version: 66.11
glider: 194
mission: 7
dive: 37
start: 11 1 113 17 34 0
data:
$ID,194
$MISSION,7
$DIVE,37
$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,-4354.4795
$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,61
$R_STBD_OVSHOOT,51
$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
$GPS1,011113,172058,4759.899,-12600.041,41,0.9,41,16.9
$_CALLS,3
$_XMS_NAKs,5
$_XMS_TOUTs,2
$_SM_DEPTHo,1.91
$_SM_ANGLEo,-69.1
$GPS2,011113,173334,4759.935,-12600.049,5,0.9,5,16.9
$SPEED_LIMITS,0.084,0.260
$TGT_NAME,SEARCH_B
$TGT_LATLONG,4815.000,-12615.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.144,0.216
$KALMAN_X,2410.6,0.0,0.0,-57424.1,-1032.2
$KALMAN_Y,14846.1,0.0,0.0,71926.5,1482.3
$MHEAD_RNG_PITCHd_Wd,309.4,33443,-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,-146.6,126,2246,1392,1339,0.0,0.0,0,50,0.00,0.00,-33.45,0.000,16386,0.000,0.000,125,2247,2299,2299,2300,0,0,0,0,0,0,28.83,28.83,28.83
$GC,52,-0.76,-146.6,125,2247,2299,2300,3.0,-5.2,3,91,8.85,2.22,-19.10,0.000,18948,0.200,0.057,2527,881,2999,3059,2939,0,0,0,0,0,0,25.53,25.85,26.18
$GC,227,-0.60,-146.6,2527,881,3062,2939,30.8,-18.9,20,236,0.20,2.20,0.00,0.000,3078,0.124,0.039,2585,2248,3000,3062,2939,0,0,0,0,0,0,25.80,26.00,28.83
$GC,535,-0.56,-146.6,2584,2248,3065,2939,66.0,-11.6,51,536,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2248,3002,3065,2939,0,0,0,0,0,0,28.83,28.83,28.83
$GC,834,-0.56,-146.6,2584,2248,3066,2939,99.6,-10.4,72,835,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2248,3002,3066,2939,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1136,-0.59,-146.6,2584,2248,3066,2939,129.5,-9.9,87,1137,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2248,3002,3065,2939,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1435,-0.63,-146.6,2584,2248,3066,2939,155.6,-8.5,101,1437,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2248,3002,3066,2939,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1734,-0.68,-146.6,2584,2248,3066,2938,182.3,-9.0,111,1736,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2248,3002,3066,2938,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2035,-0.74,-146.6,2584,2248,3066,2938,208.0,-8.2,121,2037,0.12,0.00,0.00,0.000,4102,0.082,0.000,2501,2248,3001,3065,2938,0,0,0,0,0,0,26.58,28.83,28.83
$GC,2334,-0.70,-146.6,2502,2248,3066,2938,243.2,-12.0,131,2340,0.17,2.12,0.00,0.000,2564,0.132,0.042,2559,879,3001,3066,2937,0,0,0,0,0,0,26.37,26.49,28.83
$GC,2387,-0.66,-146.6,2559,879,3066,2937,246.5,-11.9,132,2395,0.00,2.17,0.00,0.000,1030,0.000,0.041,2556,2259,3001,3066,2937,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2694,-0.70,-146.6,2556,2259,3065,2937,277.1,-9.1,143,2696,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2259,3001,3066,2936,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3025,-0.74,-146.6,2555,2259,3066,2936,305.9,-8.4,153,3026,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2259,3001,3066,2936,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3324,-0.79,-146.6,2556,2259,3065,2935,331.5,-8.5,158,3326,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2259,3000,3065,2935,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3624,-0.84,-146.6,2556,2259,3066,2934,358.0,-8.9,163,3631,0.12,2.17,0.00,0.000,4356,0.080,0.047,2457,3669,3000,3066,2934,0,0,0,0,0,0,26.70,26.55,28.83
$GC,3677,-0.89,-146.6,2456,3668,3065,2934,358.0,-8.9,163,3685,0.15,2.10,0.00,0.000,3078,0.141,0.031,2498,2257,2999,3065,2934,0,0,0,0,0,0,26.41,26.63,28.83
