version: 66.11
glider: 194
mission: 7
dive: 19
start: 10 28 113 18 27 7
data:
$ID,194
$MISSION,7
$DIVE,19
$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,-4331.7905
$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,58
$R_STBD_OVSHOOT,42
$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
$GPS1,281013,175334,4715.447,-12530.106,33,0.9,33,16.7
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-62.4
$GPS2,281013,182640,4715.550,-12530.301,5,1.3,5,16.7
$SPEED_LIMITS,0.084,0.260
$TGT_NAME,SEARCH_B
$TGT_LATLONG,4745.000,-12545.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.096,0.242
$KALMAN_X,1238.3,0.0,0.0,-18822.6,193.1
$KALMAN_Y,-268.8,0.0,0.0,4804.6,265.8
$MHEAD_RNG_PITCHd_Wd,321.6,57530,-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,15,-0.75,-146.6,108,2251,1273,1218,0.0,0.0,0,60,0.00,0.00,-43.22,0.000,16386,0.000,0.000,108,2252,2477,2487,2468,0,0,0,0,0,0,28.83,28.83,28.83
$GC,62,-0.75,-146.6,108,2251,2485,2469,3.1,-5.1,4,91,9.12,2.33,-13.27,0.000,18692,0.201,0.061,2547,3663,2999,3063,2935,0,0,0,0,0,0,25.41,25.71,26.06
$GC,228,-0.75,-146.6,2546,3663,3065,2935,28.3,-18.7,20,237,0.00,2.15,0.00,0.000,1030,0.000,0.029,2546,2274,3000,3065,2936,0,0,0,0,0,0,28.83,25.94,28.83
$GC,536,-0.75,-146.6,2546,2274,3067,2936,65.9,-11.6,51,538,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2274,3001,3067,2935,0,0,0,0,0,0,28.83,28.83,28.83
$GC,847,-0.75,-146.6,2547,2273,3067,2935,100.5,-11.2,73,853,0.00,2.17,0.00,0.000,516,0.000,0.043,2547,867,3001,3067,2936,0,0,0,0,0,0,28.83,26.22,28.83
$GC,894,-0.75,-146.6,2546,867,3067,2935,105.0,-11.1,75,898,0.00,2.22,0.00,0.000,1030,0.000,0.041,2537,2262,3001,3067,2935,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1208,-0.75,-146.6,2537,2263,3067,2935,141.1,-11.3,91,1213,0.00,2.15,0.00,0.000,260,0.000,0.049,2526,3661,3000,3067,2934,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1377,-0.75,-146.6,2526,3661,3067,2934,159.4,-12.0,98,1383,0.10,2.12,0.00,0.000,3078,0.122,0.029,2561,2255,3000,3067,2934,0,0,0,0,0,0,26.20,26.41,28.83
$GC,1692,-0.75,-146.6,2561,2254,3067,2932,192.6,-9.6,109,1693,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2255,3000,3067,2933,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1991,-0.75,-146.6,2561,2255,3067,2932,219.5,-8.3,119,1996,0.00,2.12,0.00,0.000,516,0.000,0.044,2561,873,2999,3067,2931,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2039,-0.75,-146.6,2561,873,3067,2931,222.1,-8.5,120,2043,0.00,2.17,0.00,0.000,1030,0.000,0.042,2556,2276,2999,3067,2931,0,0,0,0,0,0,28.83,26.45,28.83
$GC,2353,-0.75,-146.6,2556,2276,3067,2930,252.1,-9.0,131,2354,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2276,2998,3067,2930,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2652,-0.75,-146.6,2556,2276,3067,2929,278.6,-8.9,141,2657,0.00,2.15,0.00,0.000,260,0.000,0.050,2546,3667,2997,3067,2928,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2755,-0.75,-146.6,2546,3667,3066,2928,287.0,-9.2,144,2759,0.00,2.08,0.00,0.000,1030,0.000,0.030,2546,2263,2997,3067,2928,0,0,0,0,0,0,28.83,26.56,28.83
$GC,3073,-0.75,-146.6,2546,2263,3067,2927,317.2,-9.2,152,3074,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2263,2997,3067,2927,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3374,-0.75,-146.6,2546,2263,3066,2926,345.0,-9.2,157,3375,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2263,2995,3066,2925,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3675,-0.75,-146.6,2546,2263,3067,2925,374.1,-9.7,162,3677,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2263,2996,3067,2925,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3975,-0.75,-146.6,2546,2263,3066,2923,403.3,-9.7,167,3977,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2263,2994,3066,2923,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4275,-0.75,-146.6,2546,2263,3066,2922,431.7,-9.3,172,4281,0.00,2.17,0.00,0.000,260,0.000,0.052,2537,3664,2994,3066,2922,0,0,0,0,0,0,28.83,26.56,28.83
