version: 66.11
glider: 194
mission: 7
dive: 28
start: 10 30 113 18 43 8
data:
$ID,194
$MISSION,7
$DIVE,28
$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,-4343.1367
$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,50
$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
$GPS1,301013,183705,4741.119,-12542.925,31,0.9,31,16.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-65.8
$GPS2,301013,184242,4741.180,-12542.948,5,0.9,5,16.8
$SPEED_LIMITS,0.084,0.260
$TGT_NAME,SEARCH_B
$TGT_LATLONG,4745.000,-12545.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.125,0.228
$KALMAN_X,4114.3,0.0,0.0,-37612.4,369.3
$KALMAN_Y,4975.5,0.0,0.0,47038.6,1278.2
$MHEAD_RNG_PITCHd_Wd,314.4,7521,-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,-146.6,140,2263,1078,969,0.0,0.0,0,70,0.00,0.00,-53.03,0.000,16386,0.000,0.000,139,2264,2493,2490,2496,0,0,0,0,0,0,28.83,28.83,28.83
$GC,73,-0.76,-146.6,138,2263,2493,2495,3.5,-4.2,5,100,8.80,2.28,-12.20,0.000,18948,0.203,0.058,2531,868,3000,3062,2938,0,0,0,0,0,0,25.73,26.01,26.33
$GC,316,-0.61,-146.6,2531,869,3065,2938,47.8,-19.5,29,325,0.22,2.17,0.00,0.000,3078,0.140,0.041,2588,2265,3002,3066,2938,0,0,0,0,0,0,26.00,26.16,28.83
$GC,627,-0.58,-146.6,2588,2265,3068,2938,82.4,-10.8,59,632,0.00,2.15,0.00,0.000,260,0.000,0.049,2580,3661,3003,3068,2938,0,0,0,0,0,0,28.83,26.25,28.83
$GC,685,-0.55,-146.6,2579,3661,3068,2938,89.3,-11.4,62,689,0.00,2.10,0.00,0.000,1030,0.000,0.028,2580,2245,3003,3068,2938,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1001,-0.55,-146.6,2580,2245,3069,2937,124.4,-10.4,78,1005,0.00,2.12,0.00,0.000,516,0.000,0.043,2580,869,3002,3068,2937,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1058,-0.55,-146.6,2580,869,3069,2938,130.3,-10.4,81,1064,0.12,2.15,0.00,0.000,3078,0.139,0.041,2605,2264,3003,3069,2938,0,0,0,0,0,0,26.26,26.39,28.83
$GC,1378,-0.62,-146.6,2605,2264,3068,2938,155.6,-7.6,96,1383,0.00,2.17,0.00,0.000,516,0.000,0.044,2604,865,3002,3068,2937,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1498,-0.69,-146.6,2605,865,3069,2937,164.8,-7.6,100,1505,0.12,2.20,0.00,0.000,5126,0.078,0.042,2522,2269,3003,3069,2937,0,0,0,0,0,0,26.46,26.45,28.83
$GC,1828,-0.67,-146.6,2521,2269,3068,2937,199.9,-10.9,111,1834,0.15,2.17,0.00,0.000,2308,0.138,0.048,2563,3673,3002,3068,2937,0,0,0,0,0,0,26.38,26.46,28.83
$GC,1918,-0.67,-146.6,2562,3673,3069,2937,208.5,-9.9,114,1922,0.00,2.10,0.00,0.000,1030,0.000,0.029,2563,2256,3003,3069,2937,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2246,-0.70,-146.6,2562,2256,3069,2936,238.4,-9.1,125,2247,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2256,3002,3068,2936,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2545,-0.75,-146.6,2562,2256,3069,2936,265.6,-9.1,135,2550,0.00,2.20,0.00,0.000,260,0.000,0.050,2552,3667,3001,3068,2935,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2614,-0.79,-146.6,2551,3667,3068,2935,271.4,-9.3,137,2618,0.00,2.08,0.00,0.000,1030,0.000,0.030,2552,2261,3001,3068,2935,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2932,-0.83,-146.6,2551,2260,3068,2935,301.1,-8.8,148,2937,0.00,2.17,0.00,0.000,260,0.000,0.051,2541,3664,3001,3068,2934,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2994,-0.86,-146.6,2541,3664,3068,2934,306.5,-8.8,149,2998,0.10,2.08,0.00,0.000,5126,0.092,0.030,2471,2260,3001,3068,2934,0,0,0,0,0,0,26.58,26.62,28.83
$GC,3351,-0.79,-146.6,2465,2260,3069,2933,351.0,-12.5,155,3353,0.22,0.00,0.00,0.000,2054,0.129,0.000,2533,2260,3001,3068,2934,0,0,0,0,0,0,26.44,28.83,28.83
