version: 66.11
glider: 194
mission: 7
dive: 76
start: 11 11 113 13 14 29
data:
$ID,194
$MISSION,7
$DIVE,76
$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,-4421.7983
$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,49
$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,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
$GPS1,111113,130204,4805.622,-12546.380,37,0.8,38,17.0
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.85
$_SM_ANGLEo,-61.6
$GPS2,111113,131402,4805.640,-12546.430,5,0.7,5,17.0
$SPEED_LIMITS,0.063,0.235
$TGT_NAME,SEARCH_A
$TGT_LATLONG,4805.000,-12600.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.168,-0.164
$KALMAN_X,-33005.4,0.0,0.0,-5006.7,3209.4
$KALMAN_Y,33921.8,0.0,0.0,63408.4,4237.7
$MHEAD_RNG_PITCHd_Wd,208.8,16831,-13.1,-7.500,-17.71,2947
$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,-0.57,-146.6,110,2283,974,865,0.0,0.0,0,70,0.00,0.00,-53.08,0.000,16386,0.000,0.000,110,2283,2363,2355,2372,0,0,0,0,0,0,28.83,28.83,28.83
$GC,73,-0.57,-146.6,110,2283,2357,2371,3.2,-3.2,5,110,9.12,2.33,-17.10,0.000,18948,0.199,0.054,2594,862,3000,3068,2932,0,0,0,0,0,0,25.55,25.94,26.29
$GC,286,-0.46,-146.6,1728,862,3040,2929,28.0,-12.8,26,295,0.12,2.22,0.00,0.000,3078,0.111,0.038,2631,2255,3000,3069,2932,0,0,0,0,0,0,25.91,26.10,28.83
$GC,594,-0.46,-146.6,2631,2255,3069,2933,57.6,-6.8,57,603,0.00,2.20,0.00,0.000,260,0.000,0.047,2623,3670,3001,3069,2933,0,0,0,0,0,0,28.83,26.19,28.83
$GC,778,-0.46,-146.6,2622,3670,3070,2933,73.2,-9.4,75,787,0.00,2.12,0.00,0.000,1030,0.000,0.029,2622,2248,3001,3069,2933,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1087,-0.46,-146.6,2622,2248,3069,2933,101.3,-7.9,94,1091,0.00,2.12,0.00,0.000,516,0.000,0.041,2622,871,3001,3069,2933,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1163,-0.46,-146.6,2622,870,3069,2933,107.2,-7.7,98,1167,0.00,2.17,0.00,0.000,1030,0.000,0.038,2619,2281,3001,3069,2933,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1479,-0.46,-146.6,2619,2281,3069,2932,129.3,-7.4,114,1483,0.00,2.20,0.00,0.000,516,0.000,0.041,2618,862,3000,3069,2932,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1508,-0.46,-146.6,2619,862,3069,2932,130.4,-7.5,115,1515,0.00,2.15,0.00,0.000,1030,0.000,0.037,2611,2263,3000,3069,2932,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1815,-0.46,-146.6,2611,2263,3069,2932,156.3,-8.2,130,1819,0.00,2.17,0.00,0.000,260,0.000,0.047,2606,3670,3000,3069,2932,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1853,-0.46,-146.6,2606,3670,3069,2932,158.4,-8.1,131,1858,0.00,2.12,0.00,0.000,1030,0.000,0.028,2606,2266,3000,3069,2932,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2170,-0.46,-146.6,2606,2266,3069,2932,183.7,-7.7,142,2175,0.12,2.15,0.00,0.000,2564,0.134,0.040,2651,870,3000,3069,2932,0,0,0,0,0,0,26.44,26.47,28.83
$GC,2266,-0.46,-146.6,2650,870,3069,2932,189.2,-6.6,145,2270,0.00,2.15,0.00,0.000,1030,0.000,0.038,2650,2270,3000,3069,2932,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2588,-0.52,-146.6,2649,2270,3069,2931,206.7,-5.1,156,2594,0.00,2.15,0.00,0.000,260,0.000,0.047,2642,3665,3000,3069,2931,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2650,-0.58,-146.6,1744,3663,3040,2927,209.9,-5.3,158,2655,0.12,2.10,0.00,0.000,5126,0.077,0.029,2552,2248,3000,3069,2931,0,0,0,0,0,0,26.53,26.57,28.83
$GC,2979,-0.51,-146.6,2551,2248,3069,2931,238.3,-8.7,169,2985,0.20,2.12,0.00,0.000,2564,0.117,0.039,2621,865,2999,3069,2930,0,0,0,0,0,0,26.39,26.51,28.83
