version: 66.11
glider: 194
mission: 7
dive: 115
start: 11 23 113 12 26 25
data:
$ID,194
$MISSION,7
$DIVE,115
$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,550
$T_MISSION,660
$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,40
$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,-4534.2812
$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,46
$R_STBD_OVSHOOT,43
$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,700
$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
$GPS1,231113,121752,4735.166,-12535.135,34,0.9,35,16.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.14
$_SM_ANGLEo,-63.2
$GPS2,231113,122557,4735.182,-12535.158,3,0.8,3,16.8
$SPEED_LIMITS,0.072,0.215
$TGT_NAME,SEARCH_B
$TGT_LATLONG,4734.000,-12536.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.004,-0.085
$KALMAN_X,-45221.2,0.0,0.0,21527.2,-1200.8
$KALMAN_Y,16023.7,0.0,0.0,24844.9,690.1
$MHEAD_RNG_PITCHd_Wd,160.6,2429,-31.9,-6.000,-35.05,527
$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,-1.39,-20.7,111,2273,760,627,0.0,0.0,0,70,0.00,0.00,-53.45,0.000,16386,0.000,0.000,111,2273,2156,2150,2162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,73,-1.39,-39.9,111,2273,2150,2163,3.1,-2.3,5,100,8.25,2.30,-12.40,0.000,18948,0.200,0.051,2330,857,2564,2600,2529,0,0,0,0,0,0,25.45,25.97,26.36
$GC,255,-1.28,-39.9,2330,857,2602,2529,33.1,-21.1,23,265,0.17,2.17,0.00,0.000,3078,0.173,0.035,2369,2265,2565,2602,2528,0,0,0,0,0,0,25.63,26.06,28.83
$GC,564,-1.23,-39.9,2369,2266,2603,2529,78.9,-10.5,54,574,0.00,2.20,0.00,0.000,260,0.000,0.043,2361,3674,2565,2603,2528,0,0,0,0,0,0,28.83,26.13,28.83
$GC,607,-1.15,-39.9,2361,3674,2604,2528,82.8,-9.4,57,613,0.20,2.15,0.00,0.000,3078,0.162,0.028,2412,2241,2565,2603,2528,0,0,0,0,0,0,25.75,26.26,28.83
$GC,927,-1.15,-39.9,2412,2241,2604,2528,111.1,-7.9,73,932,0.00,2.12,0.00,0.000,516,0.000,0.038,2412,866,2566,2605,2528,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1226,-1.15,-39.9,2412,865,2605,2528,133.2,-7.8,88,1230,0.00,2.15,0.00,0.000,1030,0.000,0.035,2403,2264,2566,2605,2528,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1553,-1.15,-39.9,2403,2264,2605,2528,159.9,-9.0,103,1559,0.00,2.15,0.00,0.000,516,0.000,0.038,2403,877,2566,2605,2527,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1853,-1.15,-39.9,2403,877,2604,2527,189.0,-9.4,113,1859,0.00,2.15,0.00,0.000,1030,0.000,0.036,2393,2270,2566,2605,2527,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2183,-1.15,-39.9,2393,2270,2605,2527,221.0,-9.8,124,2187,0.00,2.17,0.00,0.000,516,0.000,0.038,2393,864,2566,2605,2527,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2479,-1.15,-39.9,2393,864,2604,2526,252.4,-10.7,134,2484,0.12,2.15,0.00,0.000,3078,0.179,0.036,2412,2267,2565,2604,2526,0,0,0,0,0,0,26.08,26.43,28.83
$GC,2807,-1.21,-39.9,2412,2267,2604,2526,284.2,-9.5,145,2813,0.00,2.15,0.00,0.000,516,0.000,0.039,2412,877,2565,2604,2526,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2969,-1.21,-39.9,2412,877,2604,2526,298.2,-9.3,150,2974,0.00,2.17,0.00,0.000,1030,0.000,0.036,2404,2258,2565,2605,2526,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3287,-1.26,-39.9,2403,2259,2605,2525,329.3,-9.4,156,3288,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,2259,2565,2605,2525,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3587,-1.32,-39.9,2403,2259,2604,2524,359.4,-10.0,161,3589,0.12,0.00,0.00,0.000,4102,0.088,0.000,2325,2258,2564,2604,2524,0,0,0,0,0,0,26.67,28.83,28.83
$GC,3886,-1.32,-39.9,2325,2259,2604,2523,395.6,-12.2,166,3891,0.12,2.20,0.00,0.000,2308,0.173,0.043,2353,3673,2563,2604,2523,0,0,0,0,0,0,26.34,26.40,28.83
