version: 66.11
glider: 194
mission: 7
dive: 38
start: 11 1 113 23 3 6
data:
$ID,194
$MISSION,7
$DIVE,38
$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,-4355.7397
$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,47
$R_STBD_OVSHOOT,45
$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
$GPS1,011113,225622,4802.818,-12602.603,44,0.8,44,17.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-65.7
$GPS2,011113,230240,4802.870,-12602.646,5,0.8,5,17.0
$SPEED_LIMITS,0.084,0.260
$TGT_NAME,SEARCH_B
$TGT_LATLONG,4815.000,-12615.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.156,0.208
$KALMAN_X,2021.0,0.0,0.0,-60323.5,-661.8
$KALMAN_Y,15983.1,0.0,0.0,76234.2,1289.3
$MHEAD_RNG_PITCHd_Wd,306.2,27144,-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,-146.6,139,2256,1095,1005,0.0,0.0,0,60,0.00,0.00,-42.30,0.000,16386,0.000,0.000,137,2256,2207,2196,2219,0,0,0,0,0,0,28.83,28.83,28.83
$GC,61,-0.76,-146.6,137,2256,2197,2219,3.0,-3.6,4,100,8.80,2.20,-23.02,0.000,18948,0.201,0.055,2531,865,2999,3062,2936,0,0,0,0,0,0,25.65,25.94,26.28
$GC,397,-0.64,-146.6,2531,864,3066,2936,54.9,-15.4,37,406,0.20,2.17,0.00,0.000,3078,0.141,0.039,2579,2263,3001,3066,2936,0,0,0,0,0,0,25.98,26.16,28.83
$GC,706,-0.62,-146.6,2579,2264,3068,2936,89.5,-10.6,64,710,0.00,2.20,0.00,0.000,516,0.000,0.044,2580,859,3002,3068,2936,0,0,0,0,0,0,28.83,26.25,28.83
$GC,782,-0.60,-146.6,2579,858,3067,2937,97.6,-10.7,68,786,0.00,2.17,0.00,0.000,1030,0.000,0.038,2572,2264,3001,3067,2936,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1097,-0.60,-146.6,2572,2264,3068,2936,128.9,-10.2,84,1099,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2265,3001,3067,2936,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1418,-0.62,-146.6,2572,2265,3067,2936,162.6,-10.1,98,1422,0.00,2.17,0.00,0.000,260,0.000,0.048,2561,3670,3002,3068,2936,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1518,-0.64,-146.6,2561,3670,3067,2935,170.9,-9.7,101,1522,0.00,2.10,0.00,0.000,1030,0.000,0.031,2561,2254,3001,3067,2936,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1829,-0.66,-146.6,2561,2255,3067,2936,203.6,-10.5,112,1831,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2254,3001,3067,2936,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2129,-0.69,-146.6,2561,2254,3067,2936,234.2,-10.1,122,2131,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2254,3001,3067,2936,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2430,-0.73,-146.6,2561,2255,3067,2935,262.1,-8.9,132,2435,0.00,2.20,0.00,0.000,260,0.000,0.049,2551,3669,3000,3066,2935,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2493,-0.77,-146.6,2550,3669,3067,2934,267.5,-8.9,134,2497,0.00,2.10,0.00,0.000,1030,0.000,0.031,2551,2260,3001,3067,2935,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2816,-0.80,-146.6,2550,2260,3067,2934,298.6,-9.7,145,2817,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2260,3000,3067,2934,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3145,-0.84,-146.6,2551,2260,3067,2933,327.1,-8.4,151,3147,0.10,0.00,0.00,0.000,4102,0.095,0.000,2478,2260,3000,3067,2933,0,0,0,0,0,0,26.69,28.83,28.83
$GC,3445,-0.78,-146.6,2477,2260,3067,2932,359.6,-10.9,156,3447,0.17,0.00,0.00,0.000,2054,0.132,0.000,2529,2260,2999,3067,2932,0,0,0,0,0,0,26.48,28.83,28.83
