version: 66.11
glider: 194
mission: 7
dive: 161
start: 12 9 113 21 34 55
data:
$ID,194
$MISSION,7
$DIVE,161
$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,-4609.2568
$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,45
$R_STBD_OVSHOOT,57
$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,600
$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
$GPS1,091213,212504,4743.482,-12601.634,34,1.0,35,16.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.30
$_SM_ANGLEo,-57.8
$GPS2,091213,213427,4743.497,-12601.602,5,0.9,5,16.9
$SPEED_LIMITS,0.072,0.215
$TGT_NAME,SEARCH_C
$TGT_LATLONG,4742.000,-12600.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.053,-0.076
$KALMAN_X,-34057.8,0.0,0.0,-22858.7,223.3
$KALMAN_Y,23753.0,0.0,0.0,32582.6,-258.9
$MHEAD_RNG_PITCHd_Wd,128.5,3416,-29.6,-6.000,-32.89,607
$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,14,begin dive
$GC,15,-1.29,-23.9,138,2291,580,406,0.0,0.0,0,80,0.00,0.00,-61.83,0.000,16386,0.000,0.000,138,2291,2174,2178,2170,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-1.29,-44.5,138,2291,2178,2171,3.5,-2.5,6,111,8.35,2.28,-12.27,0.000,19204,0.201,0.050,2363,857,2582,2628,2536,0,0,0,0,0,0,25.38,25.98,26.44
$GC,406,-1.20,-44.5,2363,857,2629,2537,61.4,-20.3,38,417,0.15,2.15,0.00,0.000,3078,0.174,0.035,2390,2251,2583,2629,2537,0,0,0,0,0,0,25.71,26.13,28.83
$GC,726,-1.20,-44.5,2390,2252,2629,2537,105.7,-11.2,60,727,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,2252,2582,2629,2536,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1026,-1.20,-44.5,2390,2252,2629,2537,139.1,-10.5,75,1032,0.00,2.22,0.00,0.000,260,0.000,0.043,2382,3675,2582,2629,2536,0,0,0,0,0,0,28.83,26.19,28.83
$GC,1206,-1.14,-44.5,2381,3675,2629,2536,161.0,-12.6,83,1212,0.12,2.15,0.00,0.000,3078,0.169,0.028,2412,2237,2583,2630,2537,0,0,0,0,0,0,25.98,26.39,28.83
$GC,1536,-1.14,-44.5,2411,2237,2629,2536,192.6,-9.3,94,1539,0.00,2.12,0.00,0.000,516,0.000,0.038,2412,868,2583,2629,2537,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1724,-1.14,-44.5,2411,868,2629,2537,210.2,-9.8,100,1729,0.00,2.20,0.00,0.000,1030,0.000,0.036,2403,2267,2583,2629,2537,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2046,-1.14,-44.5,2403,2267,2629,2536,243.0,-9.8,111,2050,0.00,2.17,0.00,0.000,260,0.000,0.044,2392,3667,2582,2629,2536,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2150,-1.14,-44.5,2393,3667,2629,2536,252.8,-11.0,114,2155,0.00,2.12,0.00,0.000,1030,0.000,0.028,2393,2267,2582,2629,2536,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2463,-1.14,-44.5,2392,2267,2629,2536,289.4,-11.4,125,2469,0.00,2.15,0.00,0.000,516,0.000,0.037,2393,870,2583,2629,2537,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2485,-1.14,-44.5,2393,870,2629,2536,289.4,-11.4,125,2493,0.12,2.17,0.00,0.000,3078,0.175,0.036,2411,2263,2582,2629,2536,0,0,0,0,0,0,26.03,26.37,28.83
$GC,2822,-1.14,-44.5,2411,2263,2629,2536,325.2,-9.8,133,2826,0.00,2.17,0.00,0.000,260,0.000,0.044,2403,3662,2582,2629,2536,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2871,-1.14,-44.5,2402,3662,2629,2536,325.2,-9.8,133,2878,0.00,2.12,0.00,0.000,1030,0.000,0.028,2403,2239,2582,2629,2536,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3178,-1.14,-44.5,2402,2238,2629,2536,361.2,-10.3,139,3182,0.00,2.10,0.00,0.000,516,0.000,0.038,2403,873,2582,2629,2536,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3247,-1.14,-44.5,2402,873,2629,2536,367.3,-10.5,140,3251,0.00,2.15,0.00,0.000,1030,0.000,0.036,2393,2277,2582,2629,2536,0,0,0,0,0,0,28.83,26.38,28.83
