version: 66.11
glider: 194
mission: 7
dive: 39
start: 11 2 113 4 33 54
data:
$ID,194
$MISSION,7
$DIVE,39
$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,-4356.9961
$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,56
$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,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
$GPS1,021113,042705,4805.283,-12605.171,25,1.0,25,17.0
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-61.7
$GPS2,021113,043328,4805.323,-12605.131,5,1.0,5,17.0
$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,1993.4,0.0,0.0,-63424.4,-290.5
$KALMAN_Y,16391.1,0.0,0.0,80387.0,773.4
$MHEAD_RNG_PITCHd_Wd,306.0,21664,-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,-146.6,139,2243,1141,1049,0.0,0.0,0,70,0.00,0.00,-53.42,0.000,16386,0.000,0.000,138,2242,2585,2587,2583,0,0,0,0,0,0,28.83,28.83,28.83
$GC,73,-0.76,-146.6,138,2243,2590,2581,3.7,-4.8,5,100,8.80,2.33,-9.30,0.000,18692,0.202,0.063,2518,3661,3000,3063,2938,0,0,0,0,0,0,25.60,25.88,26.21
$GC,337,-0.63,-146.6,2518,3661,3066,2938,52.5,-16.8,31,345,0.17,2.17,0.00,0.000,3078,0.122,0.029,2576,2252,3002,3066,2938,0,0,0,0,0,0,25.92,26.13,28.83
$GC,645,-0.60,-146.6,2576,2252,3068,2938,88.4,-9.2,58,651,0.00,2.22,0.00,0.000,260,0.000,0.048,2568,3670,3003,3068,2938,0,0,0,0,0,0,28.83,26.20,28.83
$GC,738,-0.57,-146.6,2568,3670,3068,2938,96.2,-9.7,62,746,0.08,2.15,0.00,0.000,3078,0.120,0.030,2595,2264,3003,3068,2938,0,0,0,0,0,0,26.13,26.29,28.83
$GC,1046,-0.61,-146.6,2594,2264,3068,2938,123.8,-8.1,78,1047,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2263,3003,3068,2938,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1346,-0.66,-146.6,2594,2263,3068,2938,147.0,-7.7,93,1352,0.00,2.12,0.00,0.000,516,0.000,0.044,2595,882,3003,3068,2938,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1405,-0.72,-146.6,2594,882,3068,2938,152.0,-8.2,96,1412,0.12,2.15,0.00,0.000,5126,0.079,0.040,2512,2272,3003,3068,2938,0,0,0,0,0,0,26.41,26.41,28.83
$GC,1735,-0.68,-146.6,2512,2272,3068,2938,190.0,-11.9,107,1741,0.15,2.17,0.00,0.000,2308,0.140,0.046,2553,3672,3003,3068,2938,0,0,0,0,0,0,26.34,26.43,28.83
$GC,1783,-0.65,-146.6,2552,3672,3068,2938,193.2,-11.7,108,1787,0.00,2.10,0.00,0.000,1030,0.000,0.031,2553,2263,3003,3068,2938,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2090,-0.67,-146.6,2553,2264,3068,2937,225.7,-10.3,118,2091,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2264,3003,3068,2938,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2390,-0.70,-146.6,2553,2264,3068,2937,256.0,-9.6,128,2396,0.00,2.17,0.00,0.000,260,0.000,0.049,2542,3664,3002,3068,2937,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2444,-0.72,-146.6,2542,3664,3068,2937,258.8,-9.3,129,2450,0.00,2.08,0.00,0.000,1030,0.000,0.031,2542,2264,3002,3068,2937,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2751,-0.75,-146.6,2542,2264,3068,2937,288.5,-8.7,140,2756,0.00,2.15,0.00,0.000,516,0.000,0.044,2542,867,3002,3068,2936,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2859,-0.76,-146.6,2542,866,3068,2936,296.7,-9.1,143,2863,0.00,2.15,0.00,0.000,1030,0.000,0.041,2533,2265,3002,3068,2936,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3196,-0.78,-146.6,2533,2265,3067,2936,330.5,-9.7,149,3202,0.00,2.17,0.00,0.000,260,0.000,0.049,2523,3674,3001,3068,2935,0,0,0,0,0,0,28.83,26.54,28.83
$GC,3274,-0.79,-146.6,2522,3674,3068,2935,336.6,-9.8,150,3278,0.00,2.10,0.00,0.000,1030,0.000,0.031,2523,2264,3001,3068,2935,0,0,0,0,0,0,28.83,26.61,28.83