$GC,4351,-0.75,-146.6,2537,3664,3066,2922,437.3,-9.2,173,4355,0.00,2.12,0.00,0.000,1030,0.000,0.031,2536,2259,2994,3066,2922,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4694,-0.75,-146.6,2536,2259,3066,2921,469.5,-8.9,179,4695,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2259,2993,3067,2920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4995,-0.75,-146.6,2537,2259,3066,2920,494.4,-8.2,184,5000,0.00,2.17,0.00,0.000,260,0.000,0.053,2527,3660,2992,3066,2919,0,0,0,0,0,0,28.83,26.58,28.83
$GC,5086,-0.75,-146.6,2527,3660,3066,2919,499.5,-8.2,185,5091,0.12,2.08,0.00,0.000,3078,0.136,0.031,2563,2253,2992,3066,2919,0,0,0,0,0,0,26.49,26.67,28.83
$GC,5414,-0.75,-146.6,2563,2252,3066,2919,523.8,-6.4,191,5415,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2252,2992,3066,2918,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5715,-0.75,-146.6,2563,2252,3066,2918,542.8,-6.4,196,5716,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2252,2992,3066,2918,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6015,-0.75,-146.6,2563,2252,3066,2918,561.3,-6.1,201,6020,0.00,2.10,0.00,0.000,516,0.000,0.047,2563,880,2991,3066,2917,0,0,0,0,0,0,28.83,26.62,28.83
$GC,6061,-0.75,-146.6,2563,879,3066,2917,561.3,-6.1,201,6065,0.00,2.15,0.00,0.000,1030,0.000,0.045,2560,2274,2991,3066,2917,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6374,-0.75,-146.6,2560,2275,3066,2917,584.5,-6.4,207,6375,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2274,2991,3066,2917,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6674,-0.75,-146.6,2559,2275,3066,2916,604.5,-6.7,212,6680,0.00,2.17,0.00,0.000,260,0.000,0.053,2549,3676,2991,3066,2916,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6734,-0.75,-146.6,2549,3675,3066,2916,608.7,-6.8,213,6739,0.00,2.10,0.00,0.000,1030,0.000,0.032,2549,2263,2990,3066,2915,0,0,0,0,0,0,28.83,26.70,28.83
$GC,7095,-0.75,-146.6,2549,2262,3066,2915,633.7,-6.9,219,7096,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2262,2990,3066,2915,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7394,-0.75,-146.6,2549,2262,3066,2914,654.5,-6.9,224,7395,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2262,2990,3066,2914,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7694,-0.75,-146.6,2549,2262,3066,2913,674.4,-6.5,229,7700,0.00,2.20,0.00,0.000,260,0.000,0.054,2540,3669,2989,3066,2913,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7781,-0.75,-146.6,2540,3668,3066,2913,678.4,-6.5,230,7785,0.00,2.10,0.00,0.000,1030,0.000,0.033,2540,2255,2989,3066,2913,0,0,0,0,0,0,28.83,26.70,28.83
$GC,8115,-0.75,-146.6,2540,2255,3066,2913,702.0,-6.5,236,8116,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2256,2989,3066,2912,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8415,-0.75,-146.6,2539,2256,3066,2912,721.6,-6.6,241,8420,0.00,2.20,0.00,0.000,260,0.000,0.054,2537,3664,2989,3066,2912,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8501,-0.75,-146.6,2537,3664,3066,2912,725.8,-6.7,242,8505,0.00,2.08,0.00,0.000,1030,0.000,0.033,2537,2263,2989,3066,2912,0,0,0,0,0,0,28.83,26.71,28.83
