version: 66.11
glider: 194
mission: 7
dive: 30
start: 10 31 113 5 22 52
data:
$ID,194
$MISSION,7
$DIVE,30
$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,-4345.6567
$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,58
$R_STBD_OVSHOOT,41
$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
$GPS1,311013,051629,4746.238,-12547.078,40,0.8,40,16.9
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.85
$_SM_ANGLEo,-66.9
$GPS2,311013,052225,4746.250,-12547.069,5,0.8,6,16.9
$SPEED_LIMITS,0.084,0.260
$TGT_NAME,SEARCH_B
$TGT_LATLONG,4800.000,-12600.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.170,0.197
$KALMAN_X,5083.3,0.0,0.0,-43748.2,310.4
$KALMAN_Y,6237.6,0.0,0.0,55182.5,879.9
$MHEAD_RNG_PITCHd_Wd,302.3,30086,-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,14,-0.76,-146.6,113,2245,1272,1203,0.0,0.0,0,60,0.00,0.00,-42.80,0.000,16386,0.000,0.000,112,2245,2422,2420,2425,0,0,0,0,0,0,28.83,28.83,28.83
$GC,61,-0.76,-146.6,112,2245,2420,2425,3.4,-4.9,4,91,8.90,2.25,-14.55,0.000,18948,0.203,0.060,2534,875,3000,3062,2938,0,0,0,0,0,0,25.71,25.99,26.32
$GC,244,-0.61,-146.6,2534,876,3065,2938,34.3,-18.4,22,255,0.20,2.17,0.00,0.000,3078,0.143,0.041,2582,2268,3001,3065,2937,0,0,0,0,0,0,25.96,26.13,28.83
$GC,556,-0.57,-146.6,2582,2268,3067,2938,71.6,-9.3,53,564,0.00,2.15,0.00,0.000,260,0.000,0.048,2574,3664,3002,3067,2938,0,0,0,0,0,0,28.83,26.24,28.83
$GC,597,-0.52,-146.6,2574,3663,3067,2938,75.9,-10.5,57,607,0.15,2.10,0.00,0.000,3078,0.135,0.031,2616,2257,3003,3068,2938,0,0,0,0,0,0,26.13,26.29,28.83
$GC,908,-0.57,-146.6,2616,2257,3068,2938,105.3,-9.8,75,914,0.00,2.12,0.00,0.000,516,0.000,0.045,2616,874,3003,3068,2938,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1091,-0.62,-146.6,2615,874,3069,2938,120.6,-7.8,84,1095,0.00,2.20,0.00,0.000,1030,0.000,0.042,2609,2262,3003,3069,2938,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1409,-0.69,-146.6,2609,2262,3069,2938,146.6,-8.7,100,1411,0.15,0.00,0.00,0.000,4102,0.070,0.000,2513,2262,3003,3069,2937,0,0,0,0,0,0,26.53,28.83,28.83
$GC,1718,-0.65,-146.6,2513,2262,3069,2937,183.7,-11.4,111,1724,0.17,2.17,0.00,0.000,2308,0.133,0.047,2562,3669,3003,3069,2937,0,0,0,0,0,0,26.36,26.46,28.83
$GC,1811,-0.65,-146.6,2562,3668,3069,2937,192.2,-9.9,114,1815,0.00,2.12,0.00,0.000,1030,0.000,0.032,2562,2271,3003,3069,2937,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2140,-0.68,-146.6,2562,2271,3069,2937,224.2,-9.8,125,2141,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2271,3003,3069,2937,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2439,-0.72,-146.6,2562,2271,3068,2936,253.3,-9.6,135,2444,0.00,2.17,0.00,0.000,260,0.000,0.050,2552,3667,3002,3069,2936,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2522,-0.76,-146.6,2551,3667,3069,2935,259.0,-9.5,137,2529,0.00,2.10,0.00,0.000,1030,0.000,0.032,2552,2261,3002,3069,2936,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2829,-0.79,-146.6,2551,2261,3069,2935,287.3,-8.3,148,2834,0.00,2.15,0.00,0.000,516,0.000,0.047,2551,868,3002,3069,2935,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2891,-0.82,-146.6,2551,867,3069,2935,292.5,-8.4,150,2896,0.00,2.15,0.00,0.000,1030,0.000,0.043,2542,2269,3002,3069,2935,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3219,-0.84,-146.6,2542,2270,3069,2934,319.5,-8.1,157,3225,0.00,2.17,0.00,0.000,260,0.000,0.050,2532,3678,3001,3069,2934,0,0,0,0,0,0,28.83,26.56,28.83
