version: 66.11
glider: 194
mission: 7
dive: 26
start: 10 30 113 8 4 41
data:
$ID,194
$MISSION,7
$DIVE,26
$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,-4340.6123
$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,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,55
$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
$GPS1,301013,075335,4735.098,-12539.605,36,0.9,36,16.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-68.9
$GPS2,301013,080414,4735.127,-12539.525,6,0.9,6,16.8
$SPEED_LIMITS,0.084,0.260
$TGT_NAME,SEARCH_B
$TGT_LATLONG,4745.000,-12545.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.129,0.226
$KALMAN_X,3397.0,0.0,0.0,-32603.1,525.3
$KALMAN_Y,2747.0,0.0,0.0,38057.1,929.7
$MHEAD_RNG_PITCHd_Wd,313.5,19513,-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,-0.76,-146.6,154,2251,1186,1097,0.0,0.0,0,70,0.00,0.00,-53.05,0.000,16386,0.000,0.000,156,2251,2643,2653,2634,0,0,0,0,0,0,28.83,28.83,28.83
$GC,73,-0.76,-146.6,155,2252,2655,2633,3.3,-3.6,5,100,8.73,2.17,-8.48,0.000,18948,0.203,0.056,2526,866,2998,3059,2937,0,0,0,0,0,0,25.69,25.98,26.30
$GC,267,-0.59,-146.6,2526,866,3062,2937,39.7,-18.4,24,275,0.20,2.22,0.00,0.000,3078,0.119,0.041,2585,2259,2999,3062,2937,0,0,0,0,0,0,25.96,26.12,28.83
$GC,575,-0.55,-146.6,2585,2259,3064,2937,76.5,-10.2,55,583,0.00,2.17,0.00,0.000,516,0.000,0.044,2585,866,3000,3064,2937,0,0,0,0,0,0,28.83,26.23,28.83
$GC,684,-0.51,-146.6,2585,866,3065,2937,88.2,-11.2,62,689,0.15,2.17,0.00,0.000,3078,0.135,0.040,2620,2272,3001,3065,2937,0,0,0,0,0,0,26.15,26.29,28.83
$GC,993,-0.57,-146.6,2620,2273,3065,2937,116.9,-8.6,77,998,0.00,2.15,0.00,0.000,260,0.000,0.050,2612,3668,3001,3065,2937,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1155,-0.63,-146.6,2611,3669,3065,2937,129.7,-7.9,85,1160,0.00,2.15,0.00,0.000,1030,0.000,0.029,2611,2255,3001,3065,2937,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1473,-0.71,-146.6,2611,2255,3065,2936,154.9,-7.5,100,1480,0.12,2.15,0.00,0.000,4612,0.078,0.043,2522,863,3000,3065,2936,0,0,0,0,0,0,26.54,26.42,28.83
$GC,1516,-0.76,-146.6,2522,863,3065,2936,157.8,-7.8,101,1520,0.00,2.17,0.00,0.000,1030,0.000,0.041,2513,2268,3000,3065,2936,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1828,-0.71,-146.6,2512,2268,3065,2935,195.0,-11.6,112,1830,0.15,0.00,0.00,0.000,2054,0.143,0.000,2555,2268,3000,3065,2935,0,0,0,0,0,0,26.38,28.83,28.83
$GC,2128,-0.74,-146.6,2555,2269,3065,2934,222.7,-8.9,122,2129,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2268,3000,3065,2935,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2428,-0.77,-146.6,2555,2268,3065,2934,248.6,-8.7,132,2434,0.00,2.17,0.00,0.000,516,0.000,0.045,2556,866,2999,3065,2933,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2502,-0.79,-146.6,2555,866,3065,2933,254.1,-8.9,134,2506,0.00,2.17,0.00,0.000,1030,0.000,0.042,2555,2271,2999,3065,2933,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2817,-0.83,-146.6,2555,2271,3065,2932,283.4,-9.1,145,2819,0.12,0.00,0.00,0.000,4102,0.081,0.000,2473,2271,2998,3065,2932,0,0,0,0,0,0,26.67,28.83,28.83
$GC,3145,-0.76,-146.6,2472,2272,3065,2931,325.9,-13.2,153,3151,0.20,2.15,0.00,0.000,2564,0.132,0.044,2538,873,2998,3065,2931,0,0,0,0,0,0,26.45,26.58,28.83
$GC,3213,-0.70,-146.6,2538,873,3065,2932,332.8,-12.9,154,3217,0.00,2.15,0.00,0.000,1030,0.000,0.044,2537,2262,2998,3065,2931,0,0,0,0,0,0,28.83,26.59,28.83
