version: 66.11
glider: 194
mission: 7
dive: 254
start: 1 14 114 0 3 51
data:
$ID,194
$MISSION,7
$DIVE,254
$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,550
$T_MISSION,660
$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,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,12
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-6902.6641
$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,52
$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,1
$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,900
$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
$GPS1,130114,234703,4819.835,-12621.180,38,1.9,42,17.1
$_CALLS,5
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,2.44
$_SM_ANGLEo,-62.1
$GPS2,140114,000323,4819.664,-12621.030,6,1.0,6,17.1
$SPEED_LIMITS,0.072,0.215
$TGT_NAME,SEARCH_A
$TGT_LATLONG,4821.000,-12621.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.059,0.071
$KALMAN_X,-63367.8,0.0,0.0,-18034.6,-1920.9
$KALMAN_Y,62826.9,0.0,0.0,60513.2,107.5
$MHEAD_RNG_PITCHd_Wd,22.8,2474,-29.7,-6.000,-33.04,601
$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,-1.30,-23.6,108,2283,757,627,0.0,0.0,0,70,0.00,0.00,-53.05,0.000,16386,0.000,0.000,108,2283,2135,2132,2138,0,0,0,0,0,0,28.83,28.83,28.83
$GC,73,-1.30,-46.4,108,2284,2131,2139,3.4,-2.1,5,101,8.52,2.30,-13.48,0.000,18948,0.198,0.050,2357,859,2591,2635,2548,0,0,0,0,0,0,25.10,26.00,26.53
$GC,398,-1.19,-46.4,2357,859,2637,2548,64.5,-15.7,37,407,0.15,2.10,0.00,0.000,3078,0.155,0.034,2393,2250,2592,2637,2548,0,0,0,0,0,0,25.59,26.15,28.83
$GC,707,-1.19,-46.4,2392,2250,2637,2548,103.8,-11.8,59,713,0.00,2.12,0.00,0.000,516,0.000,0.037,2393,859,2592,2637,2548,0,0,0,0,0,0,28.83,26.22,28.83
$GC,880,-1.13,-46.4,2393,859,2637,2548,123.0,-11.9,67,888,0.15,2.15,0.00,0.000,3078,0.171,0.034,2420,2272,2592,2637,2548,0,0,0,0,0,0,25.80,26.27,28.83
$GC,1187,-1.13,-46.4,2420,2272,2637,2548,156.4,-10.6,82,1191,0.00,2.15,0.00,0.000,260,0.000,0.043,2412,3664,2592,2637,2548,0,0,0,0,0,0,28.83,26.19,28.83
$GC,1484,-1.13,-46.4,2411,3663,2637,2548,189.1,-11.4,92,1488,0.00,2.10,0.00,0.000,1030,0.000,0.028,2412,2249,2592,2636,2548,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1810,-1.13,-46.4,2412,2249,2637,2548,226.1,-11.9,103,1814,0.00,2.10,0.00,0.000,516,0.000,0.037,2412,872,2592,2637,2548,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1859,-1.13,-46.4,2412,872,2637,2548,229.5,-12.2,104,1867,0.00,2.17,0.00,0.000,1030,0.000,0.034,2402,2268,2592,2637,2548,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2166,-1.13,-46.4,2401,2267,2637,2548,268.9,-11.3,115,2170,0.00,2.15,0.00,0.000,516,0.000,0.036,2402,870,2592,2637,2548,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2240,-1.13,-46.4,2402,869,2637,2548,275.5,-11.5,117,2244,0.00,2.12,0.00,0.000,1030,0.000,0.034,2391,2272,2592,2637,2548,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2552,-1.13,-46.4,2391,2273,2637,2548,313.2,-11.2,126,2554,0.12,0.00,0.00,0.000,2054,0.185,0.000,2420,2273,2592,2637,2548,0,0,0,0,0,0,26.29,28.83,28.83
$GC,2852,-1.13,-46.4,2420,2273,2637,2548,344.0,-10.4,131,2856,0.00,2.17,0.00,0.000,260,0.000,0.044,2412,3673,2592,2637,2547,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2901,-1.13,-46.4,2412,3673,2637,2547,344.0,-10.4,131,2909,0.00,2.10,0.00,0.000,1030,0.000,0.028,2412,2253,2592,2637,2547,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3209,-1.13,-46.4,2412,2254,2637,2547,381.7,-10.6,137,3210,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,2254,2592,2637,2547,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3508,-1.13,-46.4,2412,2253,2637,2547,414.5,-11.0,142,3512,0.00,2.12,0.00,0.000,516,0.000,0.037,2412,865,2591,2636,2546,0,0,0,0,0,0,28.83,26.30,28.83