$GC,3594,-1.14,-44.5,2392,2278,2629,2535,406.3,-11.0,146,3598,0.00,2.17,0.00,0.000,260,0.000,0.044,2381,3674,2582,2629,2535,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3778,-1.14,-44.5,2381,3674,2629,2535,427.8,-12.0,149,3783,0.12,2.15,0.00,0.000,3078,0.169,0.029,2412,2262,2582,2628,2536,0,0,0,0,0,0,26.10,26.48,28.83
$GC,4130,-1.20,-44.5,2411,2261,2629,2535,464.3,-9.9,155,4136,0.00,2.15,0.00,0.000,516,0.000,0.039,2411,869,2581,2629,2534,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4283,-1.20,-44.5,2411,869,2629,2534,475.9,-9.9,157,4287,0.00,2.17,0.00,0.000,1030,0.000,0.037,2403,2255,2581,2628,2534,0,0,0,0,0,0,28.83,26.37,28.83
$GC,4610,-1.20,-44.5,2403,2255,2629,2533,509.2,-9.3,163,4614,0.00,2.20,0.00,0.000,260,0.000,0.045,2393,3666,2580,2628,2533,0,0,0,0,0,0,28.83,26.26,28.83
$GC,4726,-1.20,-44.5,2393,3666,2629,2533,521.2,-9.8,165,4730,0.00,2.10,0.00,0.000,1030,0.000,0.029,2393,2264,2581,2629,2533,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5082,-1.20,-44.5,2393,2264,2629,2533,557.1,-10.2,171,5086,0.00,2.15,0.00,0.000,516,0.000,0.039,2393,874,2581,2629,2533,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5155,-1.20,-44.5,2393,873,2629,2533,563.0,-10.3,172,5159,0.00,2.17,0.00,0.000,1030,0.000,0.037,2382,2261,2580,2629,2532,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5498,-1.20,-44.5,2382,2262,2629,2532,602.6,-11.1,178,5500,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,2262,2580,2629,2532,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5800,-1.20,-44.5,2382,2261,2629,2532,635.4,-10.9,183,5805,0.00,2.15,0.00,0.000,516,0.000,0.040,2383,872,2580,2629,2532,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5891,-1.20,-44.5,2382,873,2629,2532,642.3,-11.2,184,5895,0.00,2.20,0.00,0.000,1030,0.000,0.037,2372,2298,2580,2629,2531,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6219,-1.20,-44.5,2372,2299,2628,2531,683.5,-11.4,190,6220,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,2299,2579,2628,2531,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6518,-1.20,-44.5,2372,2299,2628,2531,717.1,-11.2,195,6522,0.00,2.22,0.00,0.000,516,0.000,0.041,2372,875,2579,2628,2531,0,0,0,0,0,0,28.83,26.30,28.83
$GC,6608,-1.20,-44.5,2372,875,2628,2531,723.7,-11.3,196,6613,0.15,2.20,0.00,0.000,3078,0.161,0.037,2399,2298,2579,2629,2530,0,0,0,0,0,0,25.94,26.33,28.83
$GC,6936,-1.28,-44.5,2399,2298,2628,2530,758.6,-9.2,202,6942,0.00,2.22,0.00,0.000,516,0.000,0.040,2399,875,2579,2628,2530,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7024,-1.37,-44.5,2399,875,2628,2530,764.1,-9.1,203,7029,0.15,2.15,0.00,0.000,5126,0.073,0.037,2305,2266,2578,2628,2529,0,0,0,0,0,0,26.32,26.32,28.83
$GC,7353,-1.37,-44.5,2304,2266,2628,2529,803.6,-11.5,209,7360,0.12,2.20,0.00,0.000,2564,0.172,0.039,2340,861,2578,2628,2529,0,0,0,0,0,0,26.26,26.29,28.83
$GC,7435,-1.37,-44.5,2340,860,2628,2529,810.6,-11.7,210,7439,0.00,2.17,0.00,0.000,1030,0.000,0.037,2332,2261,2578,2627,2529,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7772,-1.37,-44.5,2332,2262,2627,2529,850.0,-11.0,216,7776,0.00,2.17,0.00,0.000,516,0.000,0.041,2332,875,2577,2626,2529,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7816,-1.37,-44.5,2333,875,2626,2529,850.0,-11.0,216,7820,0.00,2.20,0.00,0.000,1030,0.000,0.037,2322,2298,2577,2626,2528,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8129,-1.37,-44.5,2322,2298,2626,2529,892.4,-12.2,222,8130,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2298,2577,2626,2529,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8428,-1.37,-44.5,2321,2298,2626,2529,929.2,-12.3,227,8429,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2298,2577,2626,2528,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8729,-1.37,-44.5,2321,2298,2625,2529,965.9,-12.1,232,8735,0.00,2.25,0.00,0.000,516,0.000,0.041,2321,868,2577,2625,2529,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8887,-1.37,-44.5,2321,868,2625,2529,981.0,-12.0,234,8892,0.12,2.20,0.00,0.000,3078,0.174,0.038,2340,2255,2576,2625,2528,0,0,0,0,0,0,25.96,26.29,28.83
