version: 66.11
glider: 194
mission: 7
dive: 73
start: 11 11 113 2 31 59
data:
$ID,194
$MISSION,7
$DIVE,73
$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,440
$T_MISSION,480
$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,-4417.6777
$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,2.5
$ROLL_MIN,291
$ROLL_MAX,3873
$ROLL_DEG,40
$C_ROLL_DIVE,2263
$C_ROLL_CLIMB,2173
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,51
$R_STBD_OVSHOOT,36
$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,400
$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
$GPS1,111113,022534,4805.268,-12545.892,40,0.8,41,16.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-62.8
$GPS2,111113,023131,4805.319,-12545.960,5,0.9,5,16.9
$SPEED_LIMITS,0.063,0.235
$TGT_NAME,SEARCH_A
$TGT_LATLONG,4805.000,-12545.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.058,0.024
$KALMAN_X,-34450.9,0.0,0.0,-2804.8,-59.9
$KALMAN_Y,29548.5,0.0,0.0,67174.1,-1068.8
$MHEAD_RNG_PITCHd_Wd,51.1,1326,-48.1,-7.500,-50.00,285
$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,14,-2.10,-13.9,119,2260,1394,1335,0.0,0.0,0,50,0.00,0.00,-33.75,0.000,16386,0.000,0.000,117,2261,2299,2298,2300,0,0,0,0,0,0,28.83,28.83,28.83
$GC,52,-2.10,-13.9,117,2261,2299,2300,3.3,-5.6,3,70,7.32,0.00,-5.07,0.000,18694,0.201,0.000,2103,2260,2458,2481,2435,0,0,0,0,0,0,25.59,28.83,26.33
$GC,369,-2.10,-13.9,2103,2260,2484,2435,59.1,-15.5,35,370,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2260,2459,2483,2435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,668,-2.10,-13.9,2103,2260,2485,2435,88.5,-8.2,60,672,0.00,2.22,0.00,0.000,260,0.000,0.042,2094,3687,2459,2484,2435,0,0,0,0,0,0,28.83,26.27,28.83
$GC,834,-2.10,-17.6,2094,3687,2484,2436,98.9,-6.2,68,839,0.00,2.15,-0.12,0.000,17414,0.000,0.028,2094,2249,2478,2503,2454,0,0,0,0,0,0,28.83,26.37,25.95
$GC,1141,-2.10,-22.2,2094,2248,2505,2454,113.9,-5.8,83,1147,0.00,2.22,-0.08,0.000,16644,0.000,0.054,2083,3677,2495,2521,2469,0,0,0,0,0,0,28.83,26.36,25.80
$GC,1441,-2.10,-22.2,2083,3677,2521,2470,139.5,-7.5,98,1445,0.00,2.12,0.00,0.000,1030,0.000,0.028,2083,2252,2495,2521,2470,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1746,-2.10,-22.2,2083,2251,2521,2469,162.1,-8.0,111,1750,0.00,2.22,0.00,0.000,260,0.000,0.043,2072,3688,2495,2521,2469,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1815,-2.10,-22.2,2072,3688,2521,2469,166.7,-8.3,113,1820,0.10,2.15,0.00,0.000,3078,0.181,0.028,2100,2259,2495,2521,2469,0,0,0,0,0,0,26.10,26.52,28.83
$GC,2133,-2.17,-22.2,2101,2259,2521,2470,194.4,-8.4,124,2137,0.00,2.10,0.00,0.000,516,0.000,0.040,2100,880,2495,2521,2469,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2429,-2.23,-22.2,2100,880,2521,2469,221.7,-9.2,134,2433,0.00,2.15,0.00,0.000,1030,0.000,0.037,2092,2276,2495,2521,2470,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2756,-2.30,-22.2,2091,2276,2521,2469,255.0,-10.7,145,2763,0.12,2.15,0.00,0.000,4612,0.086,0.037,2006,877,2495,2521,2469,0,0,0,0,0,0,26.64,26.52,28.83
$GC,3055,-2.30,-22.2,2006,877,2521,2469,287.8,-10.6,155,3060,0.20,2.15,0.00,0.000,3078,0.194,0.037,2044,2277,2495,2521,2469,0,0,0,0,0,0,26.06,26.55,28.83