$GC,3611,-0.81,-146.6,2522,2264,3068,2935,371.3,-9.6,156,3612,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2265,3001,3068,2934,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3913,-0.82,-146.6,2522,2265,3068,2934,401.5,-10.1,161,3914,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2265,3001,3068,2934,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4211,-0.85,-146.6,2522,2265,3068,2933,430.7,-9.6,166,4216,0.00,2.17,0.00,0.000,260,0.000,0.050,2512,3666,3000,3068,2932,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4259,-0.87,-146.6,2512,3666,3068,2932,430.7,-9.6,166,4263,0.00,2.10,0.00,0.000,1030,0.000,0.032,2512,2257,3000,3068,2932,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4566,-0.88,-146.6,2512,2256,3068,2932,463.9,-9.4,171,4567,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2256,3000,3068,2932,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4866,-0.90,-146.6,2512,2256,3068,2931,492.6,-9.6,176,4872,0.00,2.20,0.00,0.000,260,0.000,0.050,2503,3670,2999,3068,2930,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4944,-0.92,-146.6,2503,3670,3068,2930,498.5,-9.6,177,4948,0.00,2.10,0.00,0.000,1030,0.000,0.032,2503,2261,2999,3068,2930,0,0,0,0,0,0,28.83,26.67,28.83
$GC,5281,-0.93,-146.6,2503,2260,3068,2930,532.9,-9.5,183,5282,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2260,2999,3068,2930,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5581,-0.95,-146.6,2503,2260,3068,2929,560.8,-9.3,188,5587,0.00,2.20,0.00,0.000,260,0.000,0.050,2493,3673,2998,3068,2928,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5649,-0.96,-146.6,2493,3672,3068,2929,566.7,-9.4,189,5653,0.00,2.10,0.00,0.000,1030,0.000,0.032,2493,2263,2998,3068,2929,0,0,0,0,0,0,28.83,26.68,28.83
$GC,5995,-0.96,-146.6,2493,2263,3068,2928,602.3,-10.0,195,5999,0.00,2.15,0.00,0.000,516,0.000,0.046,2493,869,2997,3068,2927,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6051,-0.96,-146.6,2493,869,3068,2928,608.0,-10.0,196,6055,0.00,2.15,0.00,0.000,1030,0.000,0.042,2484,2263,2998,3068,2928,0,0,0,0,0,0,28.83,26.65,28.83
$GC,6406,-0.96,-146.6,2484,2263,3068,2927,645.3,-10.6,202,6410,0.00,2.17,0.00,0.000,260,0.000,0.050,2474,3669,2997,3068,2927,0,0,0,0,0,0,28.83,26.62,28.83
$GC,6490,-0.96,-146.6,2474,3669,3068,2927,651.5,-10.7,203,6494,0.00,2.15,0.00,0.000,1030,0.000,0.032,2474,2261,2997,3068,2927,0,0,0,0,0,0,28.83,26.70,28.83
$GC,6824,-0.96,-146.6,2473,2261,3068,2926,690.8,-10.9,209,6825,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2261,2997,3068,2926,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7122,-0.96,-146.6,2473,2260,3068,2925,722.6,-10.5,214,7126,0.00,2.20,0.00,0.000,260,0.000,0.051,2463,3671,2996,3068,2925,0,0,0,0,0,0,28.83,26.62,28.83
$GC,7177,-0.96,-146.6,2463,3671,3068,2925,728.7,-10.5,215,7181,0.00,2.12,0.00,0.000,1030,0.000,0.033,2463,2254,2996,3068,2925,0,0,0,0,0,0,28.83,26.70,28.83
$GC,7533,-0.96,-146.6,2463,2253,3068,2925,765.1,-10.1,221,7534,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,2253,2996,3068,2925,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7833,-0.96,-146.6,2463,2253,3068,2925,795.9,-10.3,226,7834,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,2253,2996,3068,2925,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8133,-0.96,-146.6,2463,2253,3067,2924,826.9,-10.4,231,8134,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,2253,2996,3068,2924,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8433,-0.96,-146.6,2463,2253,3068,2923,857.2,-10.1,236,8437,0.00,2.20,0.00,0.000,260,0.000,0.052,2452,3666,2995,3068,2923,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8507,-0.96,-146.6,2452,3665,3068,2923,863.2,-10.2,237,8511,0.00,2.15,0.00,0.000,1030,0.000,0.034,2452,2257,2995,3067,2923,0,0,0,0,0,0,28.83,26.71,28.83