$GC,3651,-0.82,-146.6,2533,2260,3068,2933,376.5,-8.3,160,3652,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2260,3001,3069,2933,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3951,-0.85,-146.6,2533,2260,3067,2932,401.4,-8.3,165,3953,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2260,3000,3069,2932,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4251,-0.89,-146.6,2533,2260,3068,2931,427.3,-8.7,170,4253,0.12,0.00,0.00,0.000,4102,0.080,0.000,2453,2260,2999,3068,2931,0,0,0,0,0,0,26.74,28.83,28.83
$GC,4551,-0.83,-146.6,2452,2260,3068,2930,465.1,-12.8,175,4553,0.22,0.00,0.00,0.000,2054,0.126,0.000,2521,2260,2999,3068,2930,0,0,0,0,0,0,26.50,28.83,28.83
$GC,4853,-0.86,-146.6,2521,2260,3068,2929,494.1,-9.4,180,4854,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2260,2998,3068,2929,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5152,-0.90,-146.6,2520,2260,3068,2928,522.8,-9.6,185,5153,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2260,2998,3068,2928,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5451,-0.94,-146.6,2520,2260,3068,2927,551.7,-9.7,190,5453,0.12,0.00,0.00,0.000,4102,0.079,0.000,2443,2260,2997,3068,2927,0,0,0,0,0,0,26.76,28.83,28.83
$GC,5751,-0.89,-146.6,2442,2260,3068,2926,590.7,-13.3,195,5758,0.17,2.20,0.00,0.000,2308,0.135,0.051,2491,3667,2997,3068,2926,0,0,0,0,0,0,26.53,26.63,28.83
$GC,5815,-0.84,-146.6,2491,3667,3068,2926,597.6,-13.0,196,5819,0.00,2.08,0.00,0.000,1030,0.000,0.032,2491,2267,2997,3068,2926,0,0,0,0,0,0,28.83,26.70,28.83
$GC,6166,-0.84,-146.6,2490,2266,3068,2925,634.4,-10.4,202,6168,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2266,2997,3068,2926,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6465,-0.84,-146.6,2490,2267,3068,2925,666.4,-10.7,207,6469,0.00,2.20,0.00,0.000,260,0.000,0.054,2481,3668,2996,3068,2924,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6544,-0.84,-146.6,2480,3668,3068,2924,672.6,-10.7,208,6549,0.08,2.12,0.00,0.000,3078,0.119,0.032,2510,2262,2996,3068,2924,0,0,0,0,0,0,26.54,26.72,28.83
$GC,6882,-0.90,-146.6,2510,2262,3068,2924,706.9,-9.3,214,6883,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2262,2996,3068,2924,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7183,-0.95,-146.6,2510,2262,3068,2923,734.6,-9.2,219,7188,0.00,2.17,0.00,0.000,260,0.000,0.054,2502,3660,2995,3068,2922,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7260,-1.01,-146.6,2502,3660,3068,2922,740.5,-9.4,220,7265,0.12,2.08,0.00,0.000,5126,0.079,0.032,2418,2261,2995,3068,2922,0,0,0,0,0,0,26.70,26.72,28.83
$GC,7598,-0.94,-146.6,2417,2260,3068,2922,787.9,-13.7,226,7604,0.17,2.15,0.00,0.000,2564,0.137,0.046,2475,864,2995,3068,2922,0,0,0,0,0,0,26.54,26.65,28.83
$GC,7690,-0.89,-146.6,2475,864,3068,2922,795.0,-13.3,227,7695,0.00,2.17,0.00,0.000,1030,0.000,0.046,2469,2267,2995,3068,2922,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8013,-0.89,-146.6,2469,2267,3068,2921,831.8,-10.3,233,8019,0.00,2.15,0.00,0.000,260,0.000,0.054,2459,3660,2994,3068,2920,0,0,0,0,0,0,28.83,26.64,28.83
$GC,8099,-0.89,-146.6,2459,3660,3068,2921,837.9,-10.1,234,8104,0.10,2.12,0.00,0.000,3078,0.114,0.033,2495,2257,2994,3068,2920,0,0,0,0,0,0,26.53,26.72,28.83
$GC,8433,-0.95,-146.6,2494,2257,3068,2921,868.0,-8.2,240,8434,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2257,2994,3068,2920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8733,-1.01,-146.6,2494,2257,3068,2920,891.8,-7.9,245,8739,0.12,2.12,0.00,0.000,4612,0.081,0.046,2408,877,2994,3068,2920,0,0,0,0,0,0,26.77,26.65,28.83
