version: 66.11
glider: 194
mission: 7
dive: 32
start: 10 31 113 16 25 20
data:
$ID,194
$MISSION,7
$DIVE,32
$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,250
$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,-4348.1812
$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,0.5
$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,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,0
$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
$GPS1,311013,161604,4751.653,-12552.560,33,0.8,33,16.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-65.6
$GPS2,311013,162453,4751.685,-12552.562,5,0.9,5,16.9
$SPEED_LIMITS,0.084,0.260
$TGT_NAME,SEARCH_B
$TGT_LATLONG,4800.000,-12600.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.154,0.210
$KALMAN_X,4782.5,0.0,0.0,-50360.4,-162.5
$KALMAN_Y,8415.6,0.0,0.0,63060.2,1117.8
$MHEAD_RNG_PITCHd_Wd,306.9,17948,-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,-146.6,123,2250,892,785,0.0,0.0,0,70,0.00,0.00,-53.47,0.000,16386,0.000,0.000,120,2251,2322,2312,2332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,73,-0.76,-146.6,120,2251,2312,2333,3.1,-3.2,5,111,8.90,2.25,-18.20,0.000,18948,0.203,0.058,2528,877,3000,3064,2936,0,0,0,0,0,0,25.54,25.86,26.19
$GC,146,-0.60,-146.6,2528,877,3066,2936,11.9,-14.3,12,155,0.20,2.22,0.00,0.000,3078,0.127,0.040,2585,2259,3001,3066,2937,0,0,0,0,0,0,25.75,25.92,28.83
$GC,454,-0.56,-146.6,2584,2259,3067,2936,57.3,-12.3,43,463,0.00,2.22,0.00,0.000,260,0.000,0.047,2576,3680,3001,3067,2936,0,0,0,0,0,0,28.83,26.10,28.83
$GC,577,-0.52,-146.6,2577,3680,3068,2937,72.6,-12.5,55,587,0.15,2.12,0.00,0.000,3078,0.135,0.030,2618,2262,3002,3068,2937,0,0,0,0,0,0,26.03,26.22,28.83
$GC,898,-0.57,-146.6,2618,2261,3069,2936,103.2,-8.2,75,899,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2262,3002,3069,2936,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1197,-0.64,-146.6,2617,2262,3069,2937,128.4,-8.6,90,1203,0.12,2.15,0.00,0.000,4612,0.077,0.042,2530,876,3002,3068,2936,0,0,0,0,0,0,26.46,26.34,28.83
$GC,1250,-0.66,-146.6,2529,875,3069,2936,132.9,-9.8,92,1259,0.15,2.20,0.00,0.000,3078,0.114,0.041,2572,2265,3002,3069,2936,0,0,0,0,0,0,26.22,26.38,28.83
$GC,1557,-0.69,-146.6,2572,2265,3069,2937,162.2,-9.2,106,1563,0.00,2.17,0.00,0.000,260,0.000,0.049,2564,3670,3002,3069,2936,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1648,-0.71,-146.6,2564,3670,3068,2936,171.1,-9.8,109,1654,0.00,2.10,0.00,0.000,1030,0.000,0.031,2564,2263,3002,3069,2936,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1977,-0.74,-146.6,2564,2263,3069,2935,202.7,-9.6,120,1978,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2263,3002,3069,2935,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2277,-0.78,-146.6,2564,2263,3069,2935,230.1,-8.7,130,2278,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2263,3002,3069,2935,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2577,-0.83,-146.6,2563,2263,3069,2934,256.2,-8.8,140,2579,0.12,0.00,0.00,0.000,4102,0.080,0.000,2477,2263,3001,3069,2934,0,0,0,0,0,0,26.63,28.83,28.83
$GC,2877,-0.76,-146.6,2477,2263,3068,2933,295.0,-13.3,150,2879,0.20,0.00,0.00,0.000,2054,0.129,0.000,2537,2263,3001,3069,2933,0,0,0,0,0,0,26.41,28.83,28.83
$GC,3177,-0.79,-146.6,2536,2263,3069,2932,324.3,-9.5,156,3178,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2263,3000,3069,2932,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3478,-0.81,-146.6,2537,2263,3069,2932,352.3,-9.4,161,3479,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2263,3000,3069,2932,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3777,-0.85,-146.6,2537,2263,3068,2930,380.4,-9.4,166,3778,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2263,2999,3068,2930,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4077,-0.89,-146.6,2537,2263,3068,2929,408.2,-9.2,171,4079,0.12,0.00,0.00,0.000,4102,0.077,0.000,2456,2263,2999,3069,2929,0,0,0,0,0,0,26.73,28.83,28.83