$GC,8849,-0.96,-146.6,2452,2256,3067,2922,901.4,-10.4,243,8850,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2256,2995,3068,2922,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9149,-0.96,-146.6,2452,2257,3068,2922,934.1,-10.9,248,9150,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2256,2995,3068,2922,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9449,-0.96,-146.6,2452,2257,3068,2922,964.8,-10.3,253,9450,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2257,2995,3068,2922,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9748,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9748,begin apogee
$GC,9751,-0.22,0.0,2451,2362,3068,2921,993.1,-9.4,258,9872,0.75,0.00,116.25,1.239,10246,0.103,0.000,2710,2362,2400,2463,2337,0,0,0,0,0,0,26.49,28.83,23.73
$STATE,9874,end apogee,CONTROL_FINISHED_OK
$STATE,9874,begin climb
$GC,9875,0.76,146.6,2710,2362,2463,2338,995.3,0.0,260,10008,0.88,2.47,124.62,1.212,10756,0.045,0.046,3049,959,1801,1860,1742,0,0,0,0,0,0,24.72,24.02,23.17
$GC,10128,0.76,146.6,3049,959,1851,1739,975.2,10.8,264,10132,0.00,2.35,0.00,0.000,1030,0.000,0.042,3050,2343,1794,1851,1738,0,0,0,0,0,0,28.83,25.00,28.83
$GC,10460,0.61,146.6,3049,2343,1851,1736,922.9,14.6,270,10467,0.20,2.30,0.00,0.000,4356,0.142,0.049,2987,3765,1793,1851,1736,0,0,0,0,0,0,25.54,25.65,28.83
$GC,10583,0.47,146.6,2080,3765,1812,1733,906.8,14.2,272,10588,0.17,2.25,0.00,0.000,5126,0.120,0.034,2938,2352,1793,1850,1737,0,0,0,0,0,0,25.65,25.82,28.83
$GC,10940,0.47,146.6,2938,2351,1850,1733,870.4,10.1,278,10944,0.00,2.22,0.00,0.000,516,0.000,0.048,2946,955,1792,1850,1735,0,0,0,0,0,0,28.83,26.02,28.83
$GC,11060,0.47,146.6,2946,955,1849,1733,858.3,10.2,280,11064,0.00,2.22,0.00,0.000,1030,0.000,0.044,2946,2361,1790,1848,1733,0,0,0,0,0,0,28.83,26.10,28.83
$GC,11411,0.47,152.1,2946,2361,1848,1733,823.0,9.7,286,11417,0.00,0.00,4.15,0.637,8198,0.000,0.000,2946,2361,1780,1838,1722,0,0,0,0,0,0,28.83,28.83,25.09
$GC,11711,0.47,163.4,2946,2361,1838,1722,794.3,9.5,291,11729,0.00,2.33,11.15,0.959,8708,0.000,0.047,2957,958,1732,1790,1674,0,0,0,0,0,0,28.83,25.99,25.04
$GC,11779,0.47,180.6,2957,958,1789,1673,789.0,9.2,292,11800,0.00,2.25,15.57,1.025,9222,0.000,0.043,2957,2348,1663,1724,1602,0,0,0,0,0,0,28.83,26.06,24.74
$GC,12127,0.47,193.1,2956,2348,1722,1600,756.0,9.4,298,12140,0.00,0.00,11.52,0.969,8198,0.000,0.000,2957,2348,1611,1673,1550,0,0,0,0,0,0,28.83,28.83,24.86
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$STATE,18551,end climb,SURFACE_DEPTH_REACHED
$STATE,18551,begin surface coast
$FINISH,0.7,1.019603
$STATE,18571,end surface coast,CONTROL_FINISHED_OK
$STATE,18571,begin surface
$SM_CCo,18645,0.00,0.000,0,0,1054,330.17
$SM_GC,1.71,7.55,0.12,0.00,0.031,0.082,0.000,161,2259,1054,-8.04,1.47,330.17,0,0,0,0,0,0,26.44,26.45,28.83
$IRIDIUM_FIX,4745.30,-12605.19,011113,222233
$TT8_MAMPS,0.026964,0.026964
$HUMID,39.44
$INTERNAL_PRESSURE,8.90884
$TCM_TEMP,13.90
$XPDR_PINGS,0
$24V_AH,23.2,6.593
$10V_AH,10.3,5.411
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,19.950,132.550,378.550,0.000,0.000,0.000,0.000,317.025,0.000,0.000,6.495,1621.327,14771.296,433.233,2126.472,81.458,0.390,1734.971,0.000,1781.874,0.000,0.540,0.000
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$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil,nil
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$SENSOR_MAMPS,23.970,0.750,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,311204
$DATA_FILE_SIZE,37010,511
$CAP_FILE_SIZE,152045,0
$CFSIZE,2097872896,2090500096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,021113,094558,4808.437,-12607.677,45,0.7,45,17.0