version: 66.11
glider: 194
mission: 7
dive: 17
start: 10 28 113 7 40 3
data:
$ID,194
$MISSION,7
$DIVE,17
$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,390
$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,280
$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,-4329.27
$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,2807
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,23.200001
$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,2263
$C_ROLL_CLIMB,2355
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,59
$R_STBD_OVSHOOT,38
$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,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
$GPS1,281013,072103,4713.778,-12523.575,38,1.2,40,16.7
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-60.4
$GPS2,281013,073936,4713.631,-12523.444,4,1.1,4,16.7
$SPEED_LIMITS,0.084,0.260
$TGT_NAME,SEARCH_A
$TGT_LATLONG,4715.000,-12530.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.243,0.092
$KALMAN_X,817.9,0.0,0.0,-9806.3,470.5
$KALMAN_Y,-627.7,0.0,0.0,1684.4,-495.6
$MHEAD_RNG_PITCHd_Wd,273.9,8622,-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,-0.75,-146.6,110,2248,1279,1221,0.0,0.0,0,60,0.00,0.00,-43.72,0.000,16386,0.000,0.000,110,2248,2476,2476,2477,0,0,0,0,0,0,28.83,28.83,28.83
$GC,62,-0.75,-146.6,109,2248,2477,2477,3.2,-5.0,4,91,9.05,2.28,-12.43,0.000,18692,0.203,0.060,2543,3667,2999,3063,2935,0,0,0,0,0,0,25.51,25.82,26.18
$GC,388,-0.75,-146.6,2543,3667,3065,2935,54.0,-12.8,36,398,0.00,2.10,0.00,0.000,1030,0.000,0.028,2543,2264,3000,3066,2935,0,0,0,0,0,0,28.83,26.13,28.83
$GC,699,-0.75,-146.6,2543,2264,3067,2935,97.7,-14.4,61,700,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2264,3001,3067,2935,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1000,-0.75,-146.6,2543,2264,3067,2935,130.0,-9.8,76,1001,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2264,3001,3068,2935,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1318,-0.75,-146.6,2543,2264,3067,2935,164.4,-11.4,90,1322,0.00,2.15,0.00,0.000,516,0.000,0.044,2543,876,3000,3067,2934,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1465,-0.75,-146.6,2543,874,3067,2934,179.5,-12.4,94,1473,0.00,2.20,0.00,0.000,1030,0.000,0.043,2534,2264,3000,3067,2934,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1771,-0.75,-146.6,2534,2264,3067,2933,218.3,-11.3,105,1777,0.12,2.17,0.00,0.000,2308,0.151,0.048,2567,3667,3000,3067,2933,0,0,0,0,0,0,26.34,26.40,28.83
$GC,1849,-0.75,-146.6,2566,3667,3067,2933,224.4,-10.6,107,1853,0.00,2.12,0.00,0.000,1030,0.000,0.030,2567,2264,2999,3067,2932,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2162,-0.75,-146.6,2566,2263,3067,2932,255.9,-9.6,118,2164,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2263,2999,3067,2932,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2462,-0.75,-146.6,2566,2263,3067,2931,283.3,-8.9,128,2468,0.00,2.15,0.00,0.000,516,0.000,0.044,2567,868,2998,3067,2930,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2554,-0.75,-146.6,2566,867,3067,2930,291.3,-8.7,131,2559,0.00,2.15,0.00,0.000,1030,0.000,0.043,2558,2268,2998,3067,2930,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2913,-0.75,-146.6,2557,2268,3067,2929,319.4,-7.6,139,2914,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2268,2998,3067,2929,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3215,-0.75,-146.6,2557,2268,3067,2928,344.1,-8.3,144,3220,0.00,2.15,0.00,0.000,260,0.000,0.052,2548,3664,2997,3067,2928,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3285,-0.75,-146.6,2547,3664,3067,2928,349.8,-8.6,145,3289,0.00,2.12,0.00,0.000,1030,0.000,0.031,2547,2264,2997,3067,2928,0,0,0,0,0,0,28.83,26.61,28.83
