version: 66.11
glider: 194
mission: 7
dive: 9
start: 10 26 113 13 38 52
data:
$ID,194
$MISSION,7
$DIVE,9
$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,360
$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,2
$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,300
$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,-4319.0991
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,199
$PITCH_MAX,3894
$C_PITCH,2850
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,24
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,291
$ROLL_MAX,3873
$ROLL_DEG,40
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,46
$R_STBD_OVSHOOT,36
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2371
$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,20
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$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
$GPS1,261013,133022,4706.125,-12505.118,38,0.9,38,16.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-65.8
$GPS2,261013,133826,4706.151,-12505.102,4,0.8,4,16.6
$SPEED_LIMITS,0.084,0.260
$TGT_NAME,SEARCH_A
$TGT_LATLONG,4715.000,-12530.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,281.0,35331,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-0.73,-146.6,156,2199,1162,1107,0.0,0.0,0,60,0.00,0.00,-43.80,0.000,16386,0.000,0.000,155,2199,2380,2373,2388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,62,-0.73,-146.6,155,2199,2375,2387,3.0,-4.9,4,92,9.02,2.33,-14.80,0.000,18692,0.202,0.064,2600,3611,2970,3041,2900,0,0,0,0,0,0,25.63,25.94,26.31
$GC,155,-0.73,-146.6,2599,3611,3043,2901,15.1,-14.4,13,165,0.00,2.15,0.00,0.000,1030,0.000,0.031,2600,2189,2971,3043,2900,0,0,0,0,0,0,28.83,26.06,28.83
$GC,465,-0.73,-146.6,2599,2189,3046,2901,53.0,-9.5,44,475,0.00,2.25,0.00,0.000,260,0.000,0.050,2589,3608,2973,3045,2901,0,0,0,0,0,0,28.83,26.14,28.83
$GC,692,-0.73,-146.6,2589,3608,3046,2901,77.7,-11.1,66,702,0.00,2.10,0.00,0.000,1030,0.000,0.031,2589,2192,2973,3046,2900,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1002,-0.73,-146.6,2589,2192,3047,2900,107.0,-9.2,83,1007,0.00,2.22,0.00,0.000,260,0.000,0.050,2579,3610,2973,3047,2900,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1103,-0.73,-146.6,2578,3611,3047,2901,115.4,-8.4,88,1110,0.12,2.12,0.00,0.000,3078,0.137,0.031,2614,2185,2973,3047,2900,0,0,0,0,0,0,26.20,26.39,28.83
$GC,1424,-0.73,-146.6,2613,2185,3046,2900,137.3,-7.2,104,1429,0.00,2.25,0.00,0.000,260,0.000,0.050,2606,3612,2973,3047,2900,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1487,-0.73,-146.6,2606,3613,3047,2901,142.1,-7.5,107,1492,0.00,2.15,0.00,0.000,1030,0.000,0.031,2606,2200,2973,3047,2900,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1816,-0.73,-146.6,2606,2199,3047,2900,167.3,-7.5,120,1817,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2199,2973,3047,2900,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2116,-0.73,-146.6,2606,2199,3047,2900,187.5,-6.5,130,2122,0.00,2.20,0.00,0.000,260,0.000,0.051,2604,3608,2973,3047,2900,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2184,-0.73,-146.6,2603,3608,3047,2900,191.5,-6.4,132,2188,0.00,2.10,0.00,0.000,1030,0.000,0.031,2604,2192,2973,3047,2900,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2507,-0.73,-146.6,2603,2192,3047,2900,216.3,-7.7,143,2508,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2191,2973,3047,2900,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2807,-0.73,-146.6,2603,2191,3046,2900,238.2,-7.0,153,2813,0.00,2.22,0.00,0.000,260,0.000,0.052,2593,3617,2973,3047,2899,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2900,-0.73,-146.6,2593,3618,3047,2900,244.8,-7.0,156,2905,0.00,2.12,0.00,0.000,1030,0.000,0.032,2593,2188,2973,3047,2899,0,0,0,0,0,0,28.83,26.57,28.83