$GC,3985,-0.87,-146.6,2498,2256,3065,2933,398.2,-10.6,169,3986,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2256,2999,3065,2933,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4284,-0.86,-146.6,2498,2256,3065,2932,429.7,-10.5,174,4288,0.00,2.22,0.00,0.000,260,0.000,0.050,2490,3677,2998,3065,2932,0,0,0,0,0,0,28.83,26.57,28.83
$GC,4333,-0.85,-146.6,2490,3677,3065,2932,429.7,-10.5,174,4340,0.00,2.10,0.00,0.000,1030,0.000,0.031,2490,2263,2999,3066,2932,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4640,-0.83,-146.6,2490,2263,3065,2931,470.2,-11.4,180,4641,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2263,2998,3065,2932,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4940,-0.83,-146.6,2490,2263,3065,2930,503.6,-11.1,185,4946,0.00,2.15,0.00,0.000,516,0.000,0.045,2490,865,2997,3065,2930,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5008,-0.83,-146.6,2490,865,3065,2930,510.7,-11.3,186,5013,0.10,2.20,0.00,0.000,3078,0.117,0.042,2517,2262,2997,3065,2930,0,0,0,0,0,0,26.46,26.63,28.83
$GC,5360,-0.87,-146.6,2517,2261,3065,2929,544.9,-9.3,192,5362,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2261,2997,3065,2929,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5660,-0.91,-146.6,2517,2262,3065,2928,571.5,-8.9,197,5666,0.00,2.17,0.00,0.000,260,0.000,0.050,2509,3670,2996,3065,2927,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5713,-0.95,-146.6,2509,3671,3065,2928,571.5,-8.9,197,5720,0.00,2.10,0.00,0.000,1030,0.000,0.032,2509,2260,2996,3065,2928,0,0,0,0,0,0,28.83,26.69,28.83
$GC,6020,-0.98,-146.6,2509,2260,3065,2927,605.4,-9.5,203,6022,0.12,0.00,0.00,0.000,4102,0.082,0.000,2425,2260,2995,3065,2926,0,0,0,0,0,0,26.77,28.83,28.83
$GC,6320,-0.90,-146.6,2425,2260,3065,2927,645.0,-13.4,208,6327,0.20,2.15,0.00,0.000,2564,0.132,0.044,2491,867,2995,3065,2926,0,0,0,0,0,0,26.48,26.62,28.83
$GC,6393,-0.84,-146.6,2491,868,3065,2926,651.6,-12.8,209,6397,0.00,2.15,0.00,0.000,1030,0.000,0.043,2484,2264,2995,3065,2926,0,0,0,0,0,0,28.83,26.65,28.83
$GC,6741,-0.86,-146.6,2484,2264,3065,2925,685.9,-9.4,215,6742,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2263,2995,3065,2926,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7041,-0.87,-146.6,2484,2264,3065,2925,713.1,-9.0,220,7042,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2264,2995,3065,2925,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7341,-0.89,-146.6,2484,2264,3065,2924,741.1,-9.3,225,7343,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2264,2994,3065,2924,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7641,-0.92,-146.6,2484,2264,3065,2924,769.9,-9.6,230,7646,0.00,2.17,0.00,0.000,260,0.000,0.051,2475,3667,2994,3065,2923,0,0,0,0,0,0,28.83,26.61,28.83
$GC,7739,-0.94,-146.6,2474,3667,3065,2923,776.1,-9.8,231,7743,0.00,2.10,0.00,0.000,1030,0.000,0.033,2475,2257,2994,3065,2923,0,0,0,0,0,0,28.83,26.70,28.83
$GC,8055,-0.96,-146.6,2474,2256,3065,2923,812.1,-10.0,237,8056,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2256,2994,3065,2923,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8355,-0.97,-146.6,2474,2256,3066,2922,843.9,-10.6,242,8359,0.00,2.15,0.00,0.000,516,0.000,0.047,2475,864,2993,3065,2922,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8399,-0.99,-146.6,2474,864,3065,2922,843.9,-10.6,242,8403,0.00,2.17,0.00,0.000,1030,0.000,0.044,2466,2268,2993,3065,2922,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8711,-1.00,-146.6,2465,2269,3065,2921,886.1,-11.9,248,8715,0.00,2.17,0.00,0.000,260,0.000,0.051,2455,3674,2993,3065,2922,0,0,0,0,0,0,28.83,26.61,28.83
