version: 66.11
glider: 194
mission: 7
dive: 31
start: 10 31 113 10 47 2
data:
$ID,194
$MISSION,7
$DIVE,31
$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,-4346.9204
$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,40
$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
$GPS1,311013,104023,4748.792,-12549.633,38,0.8,38,16.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.84
$_SM_ANGLEo,-68.7
$GPS2,311013,104635,4748.809,-12549.638,5,0.9,5,16.9
$SPEED_LIMITS,0.084,0.260
$TGT_NAME,SEARCH_B
$TGT_LATLONG,4800.000,-12600.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.165,0.201
$KALMAN_X,5196.1,0.0,0.0,-47110.3,196.8
$KALMAN_Y,7087.0,0.0,0.0,59079.7,878.8
$MHEAD_RNG_PITCHd_Wd,303.8,24381,-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,-146.6,121,2248,1186,1098,0.0,0.0,0,59,0.00,0.00,-42.03,0.000,16386,0.000,0.000,118,2248,2299,2292,2306,0,0,0,0,0,0,28.83,28.83,28.83
$GC,60,-0.76,-146.6,119,2248,2292,2306,3.1,-4.3,4,99,8.88,2.20,-19.27,0.000,18948,0.201,0.057,2532,863,2999,3062,2936,0,0,0,0,0,0,25.64,25.93,26.27
$GC,174,-0.60,-146.6,2531,863,3064,2936,19.3,-18.6,15,182,0.15,2.25,0.00,0.000,3078,0.132,0.041,2587,2262,3000,3064,2937,0,0,0,0,0,0,25.84,26.03,28.83
$GC,482,-0.57,-146.6,2587,2263,3067,2937,61.7,-11.4,46,486,0.00,2.20,0.00,0.000,260,0.000,0.047,2579,3674,3002,3067,2937,0,0,0,0,0,0,28.83,26.15,28.83
$GC,693,-0.54,-146.6,2579,3674,3067,2938,82.9,-10.6,64,701,0.08,2.15,0.00,0.000,3078,0.119,0.030,2606,2262,3002,3066,2938,0,0,0,0,0,0,26.13,26.30,28.83
$GC,1001,-0.58,-146.6,2605,2261,3067,2938,112.0,-7.4,80,1007,0.00,2.20,0.00,0.000,260,0.000,0.049,2598,3670,3002,3067,2937,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1089,-0.61,-146.6,2597,3670,3067,2938,118.4,-8.0,84,1093,0.00,2.10,0.00,0.000,1030,0.000,0.031,2598,2261,3003,3068,2938,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1397,-0.67,-146.6,2598,2260,3067,2938,144.9,-8.4,99,1402,0.00,2.12,0.00,0.000,516,0.000,0.044,2598,876,3003,3068,2938,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1487,-0.72,-146.6,2597,876,3067,2938,152.3,-8.1,104,1493,0.12,2.15,0.00,0.000,5126,0.077,0.041,2505,2267,3002,3067,2938,0,0,0,0,0,0,26.44,26.44,28.83
$GC,1817,-0.67,-146.6,2505,2267,3067,2937,190.4,-12.1,115,1824,0.17,2.17,0.00,0.000,2564,0.132,0.042,2563,869,3002,3067,2937,0,0,0,0,0,0,26.33,26.45,28.83
$GC,1877,-0.64,-146.6,2563,869,3067,2937,196.3,-10.9,117,1883,0.00,2.15,0.00,0.000,1030,0.000,0.041,2556,2264,3002,3067,2937,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2207,-0.67,-146.6,2556,2264,3067,2937,224.7,-9.0,128,2213,0.00,2.17,0.00,0.000,260,0.000,0.049,2546,3672,3001,3067,2936,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2260,-0.69,-146.6,2546,3672,3067,2936,227.5,-9.2,129,2268,0.00,2.10,0.00,0.000,1030,0.000,0.031,2546,2256,3001,3067,2936,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2566,-0.69,-146.6,2546,2256,3067,2936,257.5,-8.8,140,2571,0.00,2.20,0.00,0.000,260,0.000,0.050,2537,3670,3001,3067,2936,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2616,-0.69,-146.6,2535,3670,3067,2935,259.9,-8.8,141,2624,0.00,2.10,0.00,0.000,1030,0.000,0.031,2537,2253,3001,3067,2935,0,0,0,0,0,0,28.83,26.57,28.83
$GC,2924,-0.69,-146.6,2536,2253,3067,2935,291.1,-9.7,152,2930,0.00,2.12,0.00,0.000,516,0.000,0.044,2537,873,3001,3067,2935,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2986,-0.69,-146.6,2536,873,3067,2935,297.6,-10.4,154,2991,0.08,2.20,0.00,0.000,3078,0.124,0.041,2556,2269,3001,3067,2935,0,0,0,0,0,0,26.41,26.57,28.83
