version: 66.11
glider: 194
mission: 7
dive: 27
start: 10 30 113 13 19 50
data:
$ID,194
$MISSION,7
$DIVE,27
$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,-4341.875
$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,53
$R_STBD_OVSHOOT,39
$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
$GPS1,301013,131334,4737.941,-12541.180,39,0.9,39,16.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-66.8
$GPS2,301013,131923,4737.906,-12541.197,5,0.8,6,16.8
$SPEED_LIMITS,0.084,0.260
$TGT_NAME,SEARCH_B
$TGT_LATLONG,4745.000,-12545.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.124,0.228
$KALMAN_X,3855.5,0.0,0.0,-35157.1,508.6
$KALMAN_Y,3450.3,0.0,0.0,42530.3,832.8
$MHEAD_RNG_PITCHd_Wd,314.7,13966,-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,-146.6,151,2249,1183,1082,0.0,0.0,0,60,0.00,0.00,-42.72,0.000,16386,0.000,0.000,151,2249,2309,2300,2318,0,0,0,0,0,0,28.83,28.83,28.83
$GC,61,-0.76,-146.6,151,2249,2300,2318,3.2,-4.4,4,99,8.73,2.17,-18.90,0.000,18948,0.203,0.056,2530,867,3000,3063,2937,0,0,0,0,0,0,25.77,26.03,26.36
$GC,254,-0.62,-146.6,2530,868,3065,2937,34.8,-17.6,23,263,0.22,2.17,0.00,0.000,3078,0.138,0.041,2587,2263,3001,3066,2937,0,0,0,0,0,0,25.99,26.15,28.83
$GC,563,-0.58,-146.6,2587,2263,3068,2937,68.0,-10.9,54,564,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2263,3002,3068,2937,0,0,0,0,0,0,28.83,28.83,28.83
$GC,864,-0.58,-146.6,2587,2263,3069,2937,101.2,-11.5,75,870,0.00,2.20,0.00,0.000,260,0.000,0.050,2579,3676,3002,3068,2937,0,0,0,0,0,0,28.83,26.32,28.83
$GC,958,-0.58,-146.6,2578,3676,3069,2937,110.4,-11.5,79,965,0.00,2.15,0.00,0.000,1030,0.000,0.029,2579,2266,3003,3069,2937,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1266,-0.60,-146.6,2578,2265,3069,2937,143.9,-10.5,95,1272,0.00,2.15,0.00,0.000,516,0.000,0.044,2579,872,3003,3069,2937,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1355,-0.60,-146.6,2578,872,3069,2937,153.4,-10.6,99,1359,0.00,2.17,0.00,0.000,1030,0.000,0.041,2569,2276,3003,3069,2937,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1682,-0.63,-146.6,2570,2276,3069,2937,185.9,-9.6,110,1683,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2276,3003,3069,2937,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1984,-0.67,-146.6,2569,2276,3069,2936,212.0,-8.7,120,1989,0.00,2.12,0.00,0.000,260,0.000,0.050,2559,3657,3002,3069,2936,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2065,-0.70,-146.6,2559,3657,3068,2936,217.3,-8.8,122,2072,0.00,2.08,0.00,0.000,1030,0.000,0.030,2559,2257,3002,3069,2936,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2373,-0.74,-146.6,2559,2256,3069,2935,244.6,-8.4,133,2374,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2256,3002,3069,2935,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2674,-0.78,-146.6,2559,2256,3069,2935,272.3,-9.4,143,2680,0.00,2.17,0.00,0.000,260,0.000,0.051,2548,3662,3001,3069,2934,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2720,-0.82,-146.6,2548,3662,3069,2935,275.1,-9.4,144,2724,0.00,2.08,0.00,0.000,1030,0.000,0.031,2548,2262,3002,3069,2935,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3028,-0.85,-146.6,2548,2262,3069,2934,305.3,-9.1,153,3030,0.12,0.00,0.00,0.000,4102,0.080,0.000,2465,2261,3001,3069,2934,0,0,0,0,0,0,26.68,28.83,28.83
$GC,3329,-0.77,-146.6,2465,2261,3069,2933,342.3,-12.5,158,3331,0.25,0.00,0.00,0.000,2054,0.125,0.000,2542,2261,3001,3068,2934,0,0,0,0,0,0,26.45,28.83,28.83
$GC,3628,-0.80,-146.6,2541,2262,3068,2933,369.6,-8.9,163,3634,0.00,2.12,0.00,0.000,516,0.000,0.045,2542,871,3000,3069,2932,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3715,-0.83,-146.6,2541,870,3069,2932,375.1,-9.0,164,3720,0.00,2.15,0.00,0.000,1030,0.000,0.044,2536,2266,3000,3069,2932,0,0,0,0,0,0,28.83,26.61,28.83
