version: 66.11
glider: 194
mission: 7
dive: 271
start: 1 20 114 0 38 28
data:
$ID,194
$MISSION,7
$DIVE,271
$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,-6924.877
$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,48
$R_STBD_OVSHOOT,55
$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,700
$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
$GPS1,200114,002434,4839.251,-12623.481,30,1.1,30,17.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.40
$_SM_ANGLEo,-66.6
$GPS2,200114,003800,4839.316,-12623.520,5,0.8,5,17.2
$SPEED_LIMITS,0.072,0.215
$TGT_NAME,SEARCH_B
$TGT_LATLONG,4836.000,-12621.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.005,-0.147
$KALMAN_X,-81565.7,0.0,0.0,-2974.7,3017.2
$KALMAN_Y,79940.1,0.0,0.0,79719.0,-1236.7
$MHEAD_RNG_PITCHd_Wd,161.0,6874,-17.7,-6.000,-22.16,1529
$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,-0.77,-60.6,111,2284,836,709,0.0,0.0,0,50,0.00,0.00,-33.20,0.000,16386,0.000,0.000,112,2284,1675,1683,1667,0,0,0,0,0,0,28.83,28.83,28.83
$GC,52,-0.77,-60.6,112,2284,1682,1669,3.0,-3.1,3,100,9.05,0.00,-34.42,0.000,19206,0.194,0.000,2529,2284,2647,2697,2597,0,0,0,0,0,0,25.20,28.83,26.59
$GC,399,-0.60,-60.6,2528,2284,2699,2597,50.7,-12.4,38,410,0.17,2.15,0.00,0.000,2308,0.154,0.041,2576,3659,2647,2698,2597,0,0,0,0,0,0,26.00,26.14,28.83
$GC,454,-0.47,-60.6,2576,3659,2699,2597,55.8,-9.4,43,463,0.15,2.10,0.00,0.000,3078,0.127,0.028,2625,2220,2648,2699,2597,0,0,0,0,0,0,25.86,26.36,28.83
$GC,762,-0.47,-60.6,2625,2221,2699,2597,79.1,-7.5,74,766,0.00,2.25,0.00,0.000,260,0.000,0.043,2616,3665,2648,2699,2597,0,0,0,0,0,0,28.83,26.21,28.83
$GC,1062,-0.47,-60.6,2616,3665,2699,2597,105.0,-7.8,89,1068,0.00,2.05,0.00,0.000,1030,0.000,0.028,2616,2268,2648,2699,2597,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1382,-0.47,-60.6,2616,2268,2699,2597,126.7,-6.1,105,1388,0.00,2.12,0.00,0.000,516,0.000,0.037,2616,872,2648,2699,2597,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1464,-0.47,-60.6,2616,872,2699,2597,132.5,-7.2,109,1469,0.00,2.15,0.00,0.000,1030,0.000,0.033,2608,2262,2648,2699,2597,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1772,-0.47,-60.6,2607,2262,2699,2597,153.4,-7.3,124,1776,0.00,2.17,0.00,0.000,260,0.000,0.043,2597,3670,2648,2699,2597,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1876,-0.47,-60.6,2597,3670,2699,2597,160.8,-8.3,127,1881,0.12,2.08,0.00,0.000,3078,0.145,0.028,2631,2256,2648,2699,2597,0,0,0,0,0,0,26.15,26.48,28.83
$GC,2184,-0.47,-60.6,2630,2256,2699,2597,185.9,-7.3,137,2185,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2256,2647,2699,2596,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2483,-0.47,-60.6,2631,2256,2699,2596,207.5,-7.2,147,2484,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2255,2648,2699,2597,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2784,-0.47,-60.6,2630,2255,2699,2597,227.4,-6.4,157,2790,0.00,2.10,0.00,0.000,516,0.000,0.037,2631,876,2648,2699,2597,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3084,-0.47,-60.6,2631,876,2700,2597,246.6,-6.4,167,3088,0.00,2.12,0.00,0.000,1030,0.000,0.034,2623,2275,2647,2699,2596,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3410,-0.47,-60.6,2623,2275,2699,2596,266.7,-6.1,178,3414,0.00,2.15,0.00,0.000,516,0.000,0.037,2623,880,2647,2699,2596,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3524,-0.47,-60.6,2623,877,2699,2596,273.7,-7.3,181,3531,0.00,2.12,0.00,0.000,1030,0.000,0.034,2614,2276,2647,2699,2596,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3831,-0.47,-60.6,2613