$GC,3230,-0.73,-146.6,2593,2188,3046,2899,266.1,-6.4,167,3231,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2188,2973,3047,2899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3530,-0.73,-146.6,2593,2188,3047,2898,285.1,-6.4,177,3536,0.00,2.22,0.00,0.000,260,0.000,0.052,2584,3615,2972,3047,2897,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3592,-0.73,-146.6,2584,3615,3047,2897,289.0,-6.5,179,3597,0.08,2.15,0.00,0.000,3078,0.108,0.031,2614,2194,2972,3047,2897,0,0,0,0,0,0,26.44,26.61,28.83
$GC,3920,-0.73,-146.6,2613,2193,3047,2897,308.1,-5.8,188,3921,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2193,2972,3047,2897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4220,-0.73,-146.6,2613,2194,3047,2897,326.3,-6.1,193,4226,0.00,2.22,0.00,0.000,260,0.000,0.054,2608,3617,2971,3046,2896,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4293,-0.73,-146.6,2608,3616,3047,2896,330.0,-6.0,194,4297,0.00,2.10,0.00,0.000,1030,0.000,0.031,2608,2200,2971,3046,2896,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4643,-0.73,-146.6,2608,2200,3047,2896,353.2,-6.5,200,4644,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2200,2971,3046,2896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4941,-0.73,-146.6,2608,2200,3047,2895,371.3,-6.0,205,4947,0.00,2.17,0.00,0.000,260,0.000,0.054,2608,3602,2970,3046,2895,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5050,-0.73,-146.6,2608,3602,3046,2895,374.9,-6.0,206,5054,0.00,2.08,0.00,0.000,1030,0.000,0.032,2608,2197,2970,3046,2895,0,0,0,0,0,0,28.83,26.65,28.83
$GC,5357,-0.73,-146.6,2608,2198,3046,2894,394.5,-5.4,211,5359,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2198,2970,3046,2894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5656,-0.73,-146.6,2608,2198,3046,2895,410.0,-5.2,216,5662,0.00,2.20,0.00,0.000,260,0.000,0.054,2608,3605,2970,3046,2894,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5734,-0.73,-146.6,2607,3605,3046,2894,413.1,-5.2,217,5739,0.00,2.10,0.00,0.000,1030,0.000,0.032,2608,2190,2970,3046,2894,0,0,0,0,0,0,28.83,26.66,28.83
$GC,6078,-0.73,-146.6,2608,2190,3046,2894,434.1,-6.0,223,6079,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2190,2970,3046,2894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6378,-0.73,-146.6,2608,2190,3046,2893,451.8,-5.9,228,6383,0.00,2.20,0.00,0.000,260,0.000,0.054,2608,3609,2969,3046,2893,0,0,0,0,0,0,28.83,26.56,28.83
$GC,6429,-0.73,-146.6,2608,3609,3046,2893,451.8,-5.9,228,6438,0.00,2.12,0.00,0.000,1030,0.000,0.032,2608,2202,2969,3046,2893,0,0,0,0,0,0,28.83,26.67,28.83
$GC,6738,-0.73,-146.6,2608,2202,3046,2893,471.4,-5.4,234,6739,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2202,2969,3046,2893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7037,-0.73,-146.6,2608,2202,3046,2893,487.5,-5.4,239,7043,0.00,2.20,0.00,0.000,260,0.000,0.054,2608,3610,2969,3046,2893,0,0,0,0,0,0,28.83,26.57,28.83
$GC,7142,-0.73,-146.6,2608,3610,3046,2893,490.8,-5.4,240,7146,0.00,2.10,0.00,0.000,1030,0.000,0.033,2608,2189,2969,3045,2893,0,0,0,0,0,0,28.83,26.67,28.83
$GC,7462,-0.73,-146.6,2608,2188,3046,2893,512.0,-5.9,246,7463,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2189,2969,3046,2893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7760,-0.73,-146.6,2608,2189,3045,2892,530.7,-6.2,251,7762,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2188,2969,3046,2892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8060,-0.73,-146.6,2608,2188,3045,2892,550.9,-6.7,256,8066,0.00,2.22,0.00,0.000,260,0.000,0.054,2608,3610,2968,3045,2892,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8137,-0.73,-146.6,2608,3610,3045,2892,554.9,-6.7,257,8141,0.00,2.10,0.00,0.000,1030,0.000,0.033,2608,2194,2969,3046,2892,0,0,0,0,0,0,28.83,26.68,28.83
$GC,8480,-0.73,-146.6,2608,2193,3046,2892,575.1,-5.4,263,8486,0.00,2.20,0.00,0.000,260,0.000,0.054,2608,3605,2969,3046,2892,0,0,0,0,0,0,28.83,26.57,28.83
