version: 66.11
glider: 194
mission: 7
dive: 164
start: 12 10 113 22 9 58
data:
$ID,194
$MISSION,7
$DIVE,164
$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,-4613.0352
$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,48
$R_STBD_OVSHOOT,55
$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
$GPS1,101213,215404,4736.576,-12555.676,26,1.0,27,16.8
$_CALLS,3
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,2.36
$_SM_ANGLEo,-66.7
$GPS2,101213,220930,4736.606,-12555.667,4,0.8,4,16.8
$SPEED_LIMITS,0.072,0.215
$TGT_NAME,SEARCH_C
$TGT_LATLONG,4736.000,-12554.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.107,-0.028
$KALMAN_X,-37784.8,0.0,0.0,-11692.9,-1454.1
$KALMAN_Y,24021.7,0.0,0.0,19552.3,-217.1
$MHEAD_RNG_PITCHd_Wd,87.7,2365,-24.8,-6.000,-28.54,839
$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,-1.08,-33.1,129,2292,825,689,0.0,0.0,0,70,0.00,0.00,-53.35,0.000,16386,0.000,0.000,128,2293,2216,2208,2225,0,0,0,0,0,0,28.83,28.83,28.83
$GC,73,-1.08,-61.0,129,2293,2208,2225,3.5,-2.6,5,100,8.65,2.35,-12.45,0.000,18948,0.200,0.050,2431,851,2649,2698,2601,0,0,0,0,0,0,25.29,25.93,26.37
$GC,397,-0.97,-61.0,2430,851,2699,2602,56.9,-13.5,37,406,0.15,2.15,0.00,0.000,3078,0.141,0.035,2468,2258,2650,2699,2602,0,0,0,0,0,0,25.63,26.09,28.83
$GC,717,-0.97,-61.0,2468,2258,2700,2602,93.7,-11.1,63,718,0.00,0.00,0.00,0.000,6,0.000,0.000,2468,2258,2651,2700,2602,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1016,-0.97,-61.0,2468,2258,2700,2602,126.8,-10.9,78,1020,0.00,2.17,0.00,0.000,516,0.000,0.037,2468,861,2651,2700,2602,0,0,0,0,0,0,28.83,26.21,28.83
$GC,1114,-0.97,-61.0,2468,861,2700,2602,136.9,-10.6,83,1119,0.00,2.20,0.00,0.000,1030,0.000,0.035,2461,2262,2651,2700,2602,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1432,-0.97,-61.0,2461,2262,2700,2602,169.6,-10.0,96,1436,0.00,2.22,0.00,0.000,260,0.000,0.044,2449,3674,2651,2700,2602,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1729,-0.92,-61.0,2449,3674,2700,2602,201.6,-11.3,106,1735,0.15,2.15,0.00,0.000,3078,0.150,0.028,2489,2236,2651,2700,2602,0,0,0,0,0,0,26.00,26.42,28.83
$GC,2059,-0.92,-61.0,2489,2235,2700,2602,231.6,-9.0,117,2065,0.00,2.10,0.00,0.000,516,0.000,0.038,2488,877,2650,2700,2601,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2141,-0.92,-61.0,2488,876,2700,2602,237.6,-9.6,119,2148,0.00,2.17,0.00,0.000,1030,0.000,0.035,2481,2265,2651,2700,2602,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2448,-0.92,-61.0,2481,2264,2699,2602,270.1,-9.9,130,2452,0.00,2.15,0.00,0.000,516,0.000,0.037,2481,877,2650,2700,2601,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2553,-0.92,-61.0,2481,877,2700,2601,279.3,-10.6,133,2557,0.00,2.15,0.00,0.000,1030,0.000,0.035,2471,2257,2650,2699,2601,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2865,-0.92,-61.0,2471,2257,2700,2601,312.7,-10.2,142,2869,0.00,2.15,0.00,0.000,516,0.000,0.037,2471,873,2650,2700,2601,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3023,-0.92,-61.0,2470,872,2699,2601,325.2,-10.5,144,3028,0.00,2.17,0.00,0.000,1030,0.000,0.035,2460,2256,2650,2700,2601,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3340,-0.92,-61.0,2460,2256,2700,2601,365.6,-11.4,150,3342,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,2256,2650,2700,2601,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3640,-0.92,-61.0,2460,2256,2700,2600,397.9,-10.8,155,3644,0.00,2.15,0.00,0.000,516,0.000,0.038,2460,874,2650,2700,2600,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3696,-0.92,-61.0,2460,874,2700,2600,404.2,-11.0,156,3701,0.15,2.17,0.00,0.000,3078,0.151,0.036,2489,2282,2650,2700,2600,0,0,0,0,0,0,26.00,26.36,28.83
