version: 66.11
glider: 194
mission: 7
dive: 21
start: 10 29 113 5 11 25
data:
$ID,194
$MISSION,7
$DIVE,21
$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,-4334.3091
$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,0.039999999
$PITCH_ADJ_DBAND,1
$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,53
$R_STBD_OVSHOOT,37
$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
$GPS1,291013,050505,4720.817,-12533.015,37,1.2,37,16.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-64.7
$GPS2,291013,051059,4720.750,-12533.113,5,1.0,5,16.7
$SPEED_LIMITS,0.084,0.260
$TGT_NAME,SEARCH_B
$TGT_LATLONG,4745.000,-12545.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.087,0.245
$KALMAN_X,1393.9,0.0,0.0,-22520.7,57.2
$KALMAN_Y,-225.8,0.0,0.0,14414.1,172.2
$MHEAD_RNG_PITCHd_Wd,323.7,47286,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-0.76,-146.6,139,2248,1160,1067,0.0,0.0,0,71,0.00,0.00,-53.62,0.000,16386,0.000,0.000,137,2247,2615,2622,2609,0,0,0,0,0,0,28.83,28.83,28.83
$GC,74,-0.76,-146.6,137,2247,2625,2608,3.4,-4.4,5,94,8.77,0.00,-9.23,0.000,18438,0.202,0.000,2530,2247,2999,3061,2938,0,0,0,0,0,0,25.79,28.83,26.40
$GC,392,-0.52,-146.6,2530,2247,3066,2939,56.9,-16.8,37,403,0.25,2.22,0.00,0.000,2308,0.135,0.048,2604,3674,3002,3066,2938,0,0,0,0,0,0,26.08,26.20,28.83
$GC,507,-0.52,-146.6,2604,3674,3067,2939,70.1,-10.6,48,517,0.00,2.12,0.00,0.000,1030,0.000,0.030,2604,2253,3002,3067,2938,0,0,0,0,0,0,28.83,26.31,28.83
$GC,818,-0.57,-146.6,2604,2253,3069,2938,97.8,-8.1,69,824,0.00,2.20,0.00,0.000,260,0.000,0.050,2593,3666,3003,3068,2938,0,0,0,0,0,0,28.83,26.32,28.83
$GC,988,-0.63,-146.6,2593,3667,3069,2938,112.1,-8.6,77,992,0.00,2.10,0.00,0.000,1030,0.000,0.030,2593,2254,3003,3068,2938,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1297,-0.74,-146.6,2593,2253,3068,2938,136.6,-7.3,92,1303,0.12,2.20,0.00,0.000,4356,0.081,0.049,2494,3670,3003,3068,2938,0,0,0,0,0,0,26.53,26.39,28.83
$GC,1378,-0.61,-146.6,2494,3670,3068,2938,145.5,-11.1,96,1384,0.25,2.05,0.00,0.000,3078,0.112,0.031,2580,2265,3003,3068,2938,0,0,0,0,0,0,26.28,26.49,28.83
$GC,1710,-0.71,-146.6,2580,2264,3068,2938,172.4,-8.5,108,1711,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2264,3003,3068,2938,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2008,-0.81,-146.6,2580,2264,3068,2938,197.8,-8.4,118,2010,0.17,0.00,0.00,0.000,4102,0.064,0.000,2481,2265,3003,3068,2938,0,0,0,0,0,0,26.60,28.83,28.83
$GC,2307,-0.67,-146.6,2481,2264,3068,2938,236.7,-13.2,128,2309,0.28,0.00,0.00,0.000,2054,0.126,0.000,2566,2264,3003,3069,2937,0,0,0,0,0,0,26.38,28.83,28.83