$GC,4042,-0.87,-146.6,2537,2266,3069,2932,408.1,-9.5,170,4048,0.00,2.17,0.00,0.000,260,0.000,0.051,2526,3671,3000,3069,2932,0,0,0,0,0,0,28.83,26.59,28.83
$GC,4142,-0.90,-146.6,2525,3671,3069,2931,414.2,-9.7,171,4146,0.00,2.10,0.00,0.000,1030,0.000,0.031,2526,2251,3000,3069,2932,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4460,-0.93,-146.6,2525,2250,3068,2931,448.8,-9.5,177,4462,0.12,0.00,0.00,0.000,4102,0.080,0.000,2443,2250,3000,3069,2931,0,0,0,0,0,0,26.74,28.83,28.83
$GC,4760,-0.84,-146.6,2443,2250,3068,2930,485.2,-12.3,182,4763,0.22,0.00,0.00,0.000,2054,0.130,0.000,2512,2250,2999,3068,2930,0,0,0,0,0,0,26.50,28.83,28.83
$GC,5061,-0.87,-146.6,2511,2250,3069,2929,512.3,-8.8,187,5066,0.00,2.20,0.00,0.000,260,0.000,0.053,2503,3667,2999,3069,2929,0,0,0,0,0,0,28.83,26.62,28.83
$GC,5107,-0.89,-146.6,2503,3667,3068,2929,512.3,-8.8,187,5111,0.00,2.10,0.00,0.000,1030,0.000,0.031,2503,2252,2999,3069,2929,0,0,0,0,0,0,28.83,26.69,28.83
$GC,5413,-0.89,-146.6,2503,2252,3068,2928,546.2,-9.7,192,5415,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2251,2998,3069,2927,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5715,-0.89,-146.6,2503,2252,3069,2927,575.7,-9.7,197,5717,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2252,2997,3068,2926,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6015,-0.91,-146.6,2503,2252,3069,2927,605.4,-9.9,202,6016,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2252,2997,3068,2927,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6315,-0.94,-146.6,2503,2252,3068,2926,634.8,-9.8,207,6320,0.00,2.20,0.00,0.000,260,0.000,0.053,2494,3668,2997,3069,2926,0,0,0,0,0,0,28.83,26.64,28.83
$GC,6376,-0.97,-146.6,2493,3668,3069,2926,640.9,-9.8,208,6381,0.00,2.08,0.00,0.000,1030,0.000,0.032,2494,2259,2997,3068,2926,0,0,0,0,0,0,28.83,26.72,28.83
$GC,6734,-0.97,-146.6,2493,2258,3069,2925,675.4,-9.5,214,6739,0.00,2.15,0.00,0.000,516,0.000,0.047,2493,864,2996,3068,2925,0,0,0,0,0,0,28.83,26.65,28.83
$GC,6786,-0.97,-146.6,2493,865,3069,2925,675.4,-9.5,214,6794,0.00,2.17,0.00,0.000,1030,0.000,0.045,2485,2266,2996,3068,2925,0,0,0,0,0,0,28.83,26.67,28.83
$GC,7094,-0.97,-146.6,2484,2266,3069,2924,711.1,-9.9,220,7100,0.00,2.17,0.00,0.000,260,0.000,0.052,2474,3669,2996,3068,2924,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7191,-0.97,-146.6,2474,3669,3069,2924,717.0,-9.7,221,7195,0.00,2.10,0.00,0.000,1030,0.000,0.032,2474,2256,2996,3068,2924,0,0,0,0,0,0,28.83,26.72,28.83
$GC,7514,-0.97,-146.6,2474,2255,3068,2924,752.1,-9.9,227,7515,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2255,2996,3069,2924,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7815,-0.97,-146.6,2474,2255,3068,2923,781.8,-9.9,232,7817,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2255,2995,3068,2923,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8115,-0.97,-146.6,2474,2255,3068,2923,811.9,-9.9,237,8117,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2255,2995,3068,2922,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8413,-0.97,-146.6,2474,2255,3068,2922,838.7,-8.9,242,8417,0.00,2.15,0.00,0.000,516,0.000,0.048,2474,865,2995,3068,2922,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8489,-0.97,-146.6,2474,865,3068,2922,843.9,-8.9,243,8493,0.00,2.17,0.00,0.000,1030,0.000,0.046,2465,2269,2995,3068,2922,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8832,-0.97,-146.6,2465,2270,3068,2921,878.9,-9.9,249,8838,0.00,2.17,0.00,0.000,260,0.000,0.054,2455,3668,2994,3068,2921,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8893,-0.97,-146.6,2455,3669,3068,2920,884.9,-9.8,250,8898,0.00,2.15,0.00,0.000,1030,0.000,0.032,2455,2257,2994,3068,2921,0,0,0,0,0,0,28.83,26.72,28.83