$GC,3010,-0.51,-146.6,1760,864,3042,2926,240.4,-8.4,170,3014,0.00,2.17,0.00,0.000,1030,0.000,0.038,2620,2255,2999,3069,2930,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3338,-0.51,-146.6,2619,2254,3069,2930,261.2,-6.5,181,3340,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2255,3000,3070,2930,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3638,-0.51,-146.6,2619,2254,3069,2929,279.8,-6.1,191,3639,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2255,2999,3069,2929,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3939,-0.51,-146.6,2619,2254,3069,2929,298.2,-5.9,201,3944,0.00,2.17,0.00,0.000,260,0.000,0.048,2619,3665,2999,3069,2929,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3976,-0.51,-146.6,2619,3665,3069,2929,300.0,-5.9,202,3979,0.00,2.10,0.00,0.000,1030,0.000,0.030,2619,2254,2999,3069,2929,0,0,0,0,0,0,28.83,26.62,28.83
$GC,4298,-0.51,-146.6,2619,2254,3069,2928,319.0,-5.7,208,4302,0.00,2.12,0.00,0.000,516,0.000,0.042,2619,871,2998,3069,2928,0,0,0,0,0,0,28.83,26.54,28.83
$GC,4356,-0.51,-146.6,2619,871,3069,2928,322.4,-5.7,209,4361,0.00,2.17,0.00,0.000,1030,0.000,0.039,2619,2259,2998,3069,2928,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4714,-0.51,-146.6,2619,2259,3069,2927,343.4,-6.0,215,4718,0.00,2.17,0.00,0.000,260,0.000,0.048,2619,3666,2998,3069,2927,0,0,0,0,0,0,28.83,26.52,28.83
$GC,4839,-0.51,-146.6,2619,3666,3069,2927,351.2,-6.5,217,4843,0.00,2.08,0.00,0.000,1030,0.000,0.030,2619,2262,2998,3069,2927,0,0,0,0,0,0,28.83,26.64,28.83
$GC,5185,-0.57,-146.6,2619,2262,3069,2926,378.6,-7.8,223,5186,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2262,2998,3069,2927,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5488,-0.63,-146.6,2619,2262,3069,2926,402.0,-7.8,228,5490,0.12,0.00,0.00,0.000,4102,0.078,0.000,2533,2262,2997,3069,2926,0,0,0,0,0,0,26.75,28.83,28.83
$GC,5789,-0.58,-146.6,2533,2262,3069,2926,430.9,-9.7,233,5795,0.17,2.12,0.00,0.000,2564,0.122,0.041,2593,875,2996,3068,2925,0,0,0,0,0,0,26.47,26.56,28.83
$GC,5835,-0.53,-146.6,2593,875,3069,2926,430.9,-9.7,233,5839,0.00,2.12,0.00,0.000,1030,0.000,0.040,2593,2263,2997,3069,2925,0,0,0,0,0,0,28.83,26.59,28.83
$GC,6148,-0.53,-146.6,2593,2263,3069,2925,455.7,-6.6,239,6149,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2263,2997,3069,2925,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6447,-0.53,-146.6,2593,2263,3069,2925,477.8,-7.3,244,6448,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2263,2997,3069,2925,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6748,-0.53,-146.6,2593,2263,3069,2924,497.6,-6.6,249,6749,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2263,2996,3069,2924,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7047,-0.53,-146.6,2593,2263,3069,2923,517.7,-6.7,254,7051,0.00,2.17,0.00,0.000,260,0.000,0.049,2593,3665,2996,3069,2923,0,0,0,0,0,0,28.83,26.52,28.83
$GC,7137,-0.58,-146.6,2593,3664,3069,2922,521.7,-6.8,255,7141,0.00,2.08,0.00,0.000,1030,0.000,0.031,2593,2264,2995,3069,2922,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7459,-0.63,-146.6,2593,2263,3070,2922,547.0,-7.1,261,7465,0.00,2.15,0.00,0.000,516,0.000,0.043,2593,869,2995,3069,2922,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7497,-0.69,-146.6,2593,868,3069,2922,547.0,-7.1,261,7501,0.00,2.15,0.00,0.000,1030,0.000,0.041,2593,2264,2995,3069,2922,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7814,-0.74,-146.6,2593,2264,3069,2921,569.4,-6.1,267,7820,0.12,2.17,0.00,0.000,4356,0.080,0.047,2495,3669,2995,3069,2921,0,0,0,0,0,0,26.76,26.51,28.83