$GC,3566,-0.73,-146.6,2537,2262,3065,2930,366.7,-9.3,160,3567,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2262,2997,3065,2930,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3866,-0.76,-146.6,2537,2262,3065,2929,393.7,-9.1,165,3868,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2262,2997,3065,2929,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4166,-0.79,-146.6,2537,2262,3065,2928,421.5,-9.3,170,4168,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2261,2996,3065,2928,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4466,-0.84,-146.6,2537,2262,3065,2927,451.6,-10.1,175,4472,0.00,2.17,0.00,0.000,260,0.000,0.052,2537,3666,2996,3065,2927,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4563,-0.88,-146.6,2537,3666,3065,2927,457.7,-10.1,176,4568,0.10,2.08,0.00,0.000,5126,0.092,0.031,2468,2261,2996,3065,2927,0,0,0,0,0,0,26.65,26.68,28.83
$GC,4886,-0.83,-146.6,2466,2261,3066,2926,501.7,-12.6,182,4888,0.17,0.00,0.00,0.000,2054,0.135,0.000,2517,2260,2995,3065,2926,0,0,0,0,0,0,26.52,28.83,28.83
$GC,5186,-0.86,-146.6,2517,2260,3065,2925,529.9,-9.2,187,5191,0.00,2.15,0.00,0.000,516,0.000,0.047,2518,865,2995,3065,2925,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5269,-0.89,-146.6,2517,865,3065,2925,535.7,-9.3,188,5273,0.00,2.15,0.00,0.000,1030,0.000,0.044,2512,2262,2994,3064,2925,0,0,0,0,0,0,28.83,26.65,28.83
$GC,5601,-0.91,-146.6,2512,2262,3065,2924,566.9,-8.6,194,5602,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2262,2994,3065,2924,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5902,-0.95,-146.6,2512,2262,3065,2924,592.7,-8.6,199,5903,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2262,2994,3065,2924,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6201,-0.98,-146.6,2512,2262,3065,2923,619.3,-8.9,204,6203,0.12,0.00,0.00,0.000,4102,0.083,0.000,2431,2262,2994,3065,2923,0,0,0,0,0,0,26.77,28.83,28.83
$GC,6502,-0.90,-146.6,2431,2262,3065,2922,656.9,-12.6,209,6504,0.20,0.00,0.00,0.000,2054,0.132,0.000,2490,2262,2993,3065,2922,0,0,0,0,0,0,26.53,28.83,28.83
$GC,6801,-0.90,-146.6,2490,2262,3065,2921,685.7,-9.5,214,6807,0.00,2.15,0.00,0.000,516,0.000,0.047,2490,877,2993,3065,2921,0,0,0,0,0,0,28.83,26.65,28.83
$GC,6861,-0.90,-146.6,2490,877,3065,2921,692.0,-9.9,215,6867,0.00,2.15,0.00,0.000,1030,0.000,0.045,2484,2262,2992,3064,2921,0,0,0,0,0,0,28.83,26.67,28.83
$GC,7223,-0.90,-146.6,2484,2262,3065,2920,730.1,-10.6,221,7224,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2262,2992,3064,2920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7522,-0.90,-146.6,2484,2262,3065,2920,763.6,-11.1,226,7523,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2261,2992,3064,2920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7821,-0.93,-146.6,2484,2261,3065,2919,796.1,-10.8,231,7822,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2262,2992,3065,2919,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8120,-0.95,-146.6,2484,2261,3065,2919,827.9,-10.6,236,8122,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2261,2991,3064,2919,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8421,-0.99,-146.6,2484,2261,3065,2918,859.4,-10.4,241,8422,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2261,2991,3065,2918,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8721,-1.02,-146.6,2484,2261,3065,2918,890.3,-10.3,246,8722,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2261,2991,3064,2918,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9021,-1.06,-146.6,2484,2261,3064,2918,918.8,-9.4,251,9023,0.12,0.00,0.00,0.000,4102,0.083,0.000,2398,2261,2991,3064,2918,0,0,0,0,0,0,26.80,28.83,28.83