$GC,4377,-0.83,-146.6,2456,2263,3068,2929,446.3,-12.9,176,4379,0.20,0.00,0.00,0.000,2054,0.129,0.000,2517,2263,2998,3069,2928,0,0,0,0,0,0,26.48,28.83,28.83
$GC,4677,-0.85,-146.6,2516,2263,3068,2928,476.9,-10.1,181,4678,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2263,2998,3069,2927,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4977,-0.88,-146.6,2517,2263,3068,2927,505.8,-9.6,186,4978,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2263,2997,3068,2927,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5277,-0.91,-146.6,2516,2263,3068,2926,532.5,-8.8,191,5283,0.00,2.15,0.00,0.000,516,0.000,0.047,2517,869,2997,3069,2926,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5355,-0.94,-146.6,2517,869,3068,2926,537.8,-8.7,192,5359,0.00,2.17,0.00,0.000,1030,0.000,0.044,2510,2276,2997,3068,2926,0,0,0,0,0,0,28.83,26.65,28.83
$GC,5692,-0.97,-146.6,2509,2276,3068,2925,567.8,-8.4,198,5699,0.12,2.15,0.00,0.000,4356,0.080,0.050,2411,3666,2996,3068,2925,0,0,0,0,0,0,26.77,26.62,28.83
$GC,5752,-0.97,-146.6,2411,3666,3068,2924,575.2,-9.2,199,5757,0.20,2.10,0.00,0.000,3078,0.134,0.033,2469,2260,2996,3068,2924,0,0,0,0,0,0,26.48,26.70,28.83
$GC,6109,-0.96,-146.6,2469,2259,3068,2924,613.1,-10.5,205,6110,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2259,2996,3068,2924,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6408,-0.96,-146.6,2469,2259,3068,2923,646.6,-11.2,210,6409,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2259,2995,3068,2923,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6708,-0.96,-146.6,2469,2259,3068,2922,679.4,-10.8,215,6712,0.00,2.20,0.00,0.000,260,0.000,0.052,2462,3669,2995,3068,2922,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6752,-0.96,-146.6,2461,3668,3068,2922,679.4,-10.8,215,6756,0.00,2.15,0.00,0.000,1030,0.000,0.033,2461,2262,2994,3068,2921,0,0,0,0,0,0,28.83,26.70,28.83
$GC,7064,-0.94,-146.6,2461,2262,3068,2921,718.6,-11.1,221,7066,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2262,2994,3068,2921,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7364,-0.94,-146.6,2461,2262,3068,2921,752.2,-11.1,226,7368,0.00,2.20,0.00,0.000,260,0.000,0.053,2450,3672,2994,3068,2920,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7407,-0.94,-146.6,2450,3671,3068,2920,752.2,-11.1,226,7412,0.08,2.15,0.00,0.000,3078,0.122,0.034,2478,2262,2994,3068,2920,0,0,0,0,0,0,26.52,26.70,28.83
$GC,7720,-0.96,-146.6,2478,2262,3068,2920,788.7,-10.0,232,7724,0.00,2.15,0.00,0.000,516,0.000,0.047,2478,870,2994,3068,2920,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7754,-0.98,-146.6,2478,870,3068,2920,788.7,-10.0,232,7758,0.00,2.20,0.00,0.000,1030,0.000,0.044,2472,2259,2994,3068,2920,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8076,-1.00,-146.6,2472,2260,3068,2919,827.0,-10.8,238,8077,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2260,2993,3068,2919,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8376,-1.02,-146.6,2472,2260,3068,2919,859.4,-10.7,243,8377,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2260,2993,3068,2919,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8676,-1.04,-146.6,2472,2260,3068,2918,890.3,-10.2,248,8682,0.00,2.20,0.00,0.000,260,0.000,0.053,2462,3677,2993,3068,2918,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8719,-1.07,-146.6,2462,3677,3068,2918,890.3,-10.2,248,8723,0.00,2.12,0.00,0.000,1030,0.000,0.034,2462,2256,2992,3067,2918,0,0,0,0,0,0,28.83,26.71,28.83