$GC,9252,-0.97,-146.6,2455,2257,3068,2921,922.7,-10.7,256,9253,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,2257,2994,3068,2921,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9551,-0.97,-146.6,2455,2256,3068,2920,955.9,-11.0,261,9553,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,2256,2994,3068,2920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9851,-0.97,-146.6,2455,2256,3068,2920,987.4,-10.4,266,9852,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,2257,2994,3068,2920,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9912,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9912,begin apogee
$GC,9916,-0.22,0.0,2454,2363,3068,2919,993.5,-10.3,267,10038,0.75,0.00,116.82,1.231,10246,0.102,0.000,2714,2362,2400,2463,2337,0,0,0,0,0,0,26.53,28.83,23.66
$STATE,10040,end apogee,CONTROL_FINISHED_OK
$STATE,10040,begin climb
$GC,10041,0.76,146.6,2714,2363,2463,2337,996.1,0.0,269,10171,0.88,0.00,125.60,1.207,10246,0.041,0.000,3049,2362,1801,1860,1743,0,0,0,0,0,0,24.73,28.83,23.20
$GC,10451,0.60,146.6,3050,2362,1853,1738,949.5,14.6,276,10453,0.25,0.00,0.00,0.000,4102,0.136,0.000,2979,2363,1795,1853,1737,0,0,0,0,0,0,25.32,28.83,28.83
$GC,10752,0.53,146.6,2979,2362,1853,1734,915.8,11.0,281,10758,0.00,2.28,0.00,0.000,516,0.000,0.048,2987,962,1793,1852,1735,0,0,0,0,0,0,28.83,25.80,28.83
$GC,10799,0.46,146.6,2987,962,1850,1735,915.8,11.0,281,10804,0.20,2.28,0.00,0.000,5126,0.132,0.045,2930,2348,1792,1850,1734,0,0,0,0,0,0,25.73,25.86,28.83
$GC,11111,0.46,182.6,2929,2348,1850,1735,883.7,8.3,287,11146,0.00,2.30,29.50,1.105,8708,0.000,0.047,2938,964,1655,1717,1593,0,0,0,0,0,0,28.83,25.26,24.39
$GC,11181,0.46,223.5,2937,964,1714,1592,879.2,8.1,288,11222,0.00,2.28,35.80,1.114,9222,0.000,0.044,2938,2359,1487,1553,1422,0,0,0,0,0,0,28.83,25.46,23.91
$GC,11522,0.46,223.5,2938,2358,1549,1418,843.8,10.2,293,11524,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2358,1483,1549,1418,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11822,0.46,223.5,2938,2359,1548,1417,812.4,10.5,298,11827,0.00,2.28,0.00,0.000,516,0.000,0.049,2948,952,1482,1548,1417,0,0,0,0,0,0,28.83,26.00,28.83
$GC,11926,0.46,223.5,2948,952,1545,1415,806.4,10.6,299,11931,0.00,2.30,0.00,0.000,1030,0.000,0.044,2948,2360,1480,1545,1416,0,0,0,0,0,0,28.83,26.08,28.83
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$STATE,18873,end climb,SURFACE_DEPTH_REACHED
$STATE,18873,begin surface coast
$FINISH,0.8,1.024201
$STATE,18896,end surface coast,CONTROL_FINISHED_OK
$STATE,18896,begin surface
$SM_CCo,18971,0.00,0.000,0,0,1030,335.82
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$IRIDIUM_FIX,4719.74,-12533.00,301013,070735
$TT8_MAMPS,0.026964,0.026964
$HUMID,39.91
$INTERNAL_PRESSURE,8.92837
$TCM_TEMP,14.50
$XPDR_PINGS,0
$24V_AH,23.2,5.281
$10V_AH,10.3,4.553
$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
$DEVICE_SECS,20.450,127.200,384.650,0.000,0.000,0.000,0.000,283.550,22.500,0.000,6.523,1680.467,15073.305,469.131,2014.247,89.974,0.389,1671.487,0.000,1656.194,0.000,142.319,0.000
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$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,360.762,695.685,334.837,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,311216
$DATA_FILE_SIZE,37065,525
$CAP_FILE_SIZE,156604,0
$CFSIZE,2097872896,2092072960
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,2678.64,0x212c5c,0,24
$GPS,301013,183705,4741.119,-12542.925,31,0.9,31,16.8