$GC,3635,-0.75,-146.6,2547,2264,3067,2927,382.8,-9.1,151,3641,0.00,2.12,0.00,0.000,516,0.000,0.045,2547,872,2996,3067,2926,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3711,-0.75,-146.6,2547,872,3067,2926,388.4,-9.1,152,3715,0.00,2.20,0.00,0.000,1030,0.000,0.044,2539,2261,2996,3067,2926,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4056,-0.75,-146.6,2538,2262,3067,2925,420.7,-9.0,158,4057,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2261,2996,3067,2925,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4354,-0.75,-146.6,2538,2262,3067,2925,445.3,-8.1,163,4359,0.00,2.17,0.00,0.000,260,0.000,0.052,2528,3667,2995,3067,2924,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4417,-0.75,-146.6,2528,3667,3067,2924,450.4,-8.2,164,4422,0.10,2.12,0.00,0.000,3078,0.111,0.031,2566,2256,2995,3067,2924,0,0,0,0,0,0,26.46,26.65,28.83
$GC,4776,-0.75,-146.6,2565,2257,3067,2923,476.3,-7.2,170,4777,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2257,2995,3067,2923,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5077,-0.75,-146.6,2565,2257,3067,2922,499.0,-7.6,175,5082,0.00,2.12,0.00,0.000,516,0.000,0.047,2565,869,2994,3067,2922,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5148,-0.75,-146.6,2565,868,3067,2921,503.9,-7.7,176,5153,0.00,2.17,0.00,0.000,1030,0.000,0.044,2561,2269,2994,3067,2922,0,0,0,0,0,0,28.83,26.62,28.83
$GC,5492,-0.75,-146.6,2560,2270,3067,2921,534.1,-8.5,182,5493,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2270,2993,3067,2920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5791,-0.75,-146.6,2560,2270,3067,2920,558.2,-7.9,187,5797,0.00,2.17,0.00,0.000,260,0.000,0.053,2551,3671,2993,3067,2920,0,0,0,0,0,0,28.83,26.58,28.83
$GC,5874,-0.75,-146.6,2551,3671,3067,2920,563.1,-8.0,188,5878,0.00,2.10,0.00,0.000,1030,0.000,0.032,2551,2254,2993,3067,2919,0,0,0,0,0,0,28.83,26.67,28.83
$GC,6213,-0.75,-146.6,2551,2253,3067,2919,590.8,-7.4,194,6214,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2253,2993,3067,2919,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6514,-0.75,-146.6,2551,2253,3067,2918,614.0,-7.8,199,6516,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2253,2992,3066,2918,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6812,-0.75,-146.6,2551,2253,3067,2918,636.0,-7.3,204,6818,0.00,2.12,0.00,0.000,516,0.000,0.047,2551,873,2992,3067,2918,0,0,0,0,0,0,28.83,26.62,28.83
$GC,6880,-0.75,-146.6,2551,873,3067,2918,640.9,-7.4,205,6885,0.00,2.15,0.00,0.000,1030,0.000,0.045,2543,2261,2992,3067,2918,0,0,0,0,0,0,28.83,26.64,28.83
$GC,7234,-0.75,-146.6,2543,2262,3066,2917,667.7,-7.4,211,7235,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2261,2991,3066,2917,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7535,-0.75,-146.6,2543,2261,3066,2917,689.1,-7.1,216,7536,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2261,2991,3066,2917,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7834,-0.75,-146.6,2543,2262,3067,2916,710.4,-7.1,221,7840,0.00,2.15,0.00,0.000,516,0.000,0.048,2543,872,2991,3067,2916,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7894,-0.75,-146.6,2543,872,3067,2916,715.0,-7.1,222,7899,0.00,2.17,0.00,0.000,1030,0.000,0.046,2537,2269,2991,3067,2916,0,0,0,0,0,0,28.83,26.64,28.83
$GC,8255,-0.75,-146.6,2537,2269,3066,2916,740.5,-7.1,228,8256,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2269,2991,3066,2916,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8556,-0.75,-146.6,2537,2269,3066,2915,761.8,-7.1,233,8561,0.00,2.15,0.00,0.000,260,0.000,0.054,2537,3660,2990,3066,2915,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8606,-0.75,-146.6,2537,3659,3065,2915,761.8,-7.1,233,8614,0.00,2.12,0.00,0.000,1030,0.000,0.032,2537,2259,2990,3066,2915,0,0,0,0,0,0,28.83,26.71,28.83
