version: 66.11
glider: 194
mission: 7
dive: 43
start: 11 3 113 1 47 40
data:
$ID,194
$MISSION,7
$DIVE,43
$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,-4362.0347
$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,38
$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
$GPS1,031113,014058,4811.536,-12613.860,39,0.7,39,17.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-46.5
$GPS2,031113,014714,4811.530,-12613.814,5,0.8,5,17.0
$SPEED_LIMITS,0.084,0.260
$TGT_NAME,SEARCH_B
$TGT_LATLONG,4745.000,-12545.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.202,-0.163
$KALMAN_X,-2689.7,0.0,0.0,-69615.0,-1952.9
$KALMAN_Y,19755.3,0.0,0.0,88525.4,449.5
$MHEAD_RNG_PITCHd_Wd,111.9,60841,-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,-146.6,122,2243,560,429,0.0,0.0,0,90,0.00,0.00,-72.85,0.000,16386,0.000,0.000,115,2243,2499,2510,2489,0,0,0,0,0,0,28.83,28.83,28.83
$GC,93,-0.76,-146.6,115,2243,2510,2489,3.2,-3.6,7,121,8.50,2.35,-13.12,0.000,19204,0.182,0.063,2524,3670,2999,3076,2923,0,0,0,0,0,0,25.66,25.86,26.20
$GC,133,-0.16,-146.6,2523,3670,3078,2923,8.1,-10.4,11,143,0.62,2.15,0.00,0.000,3078,0.114,0.030,2726,2252,3000,3078,2923,0,0,0,0,0,0,25.75,25.94,28.83
$GC,443,-0.33,-146.6,2726,2249,3079,2923,35.5,-5.3,42,453,0.12,2.15,0.00,0.000,4612,0.076,0.042,2637,877,3001,3079,2923,0,0,0,0,0,0,26.21,26.10,28.83
$GC,667,-0.39,-146.6,2637,877,3079,2923,55.9,-8.4,64,678,0.12,2.15,0.00,0.000,3078,0.135,0.040,2665,2266,3001,3079,2923,0,0,0,0,0,0,26.10,26.22,28.83
$GC,978,-0.50,-146.6,2664,2266,3080,2923,77.8,-7.3,95,987,0.12,2.15,0.00,0.000,4612,0.079,0.041,2579,877,3001,3080,2923,0,0,0,0,0,0,26.40,26.28,28.83
$GC,1002,-0.57,-146.6,2578,877,3079,2923,80.0,-8.5,97,1007,0.00,2.12,0.00,0.000,1030,0.000,0.039,2568,2261,3001,3080,2923,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1320,-0.57,-146.6,2568,2260,3079,2923,114.1,-10.0,113,1327,0.12,2.17,0.00,0.000,2308,0.144,0.046,2606,3665,3001,3080,2923,0,0,0,0,0,0,26.29,26.35,28.83
$GC,1441,-0.64,-146.6,2606,3665,3080,2923,124.4,-8.4,119,1447,0.00,2.05,0.00,0.000,1030,0.000,0.030,2606,2266,3001,3080,2923,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1761,-0.72,-146.6,2606,2266,3080,2923,151.1,-9.4,135,1763,0.15,0.00,0.00,0.000,4102,0.070,0.000,2519,2266,3001,3080,2923,0,0,0,0,0,0,26.53,28.83,28.83
$GC,2061,-0.70,-146.6,2519,2266,3079,2923,188.0,-11.9,145,2063,0.15,0.00,0.00,0.000,2054,0.135,0.000,2563,2266,3001,3080,2923,0,0,0,0,0,0,26.39,28.83,28.83
$GC,2360,-0.75,-146.6,2562,2266,3080,2923,214.0,-8.8,155,2366,0.00,2.17,0.00,0.000,260,0.000,0.049,2555,3666,3001,3080,2923,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2392,-0.79,-146.6,1680,3665,3052,2919,216.8,-8.8,156,2397,0.00,2.12,0.00,0.000,1030,0.000,0.031,2555,2267,3001,3080,2923,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2720,-0.83,-146.6,2554,2267,3079,2922,246.6,-9.3,167,2722,0.10,0.00,0.00,0.000,4102,0.095,0.000,2485,2267,3000,3079,2922,0,0,0,0,0,0,26.64,28.83,28.83
$GC,3020,-0.78,-146.6,2485,2267,3080,2922,284.2,-12.9,177,3027,0.12,2.15,0.00,0.000,2564,0.148,0.041,2527,869,3000,3079,2921,0,0,0,0,0,0,26.46,26.54,28.83
$GC,3073,-0.74,-146.6,2526,869,3080,2922,287.9,-12.8,178,3080,0.00,2.15,0.00,0.000,1030,0.000,0.040,2520,2266,3000,3079,2921,0,0,0,0,0,0,28.83,26.56,28.83
$GC,3409,-0.74,-146.6,2519,2266,3080,2921,326.3,-10.4,186,3413,0.00,2.15,0.00,0.000,260,0.000,0.049,2509,3666,3000,3080,2920,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3473,-0.74,-146.6,2509,3666,3079,2920,331.9,-10.2,187,3478,0.12,2.10,0.00,0.000,3078,0.142,0.031,2545,2246,3000,3079,2921,0,0,0,0,0,0,26.44,26.62,28.83