$GC,7891,-0.74,-146.6,2495,3669,3069,2920,575.2,-7.0,268,7896,0.17,2.10,0.00,0.000,3078,0.122,0.031,2549,2257,2995,3069,2921,0,0,0,0,0,0,26.38,26.65,28.83
$GC,8228,-0.74,-146.6,2549,2256,3069,2920,604.4,-8.0,274,8232,0.00,2.15,0.00,0.000,516,0.000,0.044,2549,866,2994,3069,2920,0,0,0,0,0,0,28.83,26.54,28.83
$GC,8348,-0.74,-146.6,2549,866,3069,2920,613.8,-8.1,276,8352,0.00,2.15,0.00,0.000,1030,0.000,0.041,2543,2262,2994,3068,2920,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8699,-0.74,-146.6,2542,2262,3069,2919,641.0,-7.6,282,8700,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2262,2994,3069,2919,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8999,-0.74,-146.6,2542,2262,3069,2918,661.7,-7.1,287,9003,0.00,2.20,0.00,0.000,260,0.000,0.050,2537,3673,2993,3069,2918,0,0,0,0,0,0,28.83,26.50,28.83
$GC,9083,-0.74,-146.6,2537,3673,3069,2918,666.2,-7.2,288,9087,0.00,2.10,0.00,0.000,1030,0.000,0.031,2538,2267,2993,3069,2918,0,0,0,0,0,0,28.83,26.64,28.83
$GC,9415,-0.74,-146.6,2537,2266,3069,2918,693.9,-7.4,294,9417,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2266,2993,3069,2918,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9715,-0.74,-146.6,2537,2266,3069,2918,716.0,-7.4,299,9719,0.00,2.17,0.00,0.000,516,0.000,0.044,2537,863,2993,3069,2918,0,0,0,0,0,0,28.83,26.53,28.83
$GC,9764,-0.74,-146.6,2537,862,3070,2918,716.0,-7.4,299,9771,0.00,2.17,0.00,0.000,1030,0.000,0.041,2537,2273,2993,3069,2917,0,0,0,0,0,0,28.83,26.56,28.83
$STATE,9830,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9830,begin apogee
$GC,9834,-0.22,0.0,2537,2166,3069,2917,725.5,-8.1,301,9952,0.50,0.00,112.88,1.063,10246,0.094,0.000,2713,2166,2399,2465,2333,0,0,0,0,0,0,26.35,28.83,23.98
$STATE,9953,end apogee,CONTROL_FINISHED_OK
$STATE,9954,begin climb
$GC,9955,0.57,146.6,2713,2167,2465,2333,728.1,0.0,303,10079,0.73,0.00,119.65,1.037,10758,0.057,0.000,2974,2166,1801,1866,1737,0,0,0,0,0,0,24.88,28.83,23.49
$GC,10371,0.49,146.6,2974,2166,1857,1732,699.2,8.2,310,10378,0.12,2.33,0.00,0.000,4356,0.135,0.046,2934,3587,1794,1856,1732,0,0,0,0,0,0,25.44,25.48,28.83
$GC,10455,0.41,146.6,2934,3586,1856,1732,694.6,8.2,311,10459,0.00,2.20,0.00,0.000,1030,0.000,0.032,2942,2183,1794,1856,1732,0,0,0,0,0,0,28.83,25.65,28.83
$GC,10791,0.41,146.6,2942,2183,1856,1729,667.9,7.5,317,10792,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2183,1792,1856,1729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11091,0.41,158.5,2941,2183,1856,1728,646.8,7.1,322,11106,0.00,2.25,9.43,0.846,8452,0.000,0.046,2941,3583,1753,1817,1690,0,0,0,0,0,0,28.83,25.95,25.02
$GC,11166,0.41,160.2,2942,3584,1817,1691,642.1,7.4,323,11171,0.12,2.20,0.00,0.000,5126,0.129,0.032,2915,2160,1753,1817,1690,0,0,0,0,0,0,25.91,26.03,28.83
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$STATE,18577,end climb,SURFACE_DEPTH_REACHED
$STATE,18577,begin surface coast
$FINISH,1.0,1.010740
$STATE,18599,end surface coast,CONTROL_FINISHED_OK
$STATE,18599,begin surface
$SM_CCo,18674,0.00,0.000,0,0,887,371.14
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$TT8_MAMPS,0.026964,0.026964
$HUMID,38.97
$INTERNAL_PRESSURE,8.89908
$TCM_TEMP,13.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,561.8,166.7
$24V_AH,23.5,11.298
$10V_AH,10.3,8.474
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSOR_MAMPS,23.970,0.750,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,311236
$DATA_FILE_SIZE,40399,571
$CAP_FILE_SIZE,168216,0
$CFSIZE,2097872896,2085355520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,111113,182659,4804.558,-12548.765,41,1.0,41,17.0