$GC,3314,-0.74,-146.6,2555,2269,3067,2934,327.6,-9.0,160,3317,0.00,2.15,0.00,0.000,260,0.000,0.050,2548,3666,3000,3067,2934,0,0,0,0,0,0,28.83,26.54,28.83
$GC,3436,-0.79,-146.6,2548,3666,3067,2934,339.4,-9.3,162,3442,0.00,2.10,0.00,0.000,1030,0.000,0.031,2548,2257,3000,3067,2934,0,0,0,0,0,0,28.83,26.62,28.83
$GC,3797,-0.84,-146.6,2547,2258,3067,2933,373.1,-9.2,168,3798,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2257,2999,3067,2932,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4096,-0.89,-146.6,2548,2258,3067,2932,397.2,-8.0,173,4102,0.12,2.15,0.00,0.000,4612,0.080,0.044,2459,864,2999,3067,2932,0,0,0,0,0,0,26.72,26.58,28.83
$GC,4158,-0.91,-146.6,2459,864,3067,2932,403.7,-8.4,174,4164,0.10,2.20,0.00,0.000,3078,0.122,0.042,2485,2259,2999,3067,2932,0,0,0,0,0,0,26.44,26.62,28.83
$GC,4518,-0.89,-146.6,2485,2259,3067,2930,439.7,-10.0,180,4523,0.00,2.15,0.00,0.000,260,0.000,0.050,2476,3669,2998,3067,2930,0,0,0,0,0,0,28.83,26.59,28.83
$GC,4609,-0.86,-146.6,2477,3669,3067,2930,446.3,-10.2,181,4613,0.12,2.10,0.00,0.000,3078,0.145,0.032,2511,2258,2998,3067,2930,0,0,0,0,0,0,26.48,26.66,28.83
$GC,4937,-0.86,-146.6,2512,2258,3067,2930,480.2,-9.1,187,4938,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2258,2998,3067,2929,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5236,-0.88,-146.6,2512,2258,3067,2929,508.7,-9.5,192,5237,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2258,2998,3067,2929,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5536,-0.91,-146.6,2512,2258,3067,2928,536.8,-9.3,197,5542,0.00,2.20,0.00,0.000,260,0.000,0.051,2504,3670,2997,3067,2928,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5589,-0.93,-146.6,2504,3670,3066,2928,536.8,-9.3,197,5597,0.00,2.10,0.00,0.000,1030,0.000,0.033,2504,2260,2997,3067,2927,0,0,0,0,0,0,28.83,26.68,28.83
$GC,5896,-0.93,-146.6,2504,2260,3067,2927,571.0,-9.4,203,5898,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2260,2997,3067,2927,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6196,-0.96,-146.6,2504,2260,3067,2926,599.1,-9.4,208,6202,0.00,2.15,0.00,0.000,516,0.000,0.047,2504,866,2996,3067,2926,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6270,-0.98,-146.6,2504,866,3067,2925,605.3,-9.6,209,6274,0.00,2.17,0.00,0.000,1030,0.000,0.044,2499,2270,2996,3067,2926,0,0,0,0,0,0,28.83,26.65,28.83
$GC,6613,-1.00,-146.6,2499,2270,3066,2926,640.3,-9.8,215,6619,0.10,2.15,0.00,0.000,4356,0.097,0.050,2416,3670,2996,3067,2925,0,0,0,0,0,0,26.76,26.62,28.83
$GC,6660,-1.02,-146.6,2416,3669,3067,2925,640.3,-9.8,215,6665,0.15,2.10,0.00,0.000,3078,0.146,0.033,2458,2257,2996,3067,2925,0,0,0,0,0,0,26.48,26.69,28.83
$GC,6967,-1.00,-146.6,2458,2256,3067,2925,681.8,-11.5,220,6973,0.00,2.15,0.00,0.000,516,0.000,0.047,2458,864,2996,3067,2925,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7029,-0.97,-146.6,1616,864,3037,2921,689.0,-11.6,221,7034,0.00,2.20,0.00,0.000,1030,0.000,0.043,2451,2258,2996,3067,2925,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7389,-0.95,-146.6,2451,2258,3067,2924,731.1,-11.7,227,7390,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,2258,2995,3067,2924,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7687,-0.92,-146.6,2451,2258,3067,2923,766.9,-12.0,232,7694,0.12,2.17,0.00,0.000,2308,0.147,0.050,2483,3668,2994,3067,2922,0,0,0,0,0,0,26.55,26.62,28.83