$GC,8837,-0.75,-146.6,2537,2263,3065,2912,753.6,-7.7,248,8842,0.00,2.12,0.00,0.000,516,0.000,0.048,2537,876,2988,3066,2911,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8902,-0.75,-146.6,2537,876,3066,2911,758.7,-8.0,249,8906,0.00,2.15,0.00,0.000,1030,0.000,0.046,2537,2260,2988,3065,2911,0,0,0,0,0,0,28.83,26.65,28.83
$GC,9255,-0.75,-146.6,2537,2260,3065,2911,789.0,-8.4,255,9260,0.00,2.20,0.00,0.000,260,0.000,0.054,2537,3673,2988,3065,2911,0,0,0,0,0,0,28.83,26.60,28.83
$GC,9328,-0.75,-146.6,2537,3672,3065,2911,794.0,-8.3,256,9332,0.00,2.10,0.00,0.000,1030,0.000,0.033,2537,2262,2987,3064,2911,0,0,0,0,0,0,28.83,26.71,28.83
$GC,9677,-0.75,-146.6,2537,2261,3065,2911,824.7,-8.6,262,9678,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2261,2988,3065,2911,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9977,-0.75,-146.6,2537,2261,3064,2911,849.3,-8.2,267,9979,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2261,2988,3064,2912,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10277,-0.75,-146.6,2537,2261,3064,2911,871.6,-7.4,272,10278,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2261,2987,3064,2911,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10577,-0.75,-146.6,2537,2261,3063,2911,891.0,-6.3,277,10582,0.00,2.20,0.00,0.000,260,0.000,0.056,2537,3669,2987,3063,2911,0,0,0,0,0,0,28.83,26.59,28.83
$GC,10643,-0.75,-146.6,2537,3669,3063,2911,894.7,-6.3,278,10647,0.00,2.10,0.00,0.000,1030,0.000,0.034,2537,2258,2987,3063,2911,0,0,0,0,0,0,28.83,26.71,28.83
$GC,10997,-0.75,-146.6,2536,2258,3063,2911,915.7,-5.8,284,10998,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2258,2987,3063,2911,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11297,-0.75,-146.6,2537,2257,3063,2911,932.4,-5.5,289,11298,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2258,2986,3062,2911,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11596,-0.75,-146.6,2537,2258,3063,2911,949.0,-5.5,294,11602,0.00,2.22,0.00,0.000,260,0.000,0.055,2537,3673,2986,3062,2911,0,0,0,0,0,0,28.83,26.60,28.83
$GC,11648,-0.75,-146.6,2537,3673,3062,2911,949.0,-5.5,294,11660,0.00,2.15,0.00,0.000,1030,0.000,0.034,2537,2266,2986,3062,2911,0,0,0,0,0,0,28.83,26.69,28.83
$STATE,11715,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,11715,begin apogee
$GC,11719,-0.22,0.0,2537,2372,3062,2911,955.9,-5.6,296,11840,0.55,0.00,115.32,1.206,10246,0.088,0.000,2735,2372,2400,2463,2337,0,0,0,0,0,0,26.53,28.83,23.68
$STATE,11841,end apogee,CONTROL_FINISHED_OK
$STATE,11841,begin climb
$GC,11842,0.75,146.6,2735,2372,2462,2337,958.1,0.0,298,11971,0.85,0.00,125.10,1.180,10246,0.032,0.000,3088,2371,1801,1858,1745,0,0,0,0,0,0,24.77,28.83,23.30
$GC,12256,0.75,146.6,3088,2371,1850,1738,903.2,17.4,305,12258,0.15,0.00,0.00,0.000,4102,0.164,0.000,3050,2372,1794,1850,1738,0,0,0,0,0,0,25.39,28.83,28.83
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$STATE,19229,end climb,SURFACE_DEPTH_REACHED
$STATE,19229,begin surface coast
$FINISH,0.6,1.024259
$STATE,19261,end surface coast,CONTROL_FINISHED_OK
$STATE,19261,begin surface
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$HUMID,39.68
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$XPDR_PINGS,0
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$10V_AH,10.3,3.877
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,311068
$DATA_FILE_SIZE,40466,541
$CAP_FILE_SIZE,171646,0
$CFSIZE,2097872896,2093088768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,281013,234958,4717.994,-12531.694,60,0.9,60,16.7