$GC,3827,-0.79,-146.6,2545,2246,3079,2920,363.7,-8.7,193,3828,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2246,3000,3080,2920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4126,-0.84,-146.6,2545,2246,3079,2919,389.9,-8.8,198,4127,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2246,2999,3079,2920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4426,-0.90,-146.6,2545,2246,3080,2919,415.7,-8.5,203,4432,0.12,2.12,0.00,0.000,4612,0.082,0.043,2460,863,2998,3079,2918,0,0,0,0,0,0,26.72,26.60,28.83
$GC,4454,-0.96,-146.6,2459,863,3079,2918,415.7,-8.5,203,4458,0.00,2.15,0.00,0.000,1030,0.000,0.041,2449,2262,2998,3079,2918,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4781,-0.89,-146.6,2449,2262,3079,2918,459.5,-12.5,209,4783,0.17,0.00,0.00,0.000,2054,0.137,0.000,2500,2263,2998,3079,2918,0,0,0,0,0,0,26.49,28.83,28.83
$GC,5080,-0.90,-146.6,2500,2262,3079,2917,490.9,-10.3,214,5084,0.00,2.17,0.00,0.000,260,0.000,0.050,2493,3673,2998,3079,2917,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5139,-0.92,-146.6,1648,3672,3052,2913,496.9,-10.4,215,5144,0.00,2.15,0.00,0.000,1030,0.000,0.032,2493,2258,2998,3079,2918,0,0,0,0,0,0,28.83,26.67,28.83
$GC,5496,-0.92,-146.6,2492,2257,3079,2917,534.1,-10.2,221,5500,0.00,2.20,0.00,0.000,260,0.000,0.050,2482,3666,2997,3079,2916,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5540,-0.92,-146.6,2482,3666,3079,2916,534.1,-10.2,221,5544,0.00,2.15,0.00,0.000,1030,0.000,0.032,2483,2256,2997,3079,2916,0,0,0,0,0,0,28.83,26.68,28.83
$GC,5852,-0.92,-146.6,2482,2256,3079,2916,571.7,-10.5,227,5856,0.00,2.15,0.00,0.000,516,0.000,0.046,2482,860,2997,3079,2915,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5890,-0.92,-146.6,2482,860,3079,2915,571.7,-10.5,227,5895,0.00,2.20,0.00,0.000,1030,0.000,0.042,2474,2263,2997,3079,2915,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6210,-0.92,-146.6,2474,2264,3079,2914,610.8,-11.0,233,6211,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2263,2996,3079,2914,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6507,-0.92,-146.6,2473,2264,3079,2913,643.6,-10.9,238,6508,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2264,2996,3079,2913,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6807,-0.92,-146.6,2473,2264,3079,2912,675.7,-10.7,243,6808,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2264,2995,3079,2912,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7107,-0.92,-146.6,2473,2264,3079,2911,706.2,-10.1,248,7108,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2264,2995,3079,2912,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7408,-0.93,-146.6,2473,2264,3079,2911,735.8,-9.9,253,7409,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2264,2995,3079,2911,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7708,-0.94,-146.6,2473,2264,3079,2910,765.2,-9.7,258,7709,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2263,2994,3079,2910,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8008,-0.96,-146.6,2473,2263,3079,2910,794.9,-9.8,263,8014,0.00,2.17,0.00,0.000,260,0.000,0.051,2464,3670,2994,3079,2910,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8068,-0.98,-146.6,2463,3670,3079,2910,800.9,-9.8,264,8074,0.00,2.10,0.00,0.000,1030,0.000,0.033,2463,2262,2994,3079,2910,0,0,0,0,0,0,28.83,26.71,28.83