$GC,3746,-0.80,-146.6,2529,2260,3067,2932,386.4,-8.9,161,3747,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2260,2999,3067,2932,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4045,-0.83,-146.6,2529,2260,3067,2931,418.2,-10.7,166,4049,0.00,2.15,0.00,0.000,516,0.000,0.045,2529,862,2998,3067,2930,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4094,-0.86,-146.6,2529,862,3067,2930,418.2,-10.7,166,4101,0.00,2.15,0.00,0.000,1030,0.000,0.041,2522,2263,2998,3067,2930,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4401,-0.88,-146.6,2522,2264,3067,2929,458.5,-11.3,172,4402,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2264,2998,3067,2930,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4702,-0.91,-146.6,2522,2264,3067,2929,489.3,-10.1,177,4703,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2264,2998,3067,2929,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5001,-0.94,-146.6,2522,2264,3067,2928,516.7,-9.0,182,5008,0.12,2.17,0.00,0.000,4356,0.081,0.049,2428,3670,2997,3066,2928,0,0,0,0,0,0,26.76,26.60,28.83
$GC,5069,-0.94,-146.6,2429,3669,3067,2928,524.1,-9.6,183,5074,0.17,2.10,0.00,0.000,3078,0.137,0.032,2479,2258,2997,3067,2927,0,0,0,0,0,0,26.46,26.69,28.83
$GC,5421,-0.92,-146.6,2478,2258,3067,2928,561.9,-10.2,189,5425,0.00,2.15,0.00,0.000,516,0.000,0.045,2478,861,2997,3067,2927,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5477,-0.91,-146.6,2478,861,3067,2927,567.8,-10.3,190,5481,0.00,2.17,0.00,0.000,1030,0.000,0.042,2472,2267,2997,3067,2927,0,0,0,0,0,0,28.83,26.65,28.83
$GC,5833,-0.88,-146.6,2471,2268,3068,2926,605.0,-10.5,196,5834,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2268,2996,3067,2926,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6134,-0.86,-146.6,2471,2268,3068,2925,637.1,-10.7,201,6140,0.12,2.17,0.00,0.000,2308,0.149,0.049,2505,3670,2996,3067,2925,0,0,0,0,0,0,26.57,26.61,28.83
$GC,6216,-0.86,-146.6,2505,3670,3067,2925,642.8,-10.4,202,6220,0.00,2.15,0.00,0.000,1030,0.000,0.033,2505,2263,2996,3067,2925,0,0,0,0,0,0,28.83,26.70,28.83
$GC,6553,-0.90,-146.6,2505,2262,3067,2924,674.8,-8.9,208,6559,0.00,2.20,0.00,0.000,260,0.000,0.051,2496,3671,2995,3067,2924,0,0,0,0,0,0,28.83,26.62,28.83
$GC,6616,-0.93,-146.6,2495,3671,3067,2924,680.2,-8.9,209,6620,0.00,2.15,0.00,0.000,1030,0.000,0.033,2495,2259,2995,3067,2924,0,0,0,0,0,0,28.83,26.70,28.83
$GC,6974,-0.96,-146.6,2495,2259,3067,2923,711.3,-8.5,215,6979,0.00,2.15,0.00,0.000,516,0.000,0.047,2495,866,2995,3067,2923,0,0,0,0,0,0,28.83,26.64,28.83
$GC,7036,-0.99,-146.6,2495,866,3067,2923,717.0,-8.7,216,7041,0.00,2.17,0.00,0.000,1030,0.000,0.043,2486,2273,2995,3067,2923,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7389,-1.01,-146.6,2486,2273,3067,2922,751.3,-9.7,222,7390,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2273,2994,3067,2922,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7688,-1.03,-146.6,2486,2274,3067,2922,779.2,-9.3,227,7694,0.00,2.15,0.00,0.000,260,0.000,0.050,2477,3666,2994,3067,2921,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7757,-1.05,-146.6,2476,3666,3067,2921,785.1,-9.4,228,7761,0.00,2.10,0.00,0.000,1030,0.000,0.034,2477,2258,2994,3067,2921,0,0,0,0,0,0,28.83,26.71,28.83
$GC,8103,-1.07,-146.6,2476,2257,3067,2921,820.4,-10.1,234,8105,0.10,0.00,0.00,0.000,4102,0.096,0.000,2403,2258,2994,3067,2921,0,0,0,0,0,0,26.79,28.83,28.83
$GC,8403,-0.99,-146.6,2403,2257,3068,2921,861.0,-13.8,239,8410,0.17,2.15,0.00,0.000,2564,0.138,0.045,2460,869,2993,3067,2920,0,0,0,0,0,0,26.51,26.63,28.83
$GC,8457,-0.91,-146.6,2460,869,3067,2920,861.0,-13.8,239,8465,0.12,2.15,0.00,0.000,3078,0.144,0.044,2489,2263,2993,3067,2920,0,0,0,0,0,0,26.51,26.66,28.83
