version: 66.11
glider: 194
mission: 7
dive: 243
start: 1 9 114 1 17 4
data:
$ID,194
$MISSION,7
$DIVE,243
$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,8
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-5345.9761
$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,52
$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,1
$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,900
$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
$GPS1,090114,005104,4807.013,-12613.977,41,1.6,42,17.0
$_CALLS,6
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-56.1
$GPS2,090114,011636,4806.835,-12613.421,5,1.5,5,17.0
$SPEED_LIMITS,0.072,0.215
$TGT_NAME,SEARCH_A
$TGT_LATLONG,4809.000,-12615.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.129,0.055
$KALMAN_X,-50355.7,0.0,0.0,-21529.6,2306.6
$KALMAN_Y,40597.3,0.0,0.0,58992.3,2152.6
$MHEAD_RNG_PITCHd_Wd,276.2,4460,-18.9,-6.000,-23.21,1368
$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,-0.82,-54.1,108,2276,776,661,0.0,0.0,0,70,0.00,0.00,-53.30,0.000,16386,0.000,0.000,108,2277,2125,2118,2132,0,0,0,0,0,0,28.83,28.83,28.83
$GC,73,-0.82,-104.9,108,2277,2118,2133,3.1,-2.2,5,111,9.00,2.30,-23.35,0.000,19204,0.195,0.050,2508,859,2830,2879,2781,0,0,0,0,0,0,25.11,25.99,26.54
$GC,124,-0.44,-130.9,2508,859,2879,2781,5.4,-4.1,10,136,0.47,2.17,-2.72,0.000,19462,0.135,0.034,2641,2268,2938,2996,2880,0,0,0,0,0,0,25.39,26.05,26.49
$GC,434,-0.44,-130.9,2640,2268,2997,2879,41.4,-13.3,41,443,0.00,2.17,0.00,0.000,260,0.000,0.044,2632,3661,2938,2997,2879,0,0,0,0,0,0,28.83,26.06,28.83
$GC,507,-0.44,-130.9,2632,3661,2997,2879,48.5,-9.2,48,517,0.00,2.08,0.00,0.000,1030,0.000,0.028,2632,2251,2938,2998,2879,0,0,0,0,0,0,28.83,26.31,28.83
$GC,816,-0.49,-130.9,2632,2251,2998,2879,82.7,-9.6,78,822,0.00,2.20,0.00,0.000,260,0.000,0.044,2621,3660,2938,2998,2879,0,0,0,0,0,0,28.83,26.14,28.83
$GC,925,-0.55,-130.9,2621,3660,2998,2879,92.5,-9.8,83,929,0.00,2.10,0.00,0.000,1030,0.000,0.028,2622,2249,2938,2998,2879,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1232,-0.62,-130.9,2622,2249,2998,2879,118.3,-7.9,98,1238,0.10,2.22,0.00,0.000,4356,0.092,0.042,2534,3669,2938,2998,2879,0,0,0,0,0,0,26.66,26.18,28.83
$GC,1300,-0.62,-130.9,2533,3669,2998,2879,124.8,-10.1,101,1305,0.17,2.10,0.00,0.000,3078,0.134,0.028,2583,2255,2938,2997,2879,0,0,0,0,0,0,25.99,26.43,28.83
$GC,1633,-0.62,-130.9,2583,2255,2997,2879,156.0,-9.5,117,1639,0.00,2.12,0.00,0.000,516,0.000,0.037,2583,868,2937,2997,2878,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1700,-0.62,-130.9,2583,868,2998,2878,162.1,-9.8,119,1704,0.00,2.12,0.00,0.000,1030,0.000,0.034,2577,2261,2938,2998,2879,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2022,-0.62,-130.9,2577,2261,2998,2878,194.2,-9.7,130,2026,0.00,2.15,0.00,0.000,516,0.000,0.037,2576,865,2938,2998,2878,0,0,0,0,0,0,28.83,26.30,28.83
$GC,2061,-0.62,-130.9,2576,865,2998,2878,196.7,-9.7,131,2066,0.00,2.15,0.00,0.000,1030,0.000,0.034,2566,2273,2938,2998,2878,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2373,-0.62,-130.9,2566,2274,2998,2878,231.4,-11.1,142,2377,0.00,2.15,0.00,0.000,260,0.000,0.044,2556,3663,2937,2997,2878,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2417,-0.62,-130.9,2555,3663,2998,2877,234.3,-11.0,143,2422,0.12,2.08,0.00,0.000,3078,0.138,0.028,2590,2256,2938,2998,2878,0,0,0,0,0,0,26.15,26.46,28.83
$GC,2730,-0.68,-130.9,2590,2256,2998,2877,265.7,-9.1,154,2735,0.00,2.12,0.00,0.000,516,0.000,0.037,2590,869,2937,2998,2877,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2793,-0.74,-130.9,2590,869,2998,2877,271.3,-9.1,156,2798,0.12,2.15,0.00,0.000,5126,0.076,0.035,2492,2277,2937,2997,2877,0,0,0,0,0,0,26.32,26.32,28.83