$GC,3267,-0.87,-146.6,2532,3678,3069,2934,319.5,-8.1,157,3271,0.00,2.12,0.00,0.000,1030,0.000,0.032,2532,2252,3001,3068,2934,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3575,-0.89,-146.6,2532,2251,3069,2933,352.9,-9.6,162,3578,0.00,2.12,0.00,0.000,516,0.000,0.046,2532,872,3001,3069,2933,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3629,-0.91,-146.6,2532,870,3069,2933,352.9,-9.6,162,3636,0.00,2.15,0.00,0.000,1030,0.000,0.043,2522,2268,3000,3068,2933,0,0,0,0,0,0,28.83,26.61,28.83
$GC,3936,-0.91,-146.6,2522,2268,3069,2932,392.1,-10.8,168,3941,0.00,2.15,0.00,0.000,260,0.000,0.050,2513,3666,3000,3068,2932,0,0,0,0,0,0,28.83,26.59,28.83
$GC,4003,-0.91,-146.6,2512,3665,3068,2932,398.9,-10.8,169,4007,0.00,2.10,0.00,0.000,1030,0.000,0.033,2513,2255,3000,3069,2932,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4355,-0.91,-146.6,2512,2254,3069,2931,437.7,-10.6,175,4359,0.00,2.20,0.00,0.000,260,0.000,0.051,2503,3666,3000,3069,2931,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4405,-0.91,-146.6,2503,3666,3068,2931,437.7,-10.6,175,4413,0.00,2.10,0.00,0.000,1030,0.000,0.033,2503,2254,3000,3069,2931,0,0,0,0,0,0,28.83,26.66,28.83
$GC,4711,-0.91,-146.6,2503,2255,3068,2930,476.7,-10.8,181,4715,0.00,2.15,0.00,0.000,516,0.000,0.047,2502,862,2999,3068,2930,0,0,0,0,0,0,28.83,26.61,28.83
$GC,4781,-0.91,-146.6,2502,862,3069,2930,483.0,-10.8,182,4785,0.00,2.17,0.00,0.000,1030,0.000,0.044,2497,2271,2999,3069,2930,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5123,-0.91,-146.6,2497,2272,3069,2929,521.4,-10.8,188,5124,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2272,2998,3068,2929,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5424,-0.91,-146.6,2497,2271,3068,2928,554.5,-10.9,193,5425,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2271,2998,3068,2928,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5723,-0.91,-146.6,2497,2271,3069,2927,583.9,-9.7,198,5724,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2271,2998,3069,2927,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6023,-0.91,-146.6,2496,2271,3068,2927,612.7,-9.6,203,6029,0.00,2.17,0.00,0.000,260,0.000,0.052,2487,3674,2997,3068,2926,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6096,-0.91,-146.6,2487,3674,3069,2926,618.7,-9.8,204,6100,0.00,2.12,0.00,0.000,1030,0.000,0.034,2487,2256,2997,3068,2926,0,0,0,0,0,0,28.83,26.70,28.83
$GC,6438,-0.91,-146.6,2487,2256,3068,2925,653.2,-9.7,210,6444,0.00,2.20,0.00,0.000,260,0.000,0.053,2477,3666,2997,3069,2925,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6497,-0.91,-146.6,2476,3666,3069,2925,659.2,-9.7,211,6501,0.00,2.10,0.00,0.000,1030,0.000,0.034,2477,2262,2996,3068,2925,0,0,0,0,0,0,28.83,26.70,28.83
$GC,6855,-0.91,-146.6,2476,2262,3068,2925,693.9,-9.6,217,6857,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2262,2996,3068,2925,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7155,-0.91,-146.6,2476,2262,3069,2924,721.0,-9.0,222,7157,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2262,2996,3068,2924,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7453,-0.91,-146.6,2476,2262,3069,2923,747.7,-8.9,227,7457,0.00,2.17,0.00,0.000,516,0.000,0.049,2477,857,2995,3068,2923,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7497,-0.91,-146.6,2476,857,3068,2923,747.7,-8.9,227,7501,0.00,2.17,0.00,0.000,1030,0.000,0.045,2468,2263,2995,3068,2923,0,0,0,0,0,0,28.83,26.67,28.83