$GC,8764,-0.96,-146.6,2488,2263,3067,2920,894.6,-8.8,245,8769,0.00,2.17,0.00,0.000,260,0.000,0.051,2482,3666,2993,3067,2920,0,0,0,0,0,0,28.83,26.62,28.83
$GC,8826,-1.00,-146.6,2482,3666,3067,2919,900.1,-8.9,246,8830,0.00,2.10,0.00,0.000,1030,0.000,0.034,2482,2262,2993,3067,2919,0,0,0,0,0,0,28.83,26.70,28.83
$GC,9179,-1.04,-146.6,2482,2262,3067,2919,932.9,-9.2,252,9180,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2262,2993,3067,2919,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9481,-1.08,-146.6,2482,2262,3067,2919,958.8,-8.6,257,9487,0.12,2.17,0.00,0.000,4356,0.083,0.050,2387,3662,2993,3067,2919,0,0,0,0,0,0,26.79,26.62,28.83
$GC,9552,-1.10,-146.6,2387,3661,3067,2918,966.4,-9.4,258,9557,0.15,2.10,0.00,0.000,3078,0.145,0.034,2429,2259,2992,3066,2918,0,0,0,0,0,0,26.46,26.71,28.83
$STATE,9772,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9772,begin apogee
$GC,9776,-0.22,0.0,2429,2363,3067,2919,994.7,-12.0,262,9897,0.82,0.00,116.10,1.233,10246,0.106,0.000,2712,2363,2400,2462,2338,0,0,0,0,0,0,26.44,28.83,23.74
$STATE,9898,end apogee,CONTROL_FINISHED_OK
$STATE,9899,begin climb
$GC,9900,0.76,146.6,2712,2362,2463,2338,997.2,0.0,264,10029,0.88,0.00,125.45,1.206,10502,0.045,0.000,3041,2362,1801,1860,1743,0,0,0,0,0,0,24.73,28.83,23.19
$GC,10314,0.62,146.6,3041,2362,1853,1737,952.8,13.4,271,10316,0.20,0.00,0.00,0.000,4102,0.141,0.000,2986,2363,1795,1853,1737,0,0,0,0,0,0,25.30,28.83,28.83
$GC,10614,0.55,146.6,2986,2362,1853,1735,919.7,11.1,276,10615,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2362,1794,1853,1735,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10916,0.48,146.6,2986,2363,1852,1734,884.3,11.9,281,10918,0.15,0.00,0.00,0.000,4102,0.145,0.000,2943,2363,1793,1852,1734,0,0,0,0,0,0,25.91,28.83,28.83
$GC,11214,0.48,148.6,2942,2362,1851,1733,854.3,9.9,286,11215,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2362,1792,1852,1733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11514,0.48,156.7,2942,2362,1852,1733,825.2,9.6,291,11527,0.00,2.28,8.20,0.898,8708,0.000,0.048,2951,953,1760,1819,1701,0,0,0,0,0,0,28.83,26.06,25.08
$GC,11607,0.48,168.2,2951,953,1816,1700,820.0,9.5,292,11623,0.00,2.22,10.95,0.983,9222,0.000,0.044,2951,2354,1713,1773,1654,0,0,0,0,0,0,28.83,26.13,24.89
$GC,11925,0.48,176.4,2951,2354,1773,1651,786.3,9.6,297,11935,0.00,0.00,8.18,0.878,8198,0.000,0.000,2951,2354,1680,1740,1620,0,0,0,0,0,0,28.83,28.83,24.96
$GC,12224,0.48,178.3,2951,2354,1740,1618,756.8,9.9,302,12228,0.00,2.25,0.00,0.000,516,0.000,0.047,2961,954,1679,1740,1618,0,0,0,0,0,0,28.83,26.11,28.83
$GC,12263,0.48,180.2,2961,954,1738,1618,756.8,9.9,302,12273,0.00,2.22,4.50,0.650,9222,0.000,0.043,2961,2361,1664,1725,1604,0,0,0,0,0,0,28.83,26.15,25.06
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$STATE,19284,end climb,SURFACE_DEPTH_REACHED
$STATE,19284,begin surface coast
$FINISH,0.8,1.010647
$STATE,19306,end surface coast,CONTROL_FINISHED_OK
$STATE,19306,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,39.32
$INTERNAL_PRESSURE,8.91861
$TCM_TEMP,13.90
$XPDR_PINGS,1
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$10V_AH,10.3,5.342
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,311200
$DATA_FILE_SIZE,37038,523
$CAP_FILE_SIZE,158217,0
$CFSIZE,2097872896,2090631168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,021113,042705,4805.283,-12605.171,25,1.0,25,17.0