$GC,2610,-0.77,-146.6,2565,2264,3068,2938,262.0,-7.9,138,2615,0.00,2.17,0.00,0.000,260,0.000,0.051,2557,3671,3003,3069,2937,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2686,-0.87,-146.6,2556,3671,3068,2937,267.1,-8.1,140,2691,0.15,2.08,0.00,0.000,5126,0.070,0.031,2467,2264,3002,3068,2937,0,0,0,0,0,0,26.60,26.60,28.83
$GC,2995,-0.71,-146.6,2467,2264,3068,2937,309.0,-13.7,149,3001,0.25,2.17,0.00,0.000,2308,0.129,0.050,2541,3670,3002,3068,2936,0,0,0,0,0,0,26.42,26.54,28.83
$GC,3063,-0.60,-146.6,2541,3669,3068,2936,315.5,-12.8,150,3067,0.17,2.08,0.00,0.000,3078,0.122,0.031,2594,2263,3002,3069,2936,0,0,0,0,0,0,26.46,26.62,28.83
$GC,3413,-0.82,-146.6,2593,2263,3068,2936,342.9,-7.4,156,3415,0.22,0.00,0.00,0.000,4102,0.055,0.000,2473,2263,3001,3068,2935,0,0,0,0,0,0,26.68,28.83,28.83
$GC,3712,-0.72,-146.6,2473,2262,3068,2935,379.8,-12.6,161,3718,0.22,2.17,0.00,0.000,2308,0.129,0.050,2539,3667,3001,3068,2935,0,0,0,0,0,0,26.46,26.57,28.83
$GC,3753,-0.62,-146.6,2539,3667,3068,2935,379.8,-12.6,161,3757,0.15,2.08,0.00,0.000,3078,0.125,0.031,2585,2260,3001,3068,2935,0,0,0,0,0,0,26.49,26.65,28.83
$GC,4071,-0.84,-146.6,2584,2260,3068,2934,405.5,-6.3,167,4073,0.20,0.00,0.00,0.000,4102,0.060,0.000,2475,2260,3001,3068,2934,0,0,0,0,0,0,26.71,28.83,28.83
$GC,4372,-0.75,-146.6,2474,2260,3068,2933,436.4,-10.6,172,4374,0.22,0.00,0.00,0.000,2054,0.125,0.000,2544,2260,3000,3068,2933,0,0,0,0,0,0,26.48,28.83,28.83
$GC,4673,-0.87,-146.6,2543,2260,3068,2932,461.2,-8.1,177,4675,0.12,0.00,0.00,0.000,4102,0.080,0.000,2465,2260,3000,3068,2932,0,0,0,0,0,0,26.74,28.83,28.83
$GC,4972,-0.78,-146.6,2465,2260,3068,2932,498.1,-12.6,182,4974,0.22,0.00,0.00,0.000,2054,0.125,0.000,2534,2259,3000,3069,2932,0,0,0,0,0,0,26.51,28.83,28.83
$GC,5271,-0.90,-146.6,2533,2260,3069,2931,525.2,-8.7,187,5273,0.12,0.00,0.00,0.000,4102,0.079,0.000,2458,2259,2999,3068,2931,0,0,0,0,0,0,26.77,28.83,28.83
$GC,5572,-0.81,-146.6,2457,2260,3068,2930,561.7,-12.4,192,5578,0.20,2.20,0.00,0.000,2308,0.129,0.051,2515,3666,2999,3068,2930,0,0,0,0,0,0,26.51,26.62,28.83
$GC,5691,-0.81,-146.6,2515,3667,3068,2930,573.7,-11.2,194,5697,0.00,2.05,0.00,0.000,1030,0.000,0.032,2516,2272,2999,3068,2930,0,0,0,0,0,0,28.83,26.70,28.83
$GC,6051,-0.90,-146.6,2515,2273,3068,2929,609.1,-10.0,200,6052,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2273,2998,3068,2929,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6351,-1.00,-146.6,2515,2273,3068,2929,640.1,-10.4,205,6357,0.12,2.15,0.00,0.000,4612,0.080,0.046,2432,868,2998,3068,2928,0,0,0,0,0,0,26.77,26.64,28.83
$GC,6411,-1.04,-146.6,2432,868,3068,2928,648.2,-10.9,206,6417,0.00,2.17,0.00,0.000,1030,0.000,0.046,2423,2269,2998,3068,2928,0,0,0,0,0,0,28.83,26.66,28.83
$GC,6771,-0.91,-146.6,2423,2269,3067,2927,698.9,-13.8,212,6773,0.22,0.00,0.00,0.000,2054,0.133,0.000,2490,2269,2997,3068,2927,0,0,0,0,0,0,26.51,28.83,28.83