$GC,8769,-1.00,-146.6,2455,3674,3065,2921,892.8,-11.8,249,8774,0.00,2.10,0.00,0.000,1030,0.000,0.034,2455,2263,2993,3065,2921,0,0,0,0,0,0,28.83,26.70,28.83
$GC,9127,-1.00,-146.6,2455,2262,3065,2921,931.6,-10.6,255,9131,0.00,2.15,0.00,0.000,516,0.000,0.047,2455,870,2992,3065,2920,0,0,0,0,0,0,28.83,26.62,28.83
$GC,9206,-1.00,-146.6,2455,871,3065,2921,937.5,-10.4,256,9210,0.00,2.20,0.00,0.000,1030,0.000,0.044,2447,2259,2993,3065,2921,0,0,0,0,0,0,28.83,26.65,28.83
$GC,9543,-1.00,-146.6,2447,2259,3065,2920,976.4,-10.7,262,9547,0.00,2.20,0.00,0.000,260,0.000,0.051,2436,3677,2992,3065,2920,0,0,0,0,0,0,28.83,26.60,28.83
$GC,9586,-1.00,-146.6,2436,3677,3065,2920,976.4,-10.7,262,9591,0.00,2.15,0.00,0.000,1030,0.000,0.034,2436,2267,2992,3065,2920,0,0,0,0,0,0,28.83,26.70,28.83
$STATE,9718,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9718,begin apogee
$GC,9722,-0.22,0.0,2435,2374,3065,2920,996.6,-11.4,265,9843,0.80,0.00,115.93,1.235,10246,0.106,0.000,2709,2374,2400,2462,2338,0,0,0,0,0,0,26.43,28.83,23.71
$STATE,9844,end apogee,CONTROL_FINISHED_OK
$STATE,9844,begin climb
$GC,9845,0.76,146.6,2709,2374,2462,2338,999.5,0.0,267,9974,0.90,0.00,125.20,1.208,10246,0.044,0.000,3046,2374,1802,1860,1744,0,0,0,0,0,0,24.70,28.83,23.20
$GC,10254,0.61,146.6,3046,2374,1853,1737,951.8,15.0,274,10260,0.20,2.28,0.00,0.000,4356,0.145,0.050,2987,3762,1794,1852,1737,0,0,0,0,0,0,25.31,25.41,28.83
$GC,10307,0.46,146.6,2986,3762,1853,1737,951.8,15.0,274,10315,0.22,2.22,0.00,0.000,5126,0.137,0.034,2931,2349,1795,1853,1737,0,0,0,0,0,0,25.39,25.53,28.83
$GC,10614,0.46,155.1,2930,2349,1853,1735,913.8,9.6,280,10626,0.00,2.33,7.15,0.923,8708,0.000,0.048,2939,953,1767,1826,1708,0,0,0,0,0,0,28.83,25.68,24.79
$GC,10747,0.46,166.7,2939,953,1822,1708,902.5,9.5,282,10763,0.00,2.25,11.25,1.021,9222,0.000,0.043,2939,2361,1719,1778,1661,0,0,0,0,0,0,28.83,25.86,24.68
$GC,11090,0.46,166.7,2939,2361,1778,1658,866.2,10.4,288,11091,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2361,1718,1778,1658,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11390,0.46,166.7,2939,2361,1778,1657,834.6,10.6,293,11391,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2361,1717,1778,1657,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11690,0.46,178.0,2939,2361,1778,1657,805.8,9.5,298,11707,0.00,2.35,10.48,0.945,8708,0.000,0.048,2949,950,1674,1734,1614,0,0,0,0,0,0,28.83,25.98,25.02
$GC,11743,0.46,189.3,2949,950,1732,1613,805.8,9.5,298,11759,0.00,2.22,10.98,0.972,9222,0.000,0.043,2950,2354,1627,1688,1567,0,0,0,0,0,0,28.83,26.04,24.82
$GC,12108,0.46,200.7,2949,2354,1686,1563,766.5,9.5,305,12121,0.00,0.00,10.50,0.926,8198,0.000,0.000,2950,2354,1580,1641,1520,0,0,0,0,0,0,28.83,28.83,24.91
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$STATE,19169,end climb,SURFACE_DEPTH_REACHED
$STATE,19169,begin surface coast
$FINISH,0.8,1.023804
$STATE,19190,end surface coast,CONTROL_FINISHED_OK
$STATE,19190,begin surface
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$XPDR_PINGS,1
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$10V_AH,10.3,5.273
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,311196
$DATA_FILE_SIZE,40255,539
$CAP_FILE_SIZE,150581,0
$CFSIZE,2097872896,2090762240
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,13069.56,0x235a1e,1,24
$GPS,011113,225622,4802.818,-12602.603,44,0.8,44,17.0