$GC,7812,-0.91,-146.6,2468,2263,3069,2922,782.6,-9.8,233,7813,0.00,0.00,0.00,0.000,6,0.000,0.000,2468,2263,2995,3068,2922,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8110,-0.91,-146.6,2468,2263,3069,2922,813.0,-10.2,238,8115,0.00,2.17,0.00,0.000,260,0.000,0.053,2457,3667,2994,3068,2921,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8182,-0.91,-146.6,2457,3667,3068,2921,819.2,-10.2,239,8187,0.10,2.15,0.00,0.000,3078,0.118,0.034,2493,2261,2994,3068,2921,0,0,0,0,0,0,26.52,26.71,28.83
$GC,8531,-0.96,-146.6,2493,2260,3068,2921,851.6,-8.8,245,8536,0.00,2.15,0.00,0.000,516,0.000,0.050,2493,866,2995,3069,2921,0,0,0,0,0,0,28.83,26.64,28.83
$GC,8583,-1.01,-146.6,2492,866,3068,2921,851.6,-8.8,245,8589,0.00,2.17,0.00,0.000,1030,0.000,0.045,2487,2269,2994,3068,2921,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8890,-1.05,-146.6,2487,2269,3068,2920,883.7,-8.8,251,8897,0.12,2.15,0.00,0.000,4356,0.083,0.051,2389,3664,2994,3068,2920,0,0,0,0,0,0,26.77,26.63,28.83
$GC,8964,-1.05,-146.6,2388,3664,3068,2921,891.0,-9.5,252,8968,0.20,2.10,0.00,0.000,3078,0.137,0.034,2446,2256,2994,3068,2920,0,0,0,0,0,0,26.47,26.71,28.83
$GC,9311,-1.05,-146.6,2446,2256,3068,2920,930.9,-11.0,258,9313,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,2255,2994,3068,2920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9613,-1.05,-146.6,2446,2255,3068,2919,963.4,-10.8,263,9614,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,2255,2994,3068,2920,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9912,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9912,begin apogee
$GC,9915,-0.22,0.0,2446,2358,3068,2919,995.3,-10.6,268,10038,0.75,0.00,116.65,1.231,10246,0.104,0.000,2708,2359,2400,2463,2337,0,0,0,0,0,0,26.51,28.83,23.70
$STATE,10040,end apogee,CONTROL_FINISHED_OK
$STATE,10040,begin climb
$GC,10041,0.76,146.6,2707,2358,2463,2337,997.8,0.0,270,10170,0.90,0.00,124.97,1.207,10502,0.044,0.000,3046,2359,1801,1861,1742,0,0,0,0,0,0,24.74,28.83,23.20
$GC,10451,0.60,146.6,3046,2359,1853,1737,951.7,14.1,277,10458,0.20,2.30,0.00,0.000,4612,0.144,0.047,2993,962,1794,1853,1736,0,0,0,0,0,0,25.32,25.42,28.83
$GC,10514,0.46,146.6,2993,961,1851,1735,944.0,14.0,278,10519,0.20,2.28,0.00,0.000,5126,0.133,0.044,2938,2362,1793,1851,1736,0,0,0,0,0,0,25.43,25.54,28.83
$GC,10866,0.46,178.9,2937,2362,1851,1735,912.8,8.5,284,10898,0.00,2.40,26.65,1.112,8708,0.000,0.050,2945,958,1669,1731,1608,0,0,0,0,0,0,28.83,25.20,24.34
$GC,10926,0.46,205.9,2945,958,1728,1607,907.3,8.8,285,10955,0.00,2.30,24.02,1.102,9222,0.000,0.044,2945,2360,1560,1624,1496,0,0,0,0,0,0,28.83,25.38,24.02
$GC,11282,0.46,205.9,2945,2360,1620,1490,869.4,10.8,291,11286,0.00,2.28,0.00,0.000,516,0.000,0.050,2956,961,1555,1620,1490,0,0,0,0,0,0,28.83,25.77,28.83
$GC,11365,0.46,205.9,2955,960,1619,1489,863.0,11.0,292,11370,0.00,2.28,0.00,0.000,1030,0.000,0.043,2955,2353,1554,1619,1489,0,0,0,0,0,0,28.83,25.91,28.83
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$STATE,18883,end climb,SURFACE_DEPTH_REACHED
$STATE,18884,begin surface coast
$FINISH,0.8,1.013529
$STATE,18905,end surface coast,CONTROL_FINISHED_OK
$STATE,18905,begin surface
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$HUMID,39.88
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$TCM_TEMP,17.50
$XPDR_PINGS,3
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$10V_AH,10.3,4.775
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,311212
$DATA_FILE_SIZE,36922,518
$CAP_FILE_SIZE,168735,0
$CFSIZE,2097872896,2091646976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,311013,104023,4748.792,-12549.633,38,0.8,38,16.9