$GC,4053,-0.98,-61.0,2489,2281,2700,2599,439.5,-9.8,162,4055,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2281,2649,2700,2599,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4353,-1.05,-61.0,2488,2281,2700,2598,467.8,-9.3,167,4360,0.12,2.20,0.00,0.000,4612,0.079,0.037,2398,872,2648,2699,2597,0,0,0,0,0,0,26.72,26.33,28.83
$GC,4546,-1.05,-61.0,2398,871,2699,2598,490.3,-11.8,170,4551,0.20,2.17,0.00,0.000,3078,0.151,0.036,2442,2255,2649,2700,2598,0,0,0,0,0,0,25.86,26.35,28.83
$GC,4893,-1.05,-61.0,2441,2255,2700,2597,526.6,-9.9,176,4894,0.00,0.00,0.00,0.000,6,0.000,0.000,2442,2255,2648,2699,2597,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5193,-1.05,-61.0,2442,2255,2699,2596,555.2,-9.5,181,5197,0.00,2.15,0.00,0.000,516,0.000,0.039,2442,877,2647,2699,2596,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5292,-1.05,-61.0,2442,877,2699,2596,560.7,-9.6,182,5296,0.00,2.20,0.00,0.000,1030,0.000,0.037,2434,2301,2647,2699,2596,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5609,-1.05,-61.0,2433,2302,2699,2596,595.4,-9.6,188,5610,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,2302,2647,2699,2596,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5911,-1.05,-61.0,2433,2302,2699,2595,624.9,-9.9,193,5912,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,2302,2647,2699,2595,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6210,-1.05,-61.0,2433,2302,2699,2594,653.6,-9.6,198,6216,0.00,2.25,0.00,0.000,516,0.000,0.040,2434,867,2647,2699,2595,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6333,-1.05,-61.0,2433,867,2699,2594,665.4,-9.7,200,6338,0.00,2.15,0.00,0.000,1030,0.000,0.037,2424,2263,2647,2699,2595,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6684,-1.05,-61.0,2424,2263,2699,2594,699.7,-9.7,206,6688,0.00,2.17,0.00,0.000,516,0.000,0.041,2424,875,2646,2699,2594,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6769,-1.05,-61.0,2424,875,2699,2594,705.4,-9.8,207,6774,0.12,2.15,0.00,0.000,3078,0.164,0.037,2444,2266,2647,2700,2594,0,0,0,0,0,0,25.98,26.31,28.83
$GC,7098,-1.11,-61.0,2444,2266,2699,2593,741.0,-10.0,213,7099,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,2266,2646,2699,2593,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7397,-1.17,-61.0,2444,2266,2699,2593,771.9,-10.2,218,7399,0.12,0.00,0.00,0.000,4102,0.079,0.000,2371,2266,2646,2699,2593,0,0,0,0,0,0,26.70,28.83,28.83
$GC,7696,-1.17,-61.0,2370,2266,2699,2592,808.6,-12.4,223,7700,0.12,2.22,0.00,0.000,2308,0.160,0.045,2400,3673,2645,2699,2592,0,0,0,0,0,0,26.34,26.17,28.83
$GC,7782,-1.17,-61.0,2400,3673,2699,2593,815.7,-12.5,224,7786,0.00,2.15,0.00,0.000,1030,0.000,0.030,2400,2275,2645,2699,2592,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8114,-1.17,-61.0,2400,2274,2699,2592,857.4,-11.3,230,8118,0.00,2.20,0.00,0.000,516,0.000,0.041,2400,867,2645,2699,2592,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8315,-1.17,-61.0,2400,867,2699,2592,878.9,-11.9,233,8320,0.00,2.20,0.00,0.000,1030,0.000,0.037,2390,2258,2645,2699,2591,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8652,-1.17,-61.0,2389,2258,2699,2591,916.6,-10.1,239,8656,0.00,2.17,0.00,0.000,516,0.000,0.041,2390,871,2644,2698,2591,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8712,-1.17,-61.0,2389,871,2699,2591,921.8,-9.8,240,8717,0.12,2.17,0.00,0.000,3078,0.166,0.038,2409,2277,2644,2698,2591,0,0,0,0,0,0,25.94,26.27,28.83
$GC,9067,-1.17,-61.0,2409,2278,2699,2590,954.2,-9.1,246,9072,0.00,2.20,0.00,0.000,516,0.000,0.041,2409,867,2644,2698,2590,0,0,0,0,0,0,28.83,26.24,28.83