$GC,8914,-0.75,-146.6,2536,2258,3066,2915,786.2,-6.7,239,8915,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2258,2990,3066,2915,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9214,-0.75,-146.6,2537,2258,3066,2915,805.7,-6.5,244,9220,0.00,2.22,0.00,0.000,260,0.000,0.055,2537,3673,2990,3066,2914,0,0,0,0,0,0,28.83,26.60,28.83
$GC,9274,-0.75,-146.6,2537,3673,3066,2913,809.4,-6.4,245,9279,0.00,2.10,0.00,0.000,1030,0.000,0.034,2538,2263,2990,3066,2914,0,0,0,0,0,0,28.83,26.71,28.83
$GC,9635,-0.75,-146.6,2537,2263,3066,2914,831.9,-6.2,251,9636,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2264,2989,3066,2913,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9934,-0.75,-146.6,2537,2263,3066,2914,850.6,-6.2,256,9936,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2264,2990,3066,2914,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10235,-0.75,-146.6,2537,2263,3066,2913,869.8,-6.5,261,10241,0.00,2.17,0.00,0.000,260,0.000,0.056,2537,3659,2989,3066,2913,0,0,0,0,0,0,28.83,26.60,28.83
$GC,10302,-0.75,-146.6,2537,3658,3066,2913,873.5,-6.4,262,10306,0.00,2.10,0.00,0.000,1030,0.000,0.034,2537,2272,2989,3066,2912,0,0,0,0,0,0,28.83,26.71,28.83
$GC,10655,-0.75,-146.6,2537,2271,3066,2913,896.1,-6.3,268,10660,0.00,2.17,0.00,0.000,516,0.000,0.049,2537,863,2989,3066,2912,0,0,0,0,0,0,28.83,26.62,28.83
$GC,10697,-0.75,-146.6,2537,863,3065,2913,896.1,-6.3,268,10701,0.00,2.17,0.00,0.000,1030,0.000,0.047,2537,2261,2989,3066,2912,0,0,0,0,0,0,28.83,26.65,28.83
$GC,11017,-0.75,-146.6,2537,2261,3066,2912,920.4,-6.7,274,11022,0.00,2.17,0.00,0.000,260,0.000,0.055,2537,3665,2989,3066,2912,0,0,0,0,0,0,28.83,26.59,28.83
$GC,11093,-0.75,-146.6,2537,3665,3065,2912,924.5,-6.7,275,11097,0.00,2.10,0.00,0.000,1030,0.000,0.034,2537,2252,2989,3066,2912,0,0,0,0,0,0,28.83,26.70,28.83
$GC,11430,-0.75,-146.6,2537,2252,3066,2912,947.9,-6.5,281,11436,0.00,2.22,0.00,0.000,260,0.000,0.055,2537,3670,2988,3065,2912,0,0,0,0,0,0,28.83,26.58,28.83
$GC,11482,-0.75,-146.6,2537,3670,3065,2912,947.9,-6.5,281,11492,0.00,2.15,0.00,0.000,1030,0.000,0.034,2537,2258,2988,3065,2912,0,0,0,0,0,0,28.83,26.71,28.83
$STATE,11729,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,11729,begin apogee
$GC,11733,-0.22,0.0,2537,2364,3065,2912,966.9,-6.3,286,11854,0.55,0.00,115.35,1.212,10246,0.087,0.000,2735,2364,2399,2462,2337,0,0,0,0,0,0,26.53,28.83,23.65
$STATE,11855,end apogee,CONTROL_FINISHED_OK
$STATE,11855,begin climb
$GC,11856,0.75,146.6,2735,2364,2462,2337,969.2,0.0,288,11985,0.85,0.00,124.35,1.192,10246,0.031,0.000,3084,2364,1802,1859,1745,0,0,0,0,0,0,24.75,28.83,23.25
$GC,12270,0.75,146.6,3084,2364,1851,1739,917.2,16.4,295,12276,0.12,2.28,0.00,0.000,4356,0.168,0.052,3049,3755,1794,1850,1739,0,0,0,0,0,0,25.39,25.48,28.83
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$STATE,19444,end climb,SURFACE_DEPTH_REACHED
$STATE,19444,begin surface coast
$FINISH,0.6,1.023929
$STATE,19485,end surface coast,CONTROL_FINISHED_OK
$STATE,19486,begin surface
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$TT8_MAMPS,0.026964,0.026964
$HUMID,39.13
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$TCM_TEMP,14.40
$XPDR_PINGS,0
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$10V_AH,10.3,3.667
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,311212
$DATA_FILE_SIZE,40439,538
$CAP_FILE_SIZE,162320,0
$CFSIZE,2097872896,2093383680
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,3219.29,0x212c5c,0,24
$GPS,281013,130705,4714.534,-12526.896,30,0.9,30,16.7