$GC,7071,-0.97,-146.6,2490,2269,3068,2927,730.2,-10.2,217,7077,0.00,2.15,0.00,0.000,260,0.000,0.054,2482,3664,2996,3067,2926,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7131,-1.04,-146.6,2482,3664,3068,2926,736.4,-10.2,218,7136,0.00,2.10,0.00,0.000,1030,0.000,0.032,2482,2253,2997,3068,2927,0,0,0,0,0,0,28.83,26.71,28.83
$GC,7492,-1.08,-146.6,2482,2253,3068,2926,771.7,-9.6,224,7494,0.12,0.00,0.00,0.000,4102,0.083,0.000,2405,2252,2997,3068,2926,0,0,0,0,0,0,26.77,28.83,28.83
$GC,7792,-0.94,-146.6,2405,2252,3068,2926,810.3,-13.1,229,7794,0.25,0.00,0.00,0.000,2054,0.129,0.000,2481,2252,2997,3068,2926,0,0,0,0,0,0,26.50,28.83,28.83
$GC,8092,-1.00,-146.6,2481,2252,3068,2926,837.7,-8.9,234,8094,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2252,2996,3068,2925,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8392,-1.07,-146.6,2481,2252,3068,2925,864.8,-9.0,239,8398,0.12,2.20,0.00,0.000,4356,0.084,0.053,2388,3666,2996,3068,2924,0,0,0,0,0,0,26.78,26.64,28.83
$GC,8453,-1.07,-146.6,2387,3666,3068,2924,872.4,-9.8,240,8458,0.15,2.12,0.00,0.000,3078,0.122,0.033,2438,2265,2996,3068,2924,0,0,0,0,0,0,26.48,26.72,28.83
$GC,8813,-1.07,-146.6,2438,2264,3068,2924,913.1,-11.0,246,8818,0.00,2.17,0.00,0.000,260,0.000,0.054,2430,3663,2995,3068,2923,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8872,-1.07,-146.6,2429,3663,3068,2923,919.8,-11.0,247,8877,0.00,2.10,0.00,0.000,1030,0.000,0.034,2430,2254,2995,3068,2923,0,0,0,0,0,0,28.83,26.72,28.83
$GC,9232,-1.07,-146.6,2430,2255,3068,2923,958.9,-10.9,253,9233,0.00,0.00,0.00,0.000,6,0.000,0.000,2430,2254,2995,3068,2923,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9532,-1.03,-146.6,2430,2254,3068,2923,989.9,-10.3,258,9533,0.00,0.00,0.00,0.000,6,0.000,0.000,2430,2254,2995,3067,2923,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9591,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9591,begin apogee
$GC,9595,-0.22,0.0,2428,2360,3068,2922,995.9,-10.2,259,9718,0.82,0.00,116.53,1.235,10246,0.106,0.000,2711,2360,2400,2463,2338,0,0,0,0,0,0,26.50,28.83,23.63
$STATE,9719,end apogee,CONTROL_FINISHED_OK
$STATE,9719,begin climb
$GC,9720,0.76,146.6,2711,2360,2463,2338,997.1,0.0,261,9849,0.88,0.00,125.12,1.209,10246,0.042,0.000,3045,2360,1802,1860,1744,0,0,0,0,0,0,24.72,28.83,23.22
$GC,10132,0.45,146.6,3045,2360,1853,1738,946.9,15.1,268,10134,0.40,0.00,0.00,0.000,4102,0.132,0.000,2927,2360,1795,1853,1737,0,0,0,0,0,0,25.35,28.83,28.83
$GC,10432,0.45,164.8,2926,2360,1853,1736,918.4,9.2,273,10449,0.00,0.00,15.25,1.056,8198,0.000,0.000,2927,2360,1728,1787,1669,0,0,0,0,0,0,28.83,28.83,24.53
$GC,10732,0.45,178.0,2926,2360,1785,1667,890.3,9.4,278,10749,0.00,2.30,12.25,1.008,8708,0.000,0.049,2935,960,1674,1734,1614,0,0,0,0,0,0,28.83,25.54,24.65