$GC,3624,-1.13,-46.4,2412,865,2637,2546,428.8,-11.8,144,3628,0.00,2.15,0.00,0.000,1030,0.000,0.034,2402,2269,2591,2637,2546,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3985,-1.13,-46.4,2401,2269,2637,2545,469.2,-11.0,150,3989,0.00,2.17,0.00,0.000,260,0.000,0.044,2391,3669,2591,2637,2545,0,0,0,0,0,0,28.83,26.19,28.83
$GC,4024,-1.13,-46.4,2391,3669,2637,2545,469.2,-11.0,150,4029,0.12,2.10,0.00,0.000,3078,0.172,0.028,2421,2251,2591,2637,2545,0,0,0,0,0,0,26.02,26.45,28.83
$GC,4342,-1.20,-46.4,2420,2251,2637,2544,510.3,-11.5,156,4347,0.00,2.12,0.00,0.000,516,0.000,0.037,2420,866,2590,2637,2544,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4402,-1.26,-46.4,2420,866,2637,2544,517.2,-11.5,157,4407,0.00,2.15,0.00,0.000,1030,0.000,0.034,2412,2273,2590,2637,2544,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4762,-1.32,-46.4,2412,2273,2637,2543,555.7,-10.4,163,4764,0.15,0.00,0.00,0.000,4102,0.073,0.000,2323,2273,2590,2637,2544,0,0,0,0,0,0,26.67,28.83,28.83
$GC,5061,-1.32,-46.4,2323,2274,2637,2543,594.7,-13.0,168,5063,0.15,0.00,0.00,0.000,2054,0.166,0.000,2360,2274,2590,2636,2544,0,0,0,0,0,0,26.24,28.83,28.83
$GC,5361,-1.32,-46.4,2360,2275,2637,2543,630.8,-11.8,173,5363,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2275,2590,2637,2543,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5661,-1.32,-46.4,2360,2275,2637,2543,665.5,-11.5,178,5662,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2275,2589,2637,2542,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5961,-1.32,-46.4,2360,2274,2637,2542,700.6,-11.8,183,5965,0.00,2.17,0.00,0.000,260,0.000,0.045,2352,3666,2589,2637,2541,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6121,-1.32,-46.4,2352,3666,2635,2542,714.5,-11.8,185,6125,0.00,2.15,0.00,0.000,1030,0.000,0.029,2352,2261,2589,2636,2542,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6438,-1.32,-46.4,2352,2261,2636,2541,754.8,-11.1,191,6442,0.00,2.22,0.00,0.000,260,0.000,0.045,2341,3670,2588,2635,2541,0,0,0,0,0,0,28.83,26.14,28.83
$GC,6527,-1.32,-46.4,2341,3670,2636,2541,760.9,-10.9,192,6531,0.00,2.10,0.00,0.000,1030,0.000,0.029,2341,2263,2588,2636,2541,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6854,-1.32,-46.4,2341,2263,2636,2541,803.1,-12.0,198,6855,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2263,2588,2636,2540,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7154,-1.32,-46.4,2341,2263,2636,2540,839.3,-12.1,203,7158,0.00,2.15,0.00,0.000,516,0.000,0.040,2341,869,2588,2636,2540,0,0,0,0,0,0,28.83,26.23,28.83
$GC,7318,-1.32,-46.4,2341,869,2636,2540,854.1,-12.3,205,7322,0.00,2.15,0.00,0.000,1030,0.000,0.036,2331,2269,2587,2636,2539,0,0,0,0,0,0,28.83,26.26,28.83
$GC,7631,-1.32,-46.4,2331,2269,2636,2539,901.0,-13.4,211,7632,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2269,2587,2636,2539,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7931,-1.32,-46.4,2330,2269,2636,2539,941.8,-13.5,216,7937,0.00,2.17,0.00,0.000,516,0.000,0.039,2331,871,2587,2636,2538,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8055,-1.32,-46.4,2330,871,2636,2539,957.7,-13.3,218,8060,0.15,2.15,0.00,0.000,3078,0.168,0.037,2358,2265,2587,2636,2539,0,0,0,0,0,0,25.79,26.25,28.83
$STATE,8349,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8349,begin apogee
$GC,8353,-0.22,0.0,2358,2174,2636,2539,990.1,-10.6,223,8396,1.10,0.00,38.92,1.225,10246,0.125,0.000,2705,2174,2399,2456,2343,0,0,0,0,0,0,25.27,28.83,23.63