$GC,9036,-1.08,-146.6,2462,2256,3068,2918,926.6,-10.0,254,9040,0.00,2.15,0.00,0.000,516,0.000,0.048,2462,868,2993,3068,2918,0,0,0,0,0,0,28.83,26.64,28.83
$GC,9101,-1.09,-146.6,2462,867,3068,2917,932.4,-10.0,255,9106,0.00,2.17,0.00,0.000,1030,0.000,0.045,2454,2271,2993,3068,2918,0,0,0,0,0,0,28.83,26.67,28.83
$GC,9448,-1.09,-146.6,2454,2271,3068,2918,966.4,-9.5,261,9452,0.00,2.17,0.00,0.000,260,0.000,0.053,2443,3672,2992,3068,2917,0,0,0,0,0,0,28.83,26.63,28.83
$GC,9504,-1.09,-146.6,2443,3672,3068,2917,971.9,-9.5,262,9508,0.00,2.12,0.00,0.000,1030,0.000,0.034,2443,2256,2992,3068,2917,0,0,0,0,0,0,28.83,26.71,28.83
$STATE,9738,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9738,begin apogee
$GC,9742,-0.22,0.0,2442,2363,3068,2917,994.8,-9.7,266,9863,0.77,0.00,115.55,1.236,10246,0.103,0.000,2709,2362,2401,2464,2338,0,0,0,0,0,0,26.49,28.83,23.71
$STATE,9864,end apogee,CONTROL_FINISHED_OK
$STATE,9864,begin climb
$GC,9865,0.76,146.6,2709,2362,2464,2337,996.1,0.0,268,9994,0.90,0.00,124.85,1.206,10246,0.044,0.000,3049,2363,1802,1861,1743,0,0,0,0,0,0,24.73,28.83,23.22
$GC,10280,0.61,146.6,3049,2362,1853,1737,945.1,15.2,275,10282,0.22,0.00,0.00,0.000,4102,0.137,0.000,2985,2362,1795,1853,1737,0,0,0,0,0,0,25.33,28.83,28.83
$GC,10580,0.54,146.6,2985,2362,1852,1735,908.0,12.3,280,10585,0.00,2.30,0.00,0.000,516,0.000,0.048,2993,955,1793,1853,1734,0,0,0,0,0,0,28.83,25.80,28.83
$GC,10642,0.47,146.6,2993,955,1850,1734,900.7,12.2,281,10648,0.15,2.28,0.00,0.000,5126,0.117,0.044,2942,2342,1792,1850,1734,0,0,0,0,0,0,25.75,25.87,28.83
$GC,11000,0.47,165.0,2943,2342,1850,1734,866.4,9.2,287,11017,0.00,0.00,15.02,1.036,8198,0.000,0.000,2942,2341,1726,1785,1668,0,0,0,0,0,0,28.83,28.83,24.79
$GC,11300,0.47,181.5,2943,2342,1784,1665,838.9,9.2,292,11317,0.00,0.00,15.02,1.024,8198,0.000,0.000,2943,2342,1659,1720,1598,0,0,0,0,0,0,28.83,28.83,24.72
$GC,11601,0.49,196.7,2943,2341,1719,1596,811.0,9.3,297,11622,0.00,2.35,13.55,0.998,8708,0.000,0.049,2951,953,1597,1659,1535,0,0,0,0,0,0,28.83,25.64,24.75
$GC,11663,0.50,209.9,2951,952,1657,1535,805.2,9.4,298,11682,0.00,2.28,12.45,0.972,9222,0.000,0.044,2951,2362,1543,1607,1480,0,0,0,0,0,0,28.83,25.76,24.56
$GC,12020,0.51,209.9,2951,2362,1606,1476,768.1,10.4,304,12024,0.00,2.28,0.00,0.000,516,0.000,0.049,2961,960,1541,1606,1476,0,0,0,0,0,0,28.83,25.96,28.83
$GC,12114,0.53,209.9,2961,960,1603,1476,762.1,10.4,305,12118,0.00,2.22,0.00,0.000,1030,0.000,0.044,2961,2356,1539,1603,1476,0,0,0,0,0,0,28.83,26.04,28.83
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$STATE,18777,end climb,SURFACE_DEPTH_REACHED
$STATE,18777,begin surface coast
$FINISH,0.9,1.016685
$STATE,18799,end surface coast,CONTROL_FINISHED_OK
$STATE,18799,begin surface
$SM_CCo,18873,0.00,0.000,0,0,1214,290.93
$SM_GC,1.93,7.50,0.12,0.00,0.028,0.080,0.000,149,2251,1214,-8.05,1.50,290.93,0,0,0,0,0,0,26.35,26.36,28.83
$IRIDIUM_FIX,4732.49,-12544.19,311013,161622
$TT8_MAMPS,0.026964,0.026964
$HUMID,39.32
$INTERNAL_PRESSURE,8.92837
$TCM_TEMP,17.50
$XPDR_PINGS,0
$24V_AH,23.2,5.917
$10V_AH,10.3,4.914
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,21.250,123.525,353.925,0.000,0.000,0.000,0.000,402.600,0.000,0.000,6.528,1608.771,15281.625,448.403,1986.275,82.581,0.389,1726.729,0.000,1566.453,0.000,0.541,0.000
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$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,357.485,689.206,330.519,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,311200
$DATA_FILE_SIZE,37105,520
$CAP_FILE_SIZE,149415,0
$CFSIZE,2097872896,2091417600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,311013,214105,4754.773,-12555.138,39,0.8,39,16.9