$GC,8428,-0.99,-146.6,2463,2262,3078,2909,836.3,-9.8,270,8434,0.00,2.20,0.00,0.000,260,0.000,0.052,2453,3671,2994,3079,2909,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8466,-1.00,-146.6,2453,3671,3079,2909,836.3,-9.8,270,8470,0.00,2.10,0.00,0.000,1030,0.000,0.034,2453,2262,2993,3078,2909,0,0,0,0,0,0,28.83,26.71,28.83
$GC,8782,-1.00,-146.6,2452,2262,3079,2909,872.5,-10.2,276,8786,0.00,2.15,0.00,0.000,516,0.000,0.047,2453,870,2994,3079,2909,0,0,0,0,0,0,28.83,26.64,28.83
$GC,8840,-1.00,-146.6,1632,869,3052,2905,878.4,-10.2,277,8845,0.00,2.20,0.00,0.000,1030,0.000,0.043,2444,2259,2994,3079,2909,0,0,0,0,0,0,28.83,26.67,28.83
$GC,9198,-1.00,-146.6,2444,2259,3078,2909,917.3,-10.9,283,9199,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,2259,2993,3078,2909,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9498,-1.00,-146.6,2444,2259,3079,2908,948.5,-10.3,288,9499,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,2260,2993,3079,2908,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9798,-1.00,-146.6,2444,2260,3078,2907,978.4,-10.0,293,9802,0.00,2.20,0.00,0.000,260,0.000,0.051,2434,3681,2993,3079,2907,0,0,0,0,0,0,28.83,26.63,28.83
$GC,9867,-1.00,-146.6,2433,3680,3078,2907,984.7,-10.2,294,9872,0.08,2.17,0.00,0.000,3078,0.122,0.034,2461,2254,2992,3078,2907,0,0,0,0,0,0,26.52,26.72,28.83
$STATE,9913,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9913,begin apogee
$GC,9917,-0.22,0.0,2461,2363,3078,2907,991.1,-10.5,295,10039,0.70,0.00,116.18,1.235,10246,0.099,0.000,2708,2362,2399,2468,2331,0,0,0,0,0,0,26.50,28.83,23.75
$STATE,10040,end apogee,CONTROL_FINISHED_OK
$STATE,10040,begin climb
$GC,10041,0.76,146.6,2707,2363,2466,2331,993.7,0.0,297,10173,0.90,2.45,123.82,1.209,10500,0.046,0.050,3043,3758,1801,1862,1741,0,0,0,0,0,0,24.74,23.99,23.16
$GC,10203,0.76,146.6,3043,3759,1858,1741,988.5,6.6,299,10211,0.00,2.33,0.00,0.000,1030,0.000,0.032,3054,2369,1798,1857,1740,0,0,0,0,0,0,28.83,24.51,28.83
$GC,10511,0.61,146.6,3054,2370,1850,1738,937.7,14.7,305,10518,0.22,2.28,0.00,0.000,4356,0.145,0.049,2987,3757,1794,1851,1738,0,0,0,0,0,0,25.37,25.48,28.83
$GC,10544,0.45,146.6,2987,3757,1850,1738,937.7,14.7,305,10549,0.22,2.22,0.00,0.000,5126,0.133,0.033,2931,2342,1794,1850,1738,0,0,0,0,0,0,25.43,25.57,28.83
$GC,10866,0.45,178.2,2930,2341,1850,1736,904.4,8.5,311,10898,0.00,2.35,26.02,1.117,8708,0.000,0.047,2939,953,1672,1734,1611,0,0,0,0,0,0,28.83,25.20,24.36
$GC,10987,0.46,202.4,2939,953,1730,1608,893.4,8.9,313,11013,0.00,2.25,20.95,1.085,9222,0.000,0.042,2939,2354,1575,1640,1511,0,0,0,0,0,0,28.83,25.56,24.21
$GC,11346,0.49,207.3,2939,2354,1635,1505,858.0,9.8,319,11359,0.00,2.35,5.22,0.805,8708,0.000,0.047,2950,957,1554,1620,1488,0,0,0,0,0,0,28.83,25.72,24.82
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$STATE,19169,end climb,SURFACE_DEPTH_REACHED
$STATE,19169,begin surface coast
$FINISH,1.0,1.024711
$STATE,19180,end surface coast,CONTROL_FINISHED_OK
$STATE,19180,begin surface
$SM_CCo,19256,0.00,0.000,0,0,629,434.43
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$TT8_MAMPS,0.026964,0.026964
$HUMID,38.62
$INTERNAL_PRESSURE,8.86978
$TCM_TEMP,17.50
$XPDR_PINGS,4
$24V_AH,23.2,7.111
$10V_AH,10.3,5.693
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,21.150,140.725,429.275,0.000,0.000,0.000,0.000,310.650,1.000,0.000,6.548,1706.759,15227.823,485.037,2128.286,91.156,0.390,1812.854,0.000,1792.203,0.000,0.540,0.000
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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,311244
$DATA_FILE_SIZE,40343,564
$CAP_FILE_SIZE,156097,0
$CFSIZE,2097872896,2089975808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,031113,070934,4809.886,-12612.426,24,1.0,24,17.0