$STATE,8969,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8969,begin apogee
$GC,8974,-0.22,0.0,2340,2169,2625,2529,995.2,-12.2,236,9014,1.15,0.00,35.88,1.220,10246,0.127,0.000,2705,2168,2399,2454,2345,0,0,0,0,0,0,25.44,28.83,24.25
$STATE,9015,end apogee,CONTROL_FINISHED_OK
$STATE,9015,begin climb
$GC,9016,1.29,44.5,2704,2168,2454,2345,995.2,0.0,236,9063,1.35,2.38,38.25,1.211,10756,0.048,0.041,3222,778,2217,2265,2169,0,0,0,0,0,0,25.62,24.98,23.77
$GC,9108,1.29,44.5,3221,778,2263,2168,993.5,5.9,238,9112,0.00,2.25,0.00,0.000,1030,0.000,0.036,3221,2169,2215,2263,2168,0,0,0,0,0,0,28.83,25.40,28.83
$GC,9440,1.18,44.5,3221,2169,2261,2168,968.6,7.0,244,9447,0.17,2.28,0.00,0.000,4356,0.174,0.043,3173,3593,2214,2261,2168,0,0,0,0,0,0,25.56,25.86,28.83
$GC,9600,1.08,44.5,3173,3593,2261,2168,960.1,7.0,246,9604,0.20,2.17,0.00,0.000,5126,0.164,0.031,3131,2174,2214,2261,2167,0,0,0,0,0,0,25.56,26.09,28.83
$GC,9916,1.08,44.5,3131,2174,2260,2167,937.2,6.2,252,9920,0.00,2.22,0.00,0.000,516,0.000,0.042,3139,769,2214,2260,2168,0,0,0,0,0,0,28.83,26.10,28.83
$GC,10195,1.08,44.5,3139,769,2259,2167,922.1,6.4,256,10199,0.00,2.20,0.00,0.000,1030,0.000,0.037,3139,2180,2213,2259,2168,0,0,0,0,0,0,28.83,26.21,28.83
$GC,10512,1.08,44.5,3139,2180,2259,2168,899.5,6.1,262,10516,0.00,2.20,0.00,0.000,260,0.000,0.045,3139,3581,2213,2259,2167,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10676,1.08,44.5,3139,3581,2259,2167,892.0,6.4,264,10680,0.00,2.20,0.00,0.000,1030,0.000,0.031,3150,2173,2213,2260,2167,0,0,0,0,0,0,28.83,26.34,28.83
$GC,10988,1.08,47.8,3150,2173,2258,2167,871.7,5.4,270,10994,0.00,2.22,0.00,0.000,260,0.000,0.045,3150,3581,2212,2258,2167,0,0,0,0,0,0,28.83,26.18,28.83
$GC,11127,1.08,50.5,3150,3581,2258,2167,864.8,5.5,272,11137,0.00,2.15,5.40,0.793,9222,0.000,0.031,3160,2165,2193,2238,2149,0,0,0,0,0,0,28.83,26.36,24.73
$GC,11464,1.08,52.1,3161,2164,2238,2149,844.7,5.7,278,11470,0.00,2.25,0.00,0.000,260,0.000,0.045,3159,3592,2193,2238,2149,0,0,0,0,0,0,28.83,26.21,28.83
$GC,11567,1.08,53.2,3160,3591,2238,2149,840.9,5.8,279,11577,0.08,2.20,4.03,0.698,13318,0.139,0.031,3135,2178,2183,2228,2138,0,0,0,0,0,0,25.89,26.37,24.77
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$STATE,23687,end climb,SURFACE_DEPTH_REACHED
$STATE,23688,begin surface coast
$FINISH,1.4,1.005966
$STATE,23718,end surface coast,CONTROL_FINISHED_OK
$STATE,23718,begin surface
$SM_CCo,23733,59.42,0.059,0,0,1379,250.21
$SM_GC,2.32,7.97,0.10,59.42,0.031,0.097,0.059,168,2272,1379,-8.04,-1.30,250.21,0,0,0,0,0,0,26.41,26.53,26.10
$IRIDIUM_FIX,4726.11,-12604.23,091213,212132
$TT8_MAMPS,0.026964,0.026964
$HUMID,37.55
$INTERNAL_PRESSURE,8.89908
$TCM_TEMP,17.40
$XPDR_PINGS,1
$24V_AH,23.8,24.163
$10V_AH,10.3,16.846
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,21.850,192.750,132.775,59.425,0.000,0.000,0.000,419.225,10.250,0.000,6.014,2226.441,18217.975,365.083,3391.433,154.720,0.383,2239.266,0.000,2883.798,0.000,73.671,0.000
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$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,460.688,885.656,431.399,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,310756
$DATA_FILE_SIZE,50366,668
$CAP_FILE_SIZE,210572,0
$CFSIZE,2097872896,2074214400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,101213,041234,4742.822,-12600.850,30,0.9,30,16.9