$GC,9321,-0.98,-146.6,2398,2261,3064,2917,960.8,-14.4,256,9323,0.22,0.00,0.00,0.000,2054,0.132,0.000,2466,2261,2990,3064,2917,0,0,0,0,0,0,26.53,28.83,28.83
$STATE,9620,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9620,begin apogee
$GC,9624,-0.22,0.0,2466,2358,3064,2917,991.5,-10.0,261,9744,0.70,0.00,115.47,1.230,10246,0.101,0.000,2711,2358,2400,2463,2337,0,0,0,0,0,0,26.55,28.83,23.69
$STATE,9745,end apogee,CONTROL_FINISHED_OK
$STATE,9745,begin climb
$GC,9746,0.76,146.6,2711,2358,2463,2337,994.2,0.0,263,9876,0.88,0.00,124.75,1.200,10502,0.042,0.000,3044,2357,1801,1860,1743,0,0,0,0,0,0,24.72,28.83,23.24
$GC,10155,0.61,146.6,3044,2357,1853,1737,947.0,14.8,270,10162,0.20,2.28,0.00,0.000,4356,0.143,0.050,2983,3751,1795,1853,1737,0,0,0,0,0,0,25.34,25.44,28.83
$GC,10198,0.46,146.6,2984,3751,1853,1737,947.0,14.8,270,10203,0.20,2.17,0.00,0.000,5126,0.138,0.032,2936,2364,1795,1853,1737,0,0,0,0,0,0,25.42,25.56,28.83
$GC,10510,0.46,146.6,2936,2364,1853,1735,907.3,10.6,276,10514,0.00,2.28,0.00,0.000,516,0.000,0.048,2945,952,1793,1853,1734,0,0,0,0,0,0,28.83,25.86,28.83
$GC,10579,0.46,146.6,2944,952,1850,1734,901.7,10.5,277,10583,0.00,2.28,0.00,0.000,1030,0.000,0.045,2945,2343,1792,1850,1734,0,0,0,0,0,0,28.83,25.92,28.83
$GC,10926,0.44,153.9,2944,2343,1850,1734,866.6,9.7,283,10939,0.00,2.33,5.85,0.799,8452,0.000,0.053,2945,3757,1772,1831,1714,0,0,0,0,0,0,28.83,25.98,25.01
$GC,10996,0.41,157.3,2945,3757,1831,1715,860.3,9.8,284,11006,0.12,2.15,4.55,0.747,13318,0.145,0.033,2921,2347,1758,1817,1699,0,0,0,0,0,0,25.94,26.08,24.96
$GC,11344,0.43,182.0,2921,2348,1816,1700,827.9,8.9,290,11371,0.00,2.30,21.77,1.054,8708,0.000,0.049,2929,966,1657,1719,1596,0,0,0,0,0,0,28.83,25.56,24.65
$GC,11416,0.46,206.8,2929,966,1716,1595,822.5,8.9,291,11445,0.00,2.25,21.85,1.040,9222,0.000,0.044,2929,2355,1556,1620,1493,0,0,0,0,0,0,28.83,25.71,24.30
$GC,11764,0.49,215.0,2929,2355,1619,1489,787.4,9.6,297,11774,0.00,0.00,7.85,0.859,8198,0.000,0.000,2929,2355,1523,1588,1458,0,0,0,0,0,0,28.83,28.83,24.82
$GC,12063,0.52,235.4,2929,2356,1588,1457,759.7,9.1,302,12087,0.00,2.30,18.35,0.998,8708,0.000,0.047,2938,954,1439,1506,1373,0,0,0,0,0,0,28.83,25.54,24.67
$GC,12138,0.56,260.2,2939,954,1504,1372,754.9,8.9,303,12166,0.00,2.28,21.95,1.017,9222,0.000,0.044,2939,2356,1338,1407,1270,0,0,0,0,0,0,28.83,25.70,24.32
$GC,12479,0.59,260.9,2939,2356,1405,1266,719.6,10.0,309,12486,0.12,2.25,0.00,0.000,2564,0.080,0.047,3025,964,1335,1405,1266,0,0,0,0,0,0,25.96,25.87,28.83
$GC,12507,0.63,261.6,3025,964,1403,1266,719.6,10.0,309,12512,0.12,2.22,0.00,0.000,5126,0.147,0.044,2991,2356,1334,1403,1266,0,0,0,0,0,0,25.79,25.91,28.83
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$STATE,18357,end climb,SURFACE_DEPTH_REACHED
$STATE,18357,begin surface coast
$FINISH,0.6,1.010585
$STATE,18388,end surface coast,CONTROL_FINISHED_OK
$STATE,18388,begin surface
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$HUMID,40.39
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$XPDR_PINGS,0
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$10V_AH,10.3,4.484
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,311248
$DATA_FILE_SIZE,37058,502
$CAP_FILE_SIZE,157477,0
$CFSIZE,2097872896,2092204032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,301013,131334,4737.941,-12541.180,39,0.9,39,16.8