$GC,3943,-1.32,-39.9,2353,3673,2604,2523,402.2,-12.1,167,3947,0.00,2.10,0.00,0.000,1030,0.000,0.029,2353,2267,2563,2604,2523,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4298,-1.32,-39.9,2353,2266,2604,2522,442.6,-11.3,173,4302,0.00,2.15,0.00,0.000,516,0.000,0.040,2353,871,2563,2604,2523,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4447,-1.32,-39.9,2353,871,2604,2522,455.6,-11.3,175,4451,0.00,2.20,0.00,0.000,1030,0.000,0.037,2342,2266,2563,2604,2522,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4774,-1.32,-39.9,2342,2266,2604,2521,496.0,-11.2,181,4775,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,2265,2562,2604,2521,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5074,-1.32,-39.9,2342,2266,2604,2521,530.5,-11.4,186,5075,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,2266,2562,2604,2521,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5374,-1.32,-39.9,2341,2266,2604,2521,564.7,-11.5,191,5378,0.00,2.20,0.00,0.000,260,0.000,0.046,2332,3676,2562,2604,2520,0,0,0,0,0,0,28.83,26.40,28.83
$GC,5478,-1.32,-39.9,2331,3676,2604,2519,571.6,-11.7,192,5482,0.00,2.15,0.00,0.000,1030,0.000,0.030,2331,2270,2561,2604,2519,0,0,0,0,0,0,28.83,26.57,28.83
$GC,5790,-1.32,-39.9,2331,2269,2604,2519,614.5,-11.7,198,5791,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2269,2561,2604,2519,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6090,-1.32,-39.9,2331,2269,2604,2518,648.8,-11.4,203,6091,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2269,2561,2604,2518,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6390,-1.32,-39.9,2331,2269,2604,2517,681.9,-11.0,208,6391,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2269,2561,2605,2518,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6691,-1.32,-39.9,2331,2269,2604,2517,714.3,-10.9,213,6697,0.00,2.20,0.00,0.000,260,0.000,0.047,2321,3666,2560,2604,2516,0,0,0,0,0,0,28.83,26.38,28.83
$GC,6915,-1.32,-39.9,2321,3666,2604,2516,735.7,-11.5,216,6920,0.10,2.15,0.00,0.000,3078,0.148,0.031,2366,2264,2560,2604,2516,0,0,0,0,0,0,26.05,26.56,28.83
$GC,7234,-1.41,-39.9,2366,2264,2604,2516,772.6,-10.1,222,7235,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,2264,2560,2604,2516,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7534,-1.49,-39.9,2366,2264,2604,2515,802.6,-10.1,227,7536,0.17,0.00,0.00,0.000,4102,0.066,0.000,2279,2265,2559,2604,2515,0,0,0,0,0,0,26.71,28.83,28.83
$GC,7833,-1.49,-39.9,2279,2264,2603,2515,841.1,-13.1,232,7834,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,2264,2559,2603,2515,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8133,-1.49,-39.9,2279,2264,2603,2514,881.6,-13.6,237,8134,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,2264,2558,2603,2514,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8433,-1.49,-39.9,2279,2264,2603,2514,922.3,-13.6,242,8439,0.00,2.17,0.00,0.000,516,0.000,0.041,2279,867,2558,2603,2514,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8554,-1.49,-39.9,2279,867,2603,2513,938.2,-13.1,244,8561,0.15,2.17,0.00,0.000,3078,0.171,0.039,2306,2263,2558,2603,2513,0,0,0,0,0,0,26.03,26.45,28.83
$GC,8914,-1.49,-39.9,2305,2263,2603,2513,979.7,-11.5,250,8915,0.00,0.00,0.00,0.000,6,0.000,0.000,2306,2263,2558,2603,2513,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9034,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9034,begin apogee
$GC,9038,-0.22,0.0,2305,2178,2602,2512,993.7,-11.6,252,9074,1.27,0.00,31.62,1.222,10246,0.132,0.000,2709,2178,2400,2454,2346,0,0,0,0,0,0,25.77,28.83,24.55
$STATE,9075,end apogee,CONTROL_FINISHED_OK
$STATE,9075,begin climb
$GC,9076,1.39,39.9,2709,2178,2454,2346,993.7,0.0,252,9114,1.40,0.00,34.25,1.214,10246,0.048,0.000,3237,2178,2237,2288,2187,0,0,0,0,0,0,25.75,28.83,23.97
$GC,9389,1.31,39.9,3237,2178,2283,2186,975.3,6.6,258,9396,0.12,2.28,0.00,0.000,4356,0.186,0.044,3204,3586,2234,2283,2186,0,0,0,0,0,0,25.57,25.75,28.83