,2276,2699,2596,300.6,-7.8,192,3835,0.00,2.15,0.00,0.000,516,0.000,0.036,2614,870,2647,2699,2596,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4080,-0.47,-60.6,2614,869,2699,2596,319.8,-8.2,196,4084,0.00,2.12,0.00,0.000,1030,0.000,0.034,2607,2272,2647,2699,2596,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4427,-0.47,-60.6,2606,2272,2699,2596,347.3,-7.5,202,4431,0.00,2.15,0.00,0.000,516,0.000,0.036,2607,869,2647,2699,2596,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4567,-0.47,-60.6,2606,869,2699,2596,356.5,-7.6,204,4571,0.00,2.12,0.00,0.000,1030,0.000,0.034,2606,2268,2647,2699,2596,0,0,0,0,0,0,28.83,26.35,28.83
$GC,4898,-0.47,-60.6,2606,2268,2699,2596,381.2,-6.8,210,4902,0.00,2.15,0.00,0.000,516,0.000,0.037,2606,868,2647,2698,2596,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5077,-0.47,-60.6,2606,868,2699,2595,394.2,-7.2,213,5082,0.12,2.12,0.00,0.000,3078,0.145,0.034,2632,2268,2647,2699,2595,0,0,0,0,0,0,26.08,26.36,28.83
$GC,5430,-0.53,-72.4,2631,2268,2699,2594,413.3,-5.2,219,5437,0.00,2.17,-0.17,0.000,16900,0.000,0.050,2632,875,2704,2757,2651,0,0,0,0,0,0,28.83,26.31,25.94
$GC,5514,-0.58,-83.0,2632,875,2757,2650,416.8,-5.3,220,5519,0.00,2.12,-0.17,0.000,17414,0.000,0.034,2625,2277,2755,2807,2703,0,0,0,0,0,0,28.83,26.34,25.65
$GC,5847,-0.64,-83.6,2625,2278,2808,2703,437.8,-6.0,226,5853,0.12,2.15,0.00,0.000,4612,0.077,0.035,2525,878,2755,2808,2703,0,0,0,0,0,0,26.70,26.32,28.83
$GC,5955,-0.64,-83.6,2525,877,2807,2703,443.4,-6.7,227,5959,0.22,2.10,0.00,0.000,3078,0.130,0.034,2581,2262,2755,2807,2703,0,0,0,0,0,0,25.89,26.34,28.83
$GC,6261,-0.64,-83.6,2581,2262,2807,2703,473.1,-7.6,232,6265,0.00,2.15,0.00,0.000,516,0.000,0.037,2581,873,2755,2807,2703,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6325,-0.64,-83.6,2581,873,2807,2703,477.5,-7.6,233,6329,0.00,2.12,0.00,0.000,1030,0.000,0.034,2575,2264,2755,2807,2703,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6677,-0.64,-83.6,2575,2264,2807,2703,504.0,-7.3,239,6681,0.00,2.15,0.00,0.000,516,0.000,0.038,2575,870,2755,2807,2703,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6866,-0.64,-83.6,2575,869,2807,2702,518.6,-8.2,242,6871,0.00,2.12,0.00,0.000,1030,0.000,0.034,2565,2266,2754,2807,2702,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7214,-0.64,-83.6,2565,2266,2807,2702,550.7,-9.1,248,7218,0.00,2.15,0.00,0.000,516,0.000,0.038,2565,872,2754,2807,2702,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7288,-0.64,-83.6,2564,872,2807,2702,556.0,-9.2,249,7292,0.00,2.12,0.00,0.000,1030,0.000,0.035,2555,2265,2754,2807,2701,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7630,-0.64,-83.6,2555,2266,2807,2701,588.1,-8.9,255,7634,0.00,2.15,0.00,0.000,516,0.000,0.038,2554,874,2754,2807,2701,0,0,0,0,0,0,28.83,26.28,28.83
$GC,7729,-0.64,-83.6,2555,873,2807,2701,593.7,-9.2,256,7734,0.12,2.12,0.00,0.000,3078,0.146,0.035,2579,2263,2753,2807,2700,0,0,0,0,0,0,26.03,26.31,28.83
$GC,8041,-0.64,-83.6,2579,2263,2807,2700,624.2,-8.3,262,8045,0.00,2.15,0.00,0.000,516,0.000,0.038,2579,872,2753,2807,2700,0,0,0,0,0,0,28.83,26.28,28.83
$GC,8110,-0.64,-83.6,2579,872,2807,2700,629.1,-8.4,263,8114,0.00,2.12,0.00,0.000,1030,0.000,0.035,2572,2262,2753,2807,2700,0,0,0,0,0,0,28.83,26.30,28.83
$GC,8457,-0.64,-83.6,2573,2262,2806,2699,658.7,-8.3,269,8458,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2262,2753,2807,2699,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8757,-0.64,-83.6,2572,2262,2807,2698,680.9,-7.4,274,8761,0.00,2.15,0.00,0.000,516,0.000,0.038,2572,873,2752,2807,2698,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8816,-0.64,-83.6,2572,873,2807,2698,685.3,-7.6,275,8820,0.00,2.17,0.00,0.000,1030,0.000,0.035,2562,2260,2752,2807,2698,0,0,0,0,0,0,28.83,26.29,28.83
