE_DEPTH_REACHED
$STATE,18963,begin surface coast
$FINISH,1.1,1.012167
$STATE,18996,end surface coast,CONTROL_FINISHED_OK
$STATE,18996,begin surface
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$TT8_MAMPS,0.026964,0.026964
$HUMID,38.26
$INTERNAL_PRESSURE,8.91861
$TCM_TEMP,17.50
$XPDR_PINGS,1
$24V_AH,23.1,12.100
$10V_AH,10.3,8.999
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,19.950,154.125,246.675,26.250,0.000,0.000,0.000,329.225,15.250,0.000,8.977,1723.826,14904.261,396.545,2316.101,103.277,0.000,1757.906,0.000,1889.197,0.000,125.256,0.000
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$MEM,311220
$DATA_FILE_SIZE,40408,540
$CAP_FILE_SIZE,169143,0
$CFSIZE,2097872896,2084339712
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,18061.99,0x235a20,1,24
$GPS,131113,071004,4800.763,-12554.734,33,0.8,33,16.9