$GC,3382,-2.30,-22.2,2044,2277,2521,2469,320.3,-9.8,163,3386,0.00,2.17,0.00,0.000,516,0.000,0.039,2044,870,2495,2521,2469,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3678,-2.30,-22.2,2044,870,2521,2469,352.4,-10.9,168,3682,0.00,2.15,0.00,0.000,1030,0.000,0.037,2036,2262,2495,2521,2469,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4034,-2.30,-22.2,2036,2262,2521,2469,390.1,-10.4,174,4038,0.00,2.17,0.00,0.000,260,0.000,0.044,2024,3672,2495,2521,2469,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4333,-2.30,-22.2,2024,3673,2521,2469,426.7,-12.5,179,4339,0.00,2.10,0.00,0.000,1030,0.000,0.029,2025,2266,2494,2521,2468,0,0,0,0,0,0,28.83,26.64,28.83
$GC,4695,-2.30,-22.2,2024,2266,2521,2468,471.1,-12.5,185,4701,0.00,2.15,0.00,0.000,260,0.000,0.044,2014,3663,2494,2521,2468,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5000,-2.30,-22.2,2013,3663,2521,2468,509.6,-12.5,190,5005,0.15,2.10,0.00,0.000,3078,0.203,0.030,2047,2255,2494,2521,2468,0,0,0,0,0,0,26.15,26.64,28.83
$GC,5357,-2.37,-22.2,2047,2254,2521,2467,551.5,-11.7,196,5361,0.00,2.17,0.00,0.000,260,0.000,0.044,2038,3667,2493,2521,2466,0,0,0,0,0,0,28.83,26.55,28.83
$STATE,5411,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5412,begin apogee
$GC,5418,-0.22,0.0,2038,2179,2521,2466,557.7,-11.5,197,5441,2.15,0.00,18.80,0.902,10246,0.162,0.000,2703,2179,2400,2445,2356,0,0,0,0,0,0,26.04,28.83,25.34
$STATE,5442,end apogee,CONTROL_FINISHED_OK
$STATE,5443,begin climb
$GC,5444,2.10,22.2,2703,2178,2445,2356,557.7,0.0,197,5471,2.00,2.30,18.40,0.907,10756,0.056,0.041,3483,778,2309,2350,2269,0,0,0,0,0,0,26.22,25.82,25.01
$GC,5741,2.10,22.2,3483,777,2348,2269,535.1,9.6,202,5746,0.00,2.22,0.00,0.000,1030,0.000,0.037,3484,2165,2308,2348,2269,0,0,0,0,0,0,28.83,26.12,28.83
$GC,6069,2.10,22.6,3484,2165,2348,2268,505.9,7.4,208,6070,0.00,0.00,0.00,0.000,6,0.000,0.000,3484,2165,2308,2348,2268,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6369,2.10,24.4,3484,2165,2348,2268,485.4,6.9,213,6373,0.00,2.22,0.00,0.000,260,0.000,0.043,3484,3592,2307,2348,2267,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6665,2.10,27.7,3484,3592,2348,2268,466.5,6.3,218,6677,0.15,2.15,5.65,0.685,13318,0.202,0.031,3461,2174,2287,2328,2246,0,0,0,0,0,0,25.96,26.41,25.33
$GC,7027,2.16,27.7,3460,2174,2327,2246,438.4,8.2,224,7032,0.00,2.15,0.00,0.000,260,0.000,0.044,3461,3575,2286,2327,2246,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7325,2.16,27.7,3461,3575,2327,2246,413.7,8.2,229,7328,0.00,2.12,0.00,0.000,1030,0.000,0.031,3469,2169,2286,2327,2246,0,0,0,0,0,0,28.83,26.45,28.83
$GC,7686,2.22,29.9,3469,2167,2326,2246,389.6,6.7,235,7691,0.00,2.22,0.00,0.000,260,0.000,0.044,3469,3594,2286,2326,2246,0,0,0,0,0,0,28.83,26.42,28.83
$GC,7985,2.22,35.1,3469,3594,2325,2246,372.6,5.6,240,7998,0.00,2.15,7.12,0.703,9222,0.000,0.031,3481,2173,2256,2298,2215,0,0,0,0,0,0,28.83,26.51,25.48
$GC,8345,2.27,35.1,3480,2173,2298,2215,342.4,9.0,246,8351,0.00,2.22,0.00,0.000,260,0.000,0.044,3480,3594,2256,2297,2215,0,0,0,0,0,0,28.83,26.40,28.83