$GC,9538,1.21,39.9,3204,3586,2283,2186,967.3,6.6,260,9543,0.15,2.20,0.00,0.000,5126,0.174,0.032,3178,2170,2234,2283,2186,0,0,0,0,0,0,25.56,25.98,28.83
$GC,9865,1.21,41.2,3178,2170,2283,2184,946.1,5.8,266,9866,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,2170,2233,2283,2184,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10164,1.21,41.2,3178,2170,2282,2184,927.8,6.2,271,10168,0.00,2.22,0.00,0.000,516,0.000,0.044,3186,766,2233,2283,2184,0,0,0,0,0,0,28.83,26.12,28.83
$GC,10460,1.21,45.2,3186,766,2282,2184,911.9,5.2,276,10472,0.00,2.22,5.35,0.814,9222,0.000,0.039,3186,2172,2214,2263,2165,0,0,0,0,0,0,28.83,26.24,25.01
$GC,10820,1.21,45.2,3185,2172,2263,2165,890.6,6.1,282,10824,0.00,2.22,0.00,0.000,516,0.000,0.044,3196,774,2214,2263,2165,0,0,0,0,0,0,28.83,26.20,28.83
$GC,10950,1.21,45.2,3196,774,2263,2165,882.9,6.4,284,10954,0.00,2.20,0.00,0.000,1030,0.000,0.038,3196,2177,2214,2263,2165,0,0,0,0,0,0,28.83,26.27,28.83
$GC,11291,1.21,45.2,3196,2177,2263,2165,858.8,6.8,290,11295,0.00,2.22,0.00,0.000,516,0.000,0.044,3206,776,2213,2262,2165,0,0,0,0,0,0,28.83,26.25,28.83
$GC,11407,1.21,45.2,3206,776,2261,2165,851.2,6.6,292,11412,0.12,2.20,0.00,0.000,5126,0.181,0.038,3178,2183,2213,2262,2165,0,0,0,0,0,0,25.96,26.32,28.83
$GC,11764,1.21,45.2,3178,2183,2262,2165,828.8,6.1,298,11768,0.00,2.25,0.00,0.000,516,0.000,0.044,3186,766,2213,2262,2165,0,0,0,0,0,0,28.83,26.28,28.83
$GC,11833,1.21,45.2,3186,766,2262,2165,825.4,6.0,299,11837,0.00,2.22,0.00,0.000,1030,0.000,0.039,3186,2195,2213,2262,2165,0,0,0,0,0,0,28.83,26.34,28.83
$GC,12182,1.21,46.0,3186,2195,2262,2165,804.1,5.8,305,12188,0.00,2.15,0.00,0.000,260,0.000,0.047,3186,3584,2214,2262,2166,0,0,0,0,0,0,28.83,26.28,28.83
$GC,12303,1.21,46.0,3186,3584,2262,2165,796.6,6.1,307,12307,0.00,2.15,0.00,0.000,1030,0.000,0.032,3196,2168,2213,2262,2165,0,0,0,0,0,0,28.83,26.42,28.83
$GC,12656,1.21,46.0,3196,2168,2262,2165,774.0,6.6,313,12657,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,2168,2213,2262,2165,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12955,1.21,46.0,3196,2168,2262,2165,753.3,7.0,318,12959,0.00,2.22,0.00,0.000,260,0.000,0.047,3197,3583,2213,2262,2165,0,0,0,0,0,0,28.83,26.30,28.83
$GC,13132,1.15,46.0,3196,3582,2262,2165,740.6,7.1,321,13138,0.20,2.17,0.00,0.000,5126,0.165,0.033,3156,2167,2213,2262,2165,0,0,0,0,0,0,25.89,26.45,28.83
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$GC,13954,1.15,59.8,3164,779,2229,2131,698.5,4.8,334,13965,0.00,2.17,6.43,0.835,9222,0.000,0.039,3165,2172,2156,2205,2107,0,0,0,0,0,0,28.83,26.34,25.15
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$GC,21489,1.42,81.8,3241,3578,2181,2083,61.1,2.9,540,21510,0.00,2.12,13.43,0.617,9222,0.000,0.031,3249,2170,2065,2117,2014,0,0,0,0,0,0,28.83,26.47,25.47
$STATE,21789,end climb,NO_VERTICAL_VELOCITY
$STATE,21789,begin surface
$SM_CCo,21791,268.42,0.623,0,0,500,466.07
$SM_GC,2.08,8.35,0.15,0.00,0.027,0.070,0.000,160,2274,493,-8.05,-1.05,467.79,0,0,0,0,0,0,25.15,25.09,28.83
$IRIDIUM_FIX,4716.56,-12535.60,231113,030310
$TT8_MAMPS,0.026964,0.026964
$HUMID,38.22
$INTERNAL_PRESSURE,8.85025
$TCM_TEMP,17.10
$XPDR_PINGS,0
$24V_AH,24.0,16.853
$10V_AH,10.3,12.077
$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
$DEVICE_SECS,21.850,131.600,105.575,268.425,0.000,0.000,0.000,404.250,7.500,0.000,5.231,1918.025,17155.154,504.835,2972.248,119.021,0.384,2153.379,0.000,2497.401,0.000,56.380,0.000
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$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,393.439,755.764,345.613,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,310828
$DATA_FILE_SIZE,40358,570
$CAP_FILE_SIZE,178906,0
$CFSIZE,2097872896,2080276480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,231113,183722,4734.513,-12535.668,36,0.8,36,16.8