$GC,10799,0.45,191.0,2935,959,1732,1613,885.1,9.4,279,10818,0.00,2.28,12.40,1.004,9222,0.000,0.046,2935,2358,1620,1682,1559,0,0,0,0,0,0,28.83,25.68,24.49
$GC,11147,0.45,191.0,2935,2358,1680,1557,849.3,10.0,285,11153,0.00,2.25,0.00,0.000,516,0.000,0.050,2945,964,1618,1680,1557,0,0,0,0,0,0,28.83,25.89,28.83
$GC,11194,0.45,191.0,2945,964,1679,1556,849.3,10.0,285,11198,0.00,2.28,0.00,0.000,1030,0.000,0.046,2945,2353,1617,1679,1556,0,0,0,0,0,0,28.83,25.94,28.83
$GC,11507,0.45,191.0,2945,2353,1679,1556,812.6,10.2,291,11508,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2353,1617,1679,1556,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11807,0.45,191.0,2945,2353,1679,1556,782.0,10.3,296,11812,0.00,2.22,0.00,0.000,516,0.000,0.050,2956,957,1617,1679,1556,0,0,0,0,0,0,28.83,26.20,28.83
$GC,11867,0.45,191.0,2955,956,1677,1555,775.8,10.2,297,11873,0.00,2.22,0.00,0.000,1030,0.000,0.046,2956,2358,1616,1677,1556,0,0,0,0,0,0,28.83,26.24,28.83
$GC,12227,0.45,191.0,2955,2358,1677,1555,739.0,10.2,303,12228,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2358,1616,1677,1555,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12527,0.45,191.0,2955,2358,1677,1555,708.0,10.4,308,12532,0.00,2.20,0.00,0.000,516,0.000,0.050,2965,965,1616,1677,1555,0,0,0,0,0,0,28.83,26.35,28.83
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$GC,14927,0.69,246.1,2983,2361,1454,1323,442.8,12.2,348,14933,0.00,2.22,0.00,0.000,516,0.000,0.050,2990,951,1388,1454,1323,0,0,0,0,0,0,28.83,26.40,28.83
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$STATE,18553,end climb,SURFACE_DEPTH_REACHED
$STATE,18553,begin surface coast
$FINISH,0.7,1.011957
$STATE,18584,end surface coast,CONTROL_FINISHED_OK
$STATE,18584,begin surface
$SM_CCo,18598,5.72,0.057,0,0,1257,280.13
$SM_GC,2.73,7.43,0.12,5.72,0.032,0.083,0.057,161,2250,1257,-8.06,1.53,280.13,0,0,0,0,0,0,26.55,26.55,26.44
$IRIDIUM_FIX,4703.87,-12531.52,281013,232317
$TT8_MAMPS,0.026215,0.026215
$HUMID,39.68
$INTERNAL_PRESSURE,8.91861
$TCM_TEMP,14.00
$XPDR_PINGS,0
$24V_AH,23.2,4.527
$10V_AH,10.3,4.071
$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
$DEVICE_SECS,23.825,118.725,343.525,5.725,0.000,0.000,0.000,286.250,22.500,0.000,6.504,1665.206,14452.448,422.675,2325.127,97.858,0.389,1638.975,0.000,1973.089,0.000,142.620,0.000
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$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,353.752,678.777,1098.706,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,311224
$DATA_FILE_SIZE,37110,512
$CAP_FILE_SIZE,155663,0
$CFSIZE,2097872896,2092859392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,291013,102234,4723.513,-12534.222,30,0.8,30,16.7