$GC,8547,-0.73,-146.6,2608,3605,3045,2892,578.0,-5.3,264,8551,0.00,2.10,0.00,0.000,1030,0.000,0.033,2608,2189,2968,3046,2891,0,0,0,0,0,0,28.83,26.68,28.83
$GC,8900,-0.73,-146.6,2608,2189,3045,2891,595.9,-5.0,270,8906,0.00,2.22,0.00,0.000,260,0.000,0.054,2608,3606,2968,3045,2891,0,0,0,0,0,0,28.83,26.57,28.83
$GC,8937,-0.73,-146.6,2608,3606,3045,2892,595.9,-5.0,270,8941,0.00,2.10,0.00,0.000,1030,0.000,0.033,2608,2191,2968,3045,2891,0,0,0,0,0,0,28.83,26.68,28.83
$GC,9261,-0.73,-146.6,2607,2190,3045,2891,614.3,-5.2,276,9267,0.00,2.20,0.00,0.000,260,0.000,0.054,2608,3606,2968,3046,2891,0,0,0,0,0,0,28.83,26.57,28.83
$GC,9320,-0.73,-146.6,2608,3606,3045,2891,617.4,-5.2,277,9326,0.00,2.10,0.00,0.000,1030,0.000,0.033,2608,2195,2968,3045,2891,0,0,0,0,0,0,28.83,26.68,28.83
$GC,9680,-0.73,-146.6,2608,2195,3045,2891,635.4,-4.9,283,9686,0.00,2.20,0.00,0.000,260,0.000,0.054,2608,3605,2968,3046,2891,0,0,0,0,0,0,28.83,26.56,28.83
$GC,9732,-0.73,-146.6,2608,3605,3045,2891,635.4,-4.9,283,9741,0.00,2.12,0.00,0.000,1030,0.000,0.033,2608,2203,2968,3045,2891,0,0,0,0,0,0,28.83,26.69,28.83
$GC,10042,-0.73,-146.6,2608,2203,3045,2890,651.3,-4.3,289,10043,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2203,2968,3046,2891,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10340,-0.73,-146.6,2608,2203,3045,2890,663.6,-4.1,294,10346,0.00,2.20,0.00,0.000,260,0.000,0.054,2608,3608,2967,3045,2890,0,0,0,0,0,0,28.83,26.56,28.83
$GC,10418,-0.73,-146.6,2608,3608,3045,2890,666.1,-4.2,295,10422,0.00,2.10,0.00,0.000,1030,0.000,0.033,2608,2192,2967,3045,2890,0,0,0,0,0,0,28.83,26.67,28.83
$GC,10763,-0.73,-146.6,2608,2192,3045,2890,682.0,-4.4,301,10764,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2192,2967,3045,2890,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10819,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,10819,begin apogee
$GC,10823,-0.21,0.0,2608,2317,3045,2890,684.9,-4.5,302,10942,0.47,0.00,112.88,1.035,10246,0.081,0.000,2783,2317,2370,2432,2309,0,0,0,0,0,0,26.53,28.83,23.84
$STATE,10943,end apogee,CONTROL_FINISHED_OK
$STATE,10943,begin climb
$GC,10944,0.73,146.6,2783,2317,2432,2309,687.8,0.0,304,11073,0.80,2.47,119.00,1.011,10756,0.033,0.047,3124,909,1772,1827,1717,0,0,0,0,0,0,24.88,24.42,23.58
$GC,11258,0.73,146.6,3124,909,1817,1713,652.8,14.8,309,11263,0.15,2.28,0.00,0.000,5126,0.156,0.046,3088,2304,1764,1816,1713,0,0,0,0,0,0,25.35,25.48,28.83
$GC,11601,0.73,146.6,3088,2304,1817,1711,595.9,15.7,315,11602,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2304,1764,1817,1711,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,15844,end climb,SURFACE_DEPTH_REACHED
$STATE,15844,begin surface coast
$FINISH,2.0,1.023741
$STATE,15847,end surface coast,CONTROL_FINISHED_OK
$STATE,15847,begin surface
$SM_CCo,15863,19.40,0.063,0,0,1148,300.00
$SM_GC,3.15,7.60,2.10,19.40,0.033,0.045,0.063,169,2206,1148,-8.25,-1.05,300.00,0,0,0,0,0,0,26.53,26.46,26.36
$IRIDIUM_FIX,4648.08,-12507.29,261013,131334
$TT8_MAMPS,0.026964,0.026964
$HUMID,39.88
$INTERNAL_PRESSURE,8.91861
$TCM_TEMP,17.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,18.4
$24V_AH,23.6,3.246
$10V_AH,10.3,2.857
$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,18.350,113.700,276.025,19.400,0.000,0.000,0.000,361.850,15.000,0.000,5.714,1503.908,12166.910,359.667,2265.529,81.746,0.000,1597.809,0.000,1853.881,0.000,95.302,0.000
$DEVICE_MAMPS,201.960,78.030,1035.045,62.730,0.000,0.000,0.000,79.560,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,334.204,644.233,1042.875,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,311256
$DATA_FILE_SIZE,37174,486
$CAP_FILE_SIZE,132548,0
$CFSIZE,2097872896,2094399488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,261013,180434,4708.278,-12507.093,23,1.0,23,16.6