$GC,7741,-0.90,-146.6,2483,3668,3067,2923,766.9,-12.0,232,7750,0.00,2.15,0.00,0.000,1030,0.000,0.034,2483,2257,2995,3067,2923,0,0,0,0,0,0,28.83,26.70,28.83
$GC,8047,-0.92,-146.6,2483,2257,3067,2922,804.5,-10.4,238,8049,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2257,2995,3067,2923,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8347,-0.95,-146.6,2483,2256,3067,2922,835.7,-10.3,243,8349,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2256,2994,3067,2922,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8648,-0.99,-146.6,2483,2256,3067,2922,865.3,-9.8,248,8649,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2256,2994,3066,2922,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8948,-1.03,-146.6,2483,2256,3067,2921,893.7,-9.3,253,8953,0.00,2.20,0.00,0.000,260,0.000,0.053,2474,3671,2993,3066,2920,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8990,-1.07,-146.6,2473,3671,3067,2920,893.7,-9.3,253,8994,0.00,2.12,0.00,0.000,1030,0.000,0.034,2473,2251,2994,3067,2921,0,0,0,0,0,0,28.83,26.71,28.83
$GC,9302,-1.10,-146.6,2473,2251,3067,2920,926.6,-9.3,259,9308,0.12,2.15,0.00,0.000,4612,0.082,0.046,2388,864,2993,3067,2920,0,0,0,0,0,0,26.79,26.63,28.83
$GC,9345,-1.13,-146.6,2387,864,3067,2920,926.6,-9.3,259,9350,0.15,2.17,0.00,0.000,3078,0.151,0.044,2419,2270,2993,3067,2920,0,0,0,0,0,0,26.46,26.66,28.83
$GC,9658,-1.10,-146.6,2419,2271,3067,2919,967.9,-11.4,265,9659,0.00,0.00,0.00,0.000,6,0.000,0.000,2419,2271,2993,3067,2920,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9896,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9896,begin apogee
$GC,9900,-0.22,0.0,2419,2368,3067,2920,996.3,-11.9,269,10021,0.85,0.00,116.03,1.233,10246,0.109,0.000,2709,2368,2400,2463,2337,0,0,0,0,0,0,26.47,28.83,23.70
$STATE,10022,end apogee,CONTROL_FINISHED_OK
$STATE,10022,begin climb
$GC,10024,0.76,146.6,2709,2368,2462,2337,999.2,0.0,271,10152,0.88,0.00,124.65,1.209,10502,0.044,0.000,3041,2368,1801,1860,1742,0,0,0,0,0,0,24.71,28.83,23.20
$GC,10432,0.62,146.6,3041,2368,1853,1736,955.8,13.5,278,10439,0.17,2.33,0.00,0.000,4612,0.146,0.046,2997,957,1794,1853,1736,0,0,0,0,0,0,25.32,25.41,28.83
$GC,10470,0.47,146.6,2996,957,1851,1735,955.8,13.5,278,10475,0.20,2.28,0.00,0.000,5126,0.133,0.043,2941,2359,1793,1851,1735,0,0,0,0,0,0,25.39,25.50,28.83
$GC,10787,0.47,170.8,2940,2359,1851,1734,922.5,8.9,284,10809,0.00,0.00,20.08,1.096,8198,0.000,0.000,2941,2360,1702,1762,1642,0,0,0,0,0,0,28.83,28.83,24.46
$GC,11088,0.47,183.8,2941,2359,1761,1639,894.6,9.4,289,11105,0.00,2.33,11.98,1.012,8708,0.000,0.049,2949,955,1649,1711,1588,0,0,0,0,0,0,28.83,25.53,24.66
$GC,11170,0.47,198.5,2948,955,1709,1587,889.5,9.3,290,11190,0.00,2.28,13.40,1.027,9222,0.000,0.043,2949,2364,1591,1653,1529,0,0,0,0,0,0,28.83,25.70,24.49
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$STATE,19577,end climb,SURFACE_DEPTH_REACHED
$STATE,19577,begin surface coast
$FINISH,0.9,1.024223
$STATE,19601,end surface coast,CONTROL_FINISHED_OK
$STATE,19601,begin surface
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$TT8_MAMPS,0.026964,0.026964
$HUMID,39.60
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$TCM_TEMP,14.20
$XPDR_PINGS,0
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$10V_AH,10.3,4.847
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,311220
$DATA_FILE_SIZE,40522,547
$CAP_FILE_SIZE,165499,0
$CFSIZE,2097872896,2091515904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,311013,161604,4751.653,-12552.560,33,0.8,33,16.9