$GC,8645,2.27,35.1,3480,3594,2297,2215,310.6,10.6,251,8649,0.00,2.17,0.00,0.000,1030,0.000,0.031,3492,2160,2256,2297,2215,0,0,0,0,0,0,28.83,26.50,28.83
$GC,8973,2.32,35.1,3491,2160,2297,2215,272.5,12.3,260,8978,0.10,2.20,0.00,0.000,2308,0.098,0.042,3544,3584,2256,2298,2215,0,0,0,0,0,0,26.62,26.46,28.83
$GC,9272,2.32,35.1,3544,3584,2297,2215,230.5,13.8,270,9276,0.00,2.15,0.00,0.000,1030,0.000,0.031,3555,2162,2255,2297,2214,0,0,0,0,0,0,28.83,26.54,28.83
$GC,9598,2.32,35.1,3555,2162,2297,2215,188.1,13.1,281,9604,0.00,2.15,0.00,0.000,516,0.000,0.042,3565,777,2256,2298,2215,0,0,0,0,0,0,28.83,26.50,28.83
$GC,9899,2.32,35.1,3565,777,2297,2214,151.1,11.7,291,9905,0.15,2.15,0.00,0.000,5126,0.207,0.037,3531,2174,2256,2297,2215,0,0,0,0,0,0,26.10,26.55,28.83
$GC,10212,2.32,35.1,3531,2174,2297,2215,118.5,10.1,306,10216,0.00,2.17,0.00,0.000,516,0.000,0.041,3539,781,2256,2297,2215,0,0,0,0,0,0,28.83,26.51,28.83
$GC,10509,2.32,35.1,3539,780,2297,2215,92.6,7.7,321,10515,0.00,2.15,0.00,0.000,1030,0.000,0.037,3540,2181,2256,2297,2215,0,0,0,0,0,0,28.83,26.55,28.83
$GC,10819,2.32,60.1,3539,2182,2297,2215,79.3,-1.5,342,10844,0.00,2.22,19.40,0.629,8708,0.000,0.040,3550,769,2153,2196,2110,0,0,0,0,0,0,28.83,26.33,25.63
$GC,10970,2.32,68.6,2848,769,2147,2105,75.9,4.4,356,10987,0.00,2.20,7.62,0.558,9222,0.000,0.037,3550,2165,2120,2163,2077,0,0,0,0,0,0,28.83,26.38,25.53
$GC,11288,2.37,73.6,3550,2164,2163,2077,55.5,5.7,388,11300,0.00,2.28,5.40,0.496,8452,0.000,0.042,3550,3592,2099,2143,2055,0,0,0,0,0,0,28.83,26.29,25.46
$GC,11485,2.37,98.4,3550,3592,2142,2055,48.2,-1.4,407,11514,0.00,2.17,19.48,0.612,9222,0.000,0.029,3561,2172,1998,2050,1946,0,0,0,0,0,0,28.83,26.37,25.35
$GC,11813,2.42,98.4,3561,2172,2048,1941,32.3,7.7,440,11817,0.00,2.20,0.00,0.000,260,0.000,0.042,3561,3585,1995,2049,1941,0,0,0,0,0,0,28.83,26.20,28.83
$STATE,12092,end climb,SURFACE_DEPTH_REACHED
$STATE,12092,begin surface coast
$FINISH,1.1,1.024951
$STATE,12114,end surface coast,CONTROL_FINISHED_OK
$STATE,12114,begin surface
$SM_CCo,12131,61.28,0.056,0,0,1380,250.21
$SM_GC,2.25,8.82,2.05,61.28,0.033,0.030,0.056,147,2268,1380,-8.06,1.70,250.21,0,0,0,0,0,0,26.39,26.34,26.17
$IRIDIUM_FIX,4713.38,-12543.37,101113,222255
$TT8_MAMPS,0.026964,0.026964
$HUMID,37.43
$INTERNAL_PRESSURE,8.92837
$TCM_TEMP,13.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,530.6,34.9
$24V_AH,25.0,11.027
$10V_AH,10.4,8.270
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,21.275,87.000,101.875,61.275,0.000,0.000,0.000,290.900,4.500,0.000,6.562,1529.971,8160.698,232.980,2560.384,77.135,0.384,1550.582,0.000,2201.976,0.000,41.965,0.000
$DEVICE_MAMPS,206.550,54.315,907.290,55.845,0.000,0.000,0.000,77.265,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,69.640,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,322.695,622.382,377.761,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,311196
$DATA_FILE_SIZE,33958,469
$CAP_FILE_SIZE,127643,0
$CFSIZE,2097872896,2085781504
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,9899.87,0x235a20,1,24
$GPS,111113,055622,4805.671,-12546.099,35,0.8,36,17.0