$GC,9117,-1.17,-61.0,2409,867,2698,2590,954.2,-9.1,246,9124,0.00,2.20,0.00,0.000,1030,0.000,0.038,2402,2282,2644,2698,2590,0,0,0,0,0,0,28.83,26.26,28.83
$GC,9424,-1.17,-61.0,2402,2282,2698,2590,988.8,-9.7,252,9428,0.00,2.22,0.00,0.000,516,0.000,0.041,2402,870,2644,2698,2590,0,0,0,0,0,0,28.83,26.22,28.83
$STATE,9480,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9480,begin apogee
$GC,9486,-0.22,0.0,2392,2168,2698,2590,994.7,-9.9,253,9541,0.98,0.00,49.12,1.223,10246,0.118,0.000,2707,2169,2400,2460,2341,0,0,0,0,0,0,25.51,28.83,23.97
$STATE,9542,end apogee,CONTROL_FINISHED_OK
$STATE,9542,begin climb
$GC,9544,1.08,61.0,2707,2169,2459,2341,996.6,0.0,254,9601,1.17,0.00,53.03,1.215,10246,0.046,0.000,3143,2169,2151,2204,2098,0,0,0,0,0,0,25.37,28.83,23.51
$GC,9901,0.98,61.0,3143,2169,2198,2094,968.2,8.9,260,9903,0.17,0.00,0.00,0.000,4102,0.159,0.000,3098,2169,2145,2197,2094,0,0,0,0,0,0,25.51,28.83,28.83
$GC,10201,0.98,61.0,3098,2169,2197,2093,944.2,7.9,265,10207,0.00,2.25,0.00,0.000,260,0.000,0.046,3099,3585,2145,2197,2093,0,0,0,0,0,0,28.83,25.93,28.83
$GC,10334,0.92,61.0,3098,3585,2196,2093,933.9,8.3,267,10338,0.00,2.15,0.00,0.000,1030,0.000,0.031,3107,2179,2144,2196,2093,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10676,0.85,61.0,3107,2179,2196,2092,904.9,8.2,273,10683,0.15,2.22,0.00,0.000,4356,0.158,0.044,3062,3579,2144,2196,2093,0,0,0,0,0,0,25.98,26.08,28.83
$GC,10813,0.80,61.0,3062,3578,2196,2093,896.0,7.9,275,10817,0.00,2.15,0.00,0.000,1030,0.000,0.031,3071,2169,2144,2195,2093,0,0,0,0,0,0,28.83,26.26,28.83
$GC,11151,0.80,61.0,3070,2169,2196,2092,873.3,6.3,281,11157,0.00,2.20,0.00,0.000,516,0.000,0.043,3082,776,2143,2195,2092,0,0,0,0,0,0,28.83,26.17,28.83
$GC,11284,0.80,61.0,3081,776,2195,2092,865.3,6.5,283,11289,0.15,2.17,0.00,0.000,5126,0.150,0.037,3041,2170,2143,2195,2091,0,0,0,0,0,0,25.90,26.25,28.83
$GC,11627,0.80,61.4,3040,2170,2195,2091,844.6,6.0,289,11633,0.00,2.22,0.00,0.000,260,0.000,0.046,3041,3584,2143,2195,2091,0,0,0,0,0,0,28.83,26.16,28.83
$GC,11718,0.80,61.4,3040,3584,2195,2091,840.8,6.2,290,11723,0.00,2.20,0.00,0.000,1030,0.000,0.031,3050,2142,2142,2194,2091,0,0,0,0,0,0,28.83,26.34,28.83
$GC,12046,0.80,61.4,3050,2142,2195,2091,818.6,6.1,296,12047,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2142,2143,2195,2091,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12346,0.80,61.4,3049,2142,2195,2091,800.3,6.1,301,12350,0.00,2.15,0.00,0.000,516,0.000,0.044,3060,777,2142,2194,2091,0,0,0,0,0,0,28.83,26.22,28.83
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$STATE,24288,end climb,SURFACE_DEPTH_REACHED
$STATE,24288,begin surface coast
$FINISH,1.4,1.012633
$STATE,24329,end surface coast,CONTROL_FINISHED_OK
$STATE,24329,begin surface
$SM_CCo,24344,53.10,0.056,0,0,1379,250.21
$SM_GC,2.23,7.72,0.12,53.10,0.028,0.086,0.056,146,2277,1379,-8.05,-1.41,250.21,0,0,0,0,0,0,26.47,26.53,26.13
$IRIDIUM_FIX,4719.74,-12553.42,101213,222232
$TT8_MAMPS,0.027713,0.027713
$HUMID,38.42
$INTERNAL_PRESSURE,8.90884
$TCM_TEMP,17.50
$XPDR_PINGS,1
$24V_AH,23.5,24.551
$10V_AH,10.3,17.160
$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
$DEVICE_SECS,21.175,188.550,152.650,53.100,0.000,0.000,0.000,719.600,10.250,0.000,5.958,2235.177,19036.410,373.214,3516.918,158.649,0.385,2470.159,0.000,2721.225,0.000,73.670,0.000
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$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,475.933,914.753,444.326,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,311400
$DATA_FILE_SIZE,50473,690
$CAP_FILE_SIZE,211101,0
$CFSIZE,2097872896,2073821184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,111213,045734,4736.530,-12553.515,22,1.1,22,16.8