$STATE,8397,end apogee,CONTROL_FINISHED_OK
$STATE,8398,begin climb
$GC,8399,1.30,46.4,2705,2174,2456,2343,990.1,0.0,223,8444,1.38,0.00,40.97,1.213,10246,0.054,0.000,3211,2174,2209,2261,2158,0,0,0,0,0,0,25.53,28.83,23.32
$GC,8702,1.25,46.4,3211,2174,2256,2157,970.1,7.5,229,8708,0.00,2.20,0.00,0.000,516,0.000,0.041,3222,782,2206,2256,2157,0,0,0,0,0,0,28.83,25.92,28.83
$GC,8910,1.19,46.4,3221,783,2255,2156,956.1,7.8,232,8915,0.20,2.17,0.00,0.000,5126,0.163,0.035,3171,2178,2206,2256,2156,0,0,0,0,0,0,25.63,26.15,28.83
$GC,9237,1.19,47.7,3171,2178,2256,2156,935.3,5.8,238,9243,0.00,2.20,0.00,0.000,260,0.000,0.044,3172,3583,2205,2255,2156,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9361,1.19,50.1,3171,3583,2255,2156,928.5,5.6,240,9370,0.00,2.12,3.92,0.715,9222,0.000,0.031,3180,2172,2194,2243,2146,0,0,0,0,0,0,28.83,26.34,24.25
$GC,9712,1.19,53.8,3180,2172,2242,2146,909.5,5.4,246,9724,0.00,2.25,4.70,0.805,8708,0.000,0.041,3190,777,2180,2229,2131,0,0,0,0,0,0,28.83,26.30,24.31
$GC,9981,1.19,55.0,3189,777,2228,2131,895.6,5.8,250,9985,0.00,2.15,0.00,0.000,1030,0.000,0.035,3190,2172,2179,2228,2130,0,0,0,0,0,0,28.83,26.32,28.83
$GC,10308,1.19,56.1,3189,2172,2228,2130,874.7,5.8,256,10314,0.00,2.17,0.00,0.000,516,0.000,0.041,3200,778,2178,2227,2130,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10391,1.19,57.4,3200,778,2227,2130,871.2,5.8,257,10401,0.12,2.15,4.35,0.700,13318,0.174,0.035,3172,2172,2166,2215,2117,0,0,0,0,0,0,25.97,26.34,24.37
$GC,10729,1.19,59.2,3172,2172,2214,2117,850.5,5.7,263,10734,0.00,2.20,0.00,0.000,260,0.000,0.044,3172,3581,2166,2215,2118,0,0,0,0,0,0,28.83,26.25,28.83
$GC,10776,1.19,60.9,3171,3581,2214,2117,850.5,5.7,263,10789,0.00,2.12,4.85,0.795,9222,0.000,0.031,3180,2163,2150,2198,2102,0,0,0,0,0,0,28.83,26.41,24.37
$GC,11088,1.19,60.9,3180,2163,2198,2102,827.5,6.5,269,11092,0.00,2.15,0.00,0.000,516,0.000,0.041,3190,781,2149,2197,2102,0,0,0,0,0,0,28.83,26.27,28.83
$GC,11157,1.19,60.9,3190,781,2197,2102,823.8,6.6,270,11161,0.00,2.15,0.00,0.000,1030,0.000,0.035,3190,2180,2149,2197,2102,0,0,0,0,0,0,28.83,26.34,28.83
$GC,11504,1.19,60.9,3190,2180,2197,2102,796.4,7.8,276,11510,0.00,2.20,0.00,0.000,516,0.000,0.041,3200,774,2149,2197,2102,0,0,0,0,0,0,28.83,26.29,28.83
$GC,11564,1.19,60.9,3200,774,2196,2102,791.8,7.9,277,11569,0.12,2.15,0.00,0.000,5126,0.173,0.035,3172,2173,2149,2196,2102,0,0,0,0,0,0,25.98,26.36,28.83
$GC,11921,1.19,60.9,3171,2173,2196,2102,766.8,6.9,283,11925,0.00,2.17,0.00,0.000,260,0.000,0.044,3172,3579,2149,2196,2102,0,0,0,0,0,0,28.83,26.25,28.83
$GC,12217,1.19,60.9,3172,3579,2197,2102,746.0,7.0,288,12221,0.00,2.12,0.00,0.000,1030,0.000,0.031,3180,2169,2149,2196,2102,0,0,0,0,0,0,28.83,26.43,28.83
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$STATE,21672,end climb,NO_VERTICAL_VELOCITY
$STATE,21672,begin surface
$SM_CCo,21674,233.43,0.605,0,0,499,466.07
$SM_GC,2.58,8.40,0.12,0.00,0.026,0.079,0.000,146,2267,493,-8.04,-1.13,467.79,0,0,0,0,0,0,25.21,25.14,28.83
$IRIDIUM_FIX,4801.38,-12623.06,130114,232310
$TT8_MAMPS,0.026964,0.026964
$HUMID,38.58
$INTERNAL_PRESSURE,8.82095
$TCM_TEMP,13.40
$XPDR_PINGS,0
$24V_AH,23.3,40.008
$10V_AH,10.1,27.265
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
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$SENSOR_MAMPS,23.970,0.750,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,300336
$DATA_FILE_SIZE,43668,577
$CAP_FILE_SIZE,186519,0
$CFSIZE,2097872896,2061860864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,140114,061204,4820.830,-12621.037,43,1.1,43,17.1