$GC,8780,-1.07,-146.6,2408,878,3068,2920,891.8,-7.9,245,8785,0.15,2.15,0.00,0.000,3078,0.147,0.046,2441,2263,2994,3068,2920,0,0,0,0,0,0,26.50,26.67,28.83
$GC,9087,-1.07,-146.6,2441,2263,3068,2920,931.2,-11.0,250,9088,0.00,0.00,0.00,0.000,6,0.000,0.000,2441,2264,2993,3068,2919,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9387,-1.07,-146.6,2441,2264,3068,2919,964.3,-11.0,255,9388,0.00,0.00,0.00,0.000,6,0.000,0.000,2441,2264,2993,3068,2919,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9626,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9626,begin apogee
$GC,9630,-0.22,0.0,2441,2361,3067,2919,990.8,-11.1,259,9751,0.77,0.00,116.50,1.232,10246,0.104,0.000,2709,2361,2400,2463,2337,0,0,0,0,0,0,26.52,28.83,23.68
$STATE,9753,end apogee,CONTROL_FINISHED_OK
$STATE,9753,begin climb
$GC,9754,0.76,146.6,2709,2361,2463,2338,993.8,0.0,261,9887,0.90,2.45,124.50,1.207,10756,0.044,0.045,3059,963,1800,1859,1742,0,0,0,0,0,0,24.70,24.07,23.20
$GC,9918,0.76,146.6,3059,963,1853,1740,982.6,8.6,264,9923,0.00,2.35,0.00,0.000,1030,0.000,0.043,3059,2346,1796,1853,1740,0,0,0,0,0,0,28.83,24.58,28.83
$GC,10274,0.59,146.6,3059,2346,1851,1736,929.2,15.3,270,10277,0.28,0.00,0.00,0.000,4102,0.137,0.000,2980,2346,1793,1851,1736,0,0,0,0,0,0,25.48,28.83,28.83
$GC,10574,0.52,146.6,2980,2346,1851,1734,893.5,11.8,275,10579,0.00,2.22,0.00,0.000,516,0.000,0.048,2987,968,1792,1851,1734,0,0,0,0,0,0,28.83,25.89,28.83
$GC,10679,0.45,146.6,2987,968,1848,1733,887.2,11.6,276,10684,0.20,2.22,0.00,0.000,5126,0.131,0.045,2929,2358,1790,1848,1733,0,0,0,0,0,0,25.84,25.97,28.83
$GC,10986,0.45,163.3,2929,2358,1848,1734,853.0,9.2,281,11005,0.00,2.28,13.25,1.014,8708,0.000,0.047,2938,959,1734,1793,1676,0,0,0,0,0,0,28.83,25.77,24.86
$GC,11065,0.45,179.1,2937,958,1789,1674,847.7,9.3,282,11084,0.00,2.25,14.65,1.013,9222,0.000,0.044,2937,2360,1669,1730,1608,0,0,0,0,0,0,28.83,25.88,24.60
$GC,11396,0.45,179.1,2937,2360,1729,1605,811.9,10.1,288,11397,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2360,1667,1729,1605,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11696,0.45,179.1,2937,2360,1728,1604,781.1,10.2,293,11697,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2360,1666,1728,1604,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11996,0.45,182.1,2937,2360,1727,1604,751.2,9.9,298,12001,0.00,2.22,0.00,0.000,516,0.000,0.049,2948,962,1665,1727,1604,0,0,0,0,0,0,28.83,26.22,28.83
$GC,12106,0.45,182.5,2948,962,1725,1603,745.3,10.0,299,12113,0.00,2.20,0.00,0.000,1030,0.000,0.044,2948,2358,1664,1725,1604,0,0,0,0,0,0,28.83,26.27,28.83
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$STATE,17925,end climb,SURFACE_DEPTH_REACHED
$STATE,17925,begin surface coast
$FINISH,0.8,1.024107
$STATE,17937,end surface coast,CONTROL_FINISHED_OK
$STATE,17937,begin surface
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$TT8_MAMPS,0.026964,0.026964
$HUMID,39.44
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$TCM_TEMP,13.40
$XPDR_PINGS,0
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$10V_AH,10.3,4.623
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,311216
$DATA_FILE_SIZE,37041,489
$CAP_FILE_SIZE,161573,0
$CFSIZE,2097872896,2091941888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,301013,234434,4743.718,-12544.263,40,0.9,40,16.8