$GC,9176,-0.64,-83.6,2562,2260,2807,2697,714.5,-8.4,281,9182,0.00,2.12,0.00,0.000,516,0.000,0.038,2562,879,2752,2807,2697,0,0,0,0,0,0,28.83,26.26,28.83
$GC,9247,-0.64,-83.6,2562,879,2807,2697,719.8,-8.5,282,9251,0.00,2.12,0.00,0.000,1030,0.000,0.035,2555,2265,2752,2807,2697,0,0,0,0,0,0,28.83,26.28,28.83
$GC,9594,-0.64,-83.6,2555,2265,2807,2697,747.7,-7.5,288,9598,0.00,2.20,0.00,0.000,260,0.000,0.046,2545,3672,2752,2807,2697,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9652,-0.64,-83.6,2544,3672,2807,2697,752.2,-7.6,289,9658,0.12,2.12,0.00,0.000,3078,0.138,0.029,2579,2257,2751,2807,2696,0,0,0,0,0,0,26.10,26.42,28.83
$GC,10013,-0.71,-83.6,2579,2257,2807,2696,777.0,-6.9,295,10018,0.00,2.12,0.00,0.000,516,0.000,0.039,2579,868,2751,2807,2696,0,0,0,0,0,0,28.83,26.24,28.83
$GC,10050,-0.77,-83.6,2578,868,2807,2696,777.0,-6.9,295,10055,0.12,2.15,0.00,0.000,5126,0.076,0.035,2485,2276,2751,2807,2696,0,0,0,0,0,0,26.26,26.27,28.83
$GC,10371,-0.72,-83.6,2484,2277,2807,2696,813.2,-10.8,301,10374,0.22,0.00,0.00,0.000,2054,0.129,0.000,2551,2277,2751,2807,2696,0,0,0,0,0,0,26.10,28.83,28.83
$STATE,10607,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10607,begin apogee
$GC,10612,-0.22,0.0,2552,2163,2807,2695,833.0,-8.2,305,10687,0.45,0.00,71.07,1.145,10246,0.103,0.000,2707,2163,2400,2462,2338,0,0,0,0,0,0,25.86,28.83,23.43
$STATE,10687,end apogee,CONTROL_FINISHED_OK
$STATE,10688,begin climb
$GC,10689,0.77,83.6,2707,2163,2461,2339,835.5,0.0,306,10766,0.93,0.00,71.97,1.116,10758,0.064,0.000,3036,2163,2058,2117,2000,0,0,0,0,0,0,25.15,28.83,22.71
$GC,11079,0.77,83.6,3036,2163,2110,1995,814.0,6.7,313,11081,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2163,2052,2110,1995,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11378,0.77,105.7,3036,2163,2110,1994,800.1,4.5,318,11398,0.00,0.00,18.40,1.052,8198,0.000,0.000,3037,2163,1969,2034,1905,0,0,0,0,0,0,28.83,28.83,24.15
$GC,11678,0.77,118.2,3036,2163,2033,1899,785.0,5.2,323,11695,0.00,2.30,11.55,0.988,8452,0.000,0.045,3037,3564,1918,1983,1853,0,0,0,0,0,0,28.83,25.97,24.25
$GC,11761,0.77,124.2,3036,3564,1982,1853,781.0,5.6,324,11772,0.00,2.10,6.57,0.858,9222,0.000,0.031,3047,2182,1893,1957,1829,0,0,0,0,0,0,28.83,26.12,24.14
$GC,12094,0.77,124.2,3047,2182,1955,1827,756.7,6.9,330,12099,0.00,2.20,0.00,0.000,516,0.000,0.041,3058,771,1891,1955,1827,0,0,0,0,0,0,28.83,26.20,28.83
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$STATE,22272,end climb,SURFACE_DEPTH_REACHED
$STATE,22272,begin surface coast
$FINISH,1.6,1.021947
$STATE,22326,end surface coast,CONTROL_FINISHED_OK
$STATE,22326,begin surface
$SM_CCo,22344,24.27,0.056,0,0,1379,250.21
$SM_GC,5.22,7.82,2.35,24.27,0.034,0.034,0.056,141,2263,1379,-8.04,-1.16,250.21,0,0,0,0,0,0,26.48,26.25,26.01
$IRIDIUM_FIX,4824.03,-12612.43,200114,000012
$TT8_MAMPS,0.026964,0.026964
$HUMID,39.60
$INTERNAL_PRESSURE,8.90884
$TCM_TEMP,17.40
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,823.1,17.7
$24V_AH,22.7,42.760
$10V_AH,10.0,29.167
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil,nil
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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,300684
$DATA_FILE_SIZE,50332,672
$CAP_FILE_SIZE,196755,0
$CFSIZE,2097872896,2059304960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,200114,065234,4837.357,-12623.416,39,1.0,39,17.2