$GC,3145,-0.74,-130.9,2492,2277,2997,2877,316.9,-13.1,166,3151,0.15,2.17,0.00,0.000,2564,0.145,0.036,2540,875,2937,2998,2877,0,0,0,0,0,0,26.28,26.30,28.83
$GC,3198,-0.74,-130.9,2540,875,2998,2877,316.9,-13.1,166,3205,0.00,2.12,0.00,0.000,1030,0.000,0.035,2537,2265,2937,2998,2877,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3505,-0.74,-130.9,2537,2265,2998,2876,358.8,-11.6,172,3510,0.00,2.20,0.00,0.000,260,0.000,0.046,2537,3674,2936,2997,2876,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3548,-0.74,-130.9,2537,3675,2998,2876,358.8,-11.6,172,3552,0.00,2.10,0.00,0.000,1030,0.000,0.028,2537,2266,2936,2997,2876,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3865,-0.74,-130.9,2537,2266,2997,2876,397.1,-10.5,178,3870,0.00,2.15,0.00,0.000,516,0.000,0.038,2537,866,2936,2997,2876,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3898,-0.74,-130.9,2537,867,2997,2876,397.1,-10.5,178,3902,0.00,2.17,0.00,0.000,1030,0.000,0.035,2528,2259,2937,2998,2876,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4225,-0.74,-130.9,2528,2259,2997,2875,433.1,-9.8,184,4229,0.00,2.15,0.00,0.000,516,0.000,0.038,2527,872,2936,2997,2875,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4289,-0.74,-130.9,2528,871,2997,2875,438.5,-9.7,185,4293,0.00,2.15,0.00,0.000,1030,0.000,0.036,2518,2273,2936,2998,2875,0,0,0,0,0,0,28.83,26.30,28.83
$GC,4641,-0.74,-130.9,2518,2272,2998,2874,472.9,-9.5,191,4645,0.00,2.17,0.00,0.000,260,0.000,0.045,2509,3666,2935,2997,2873,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4675,-0.74,-130.9,2508,3666,2997,2874,472.9,-9.5,191,4680,0.12,2.10,0.00,0.000,3078,0.145,0.028,2542,2255,2935,2997,2873,0,0,0,0,0,0,26.11,26.44,28.83
$GC,4997,-0.74,-130.9,2542,2255,2997,2873,505.8,-9.0,197,5001,0.00,2.12,0.00,0.000,516,0.000,0.038,2542,873,2934,2997,2872,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5071,-0.74,-130.9,2542,873,2997,2872,511.2,-9.1,198,5076,0.00,2.17,0.00,0.000,1030,0.000,0.036,2537,2257,2934,2997,2872,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5413,-0.74,-130.9,2537,2257,2997,2872,547.1,-10.1,204,5415,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2257,2934,2997,2871,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5715,-0.79,-130.9,2537,2257,2997,2871,577.7,-10.2,209,5716,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2257,2934,2997,2871,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6014,-0.85,-130.9,2537,2257,2997,2870,607.7,-10.0,214,6015,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2257,2933,2997,2870,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6314,-0.91,-130.9,2537,2257,2997,2869,636.5,-9.5,219,6320,0.12,2.17,0.00,0.000,4612,0.080,0.037,2448,864,2933,2997,2869,0,0,0,0,0,0,26.70,26.25,28.83
$GC,6342,-0.97,-130.9,2448,864,2997,2869,636.5,-9.5,219,6347,0.12,2.17,0.00,0.000,3078,0.157,0.037,2469,2271,2933,2997,2869,0,0,0,0,0,0,25.97,26.27,28.83
$GC,6669,-0.97,-130.9,2469,2272,2997,2868,679.2,-11.9,225,6671,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2272,2932,2997,2868,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6969,-0.97,-130.9,2469,2272,2997,2868,713.0,-11.2,230,6973,0.00,2.20,0.00,0.000,516,0.000,0.041,2469,863,2932,2997,2868,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7068,-0.97,-130.9,2469,864,2997,2868,719.6,-11.3,231,7072,0.00,2.17,0.00,0.000,1030,0.000,0.037,2462,2271,2932,2997,2867,0,0,0,0,0,0,28.83,26.26,28.83
$GC,7385,-0.97,-130.9,2462,2271,2997,2867,762.5,-12.0,237,7386,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2271,2932,2997,2867,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7685,-0.97,-130.9,2461,2271,2997,2867,799.5,-12.3,242,7689,0.00,2.20,0.00,0.000,516,0.000,0.040,2461,865,2932,2997,2867,0,0,0,0,0,0,28.83,26.21,28.83
$GC,7741,-0.97,-130.9,2462,865,2997,2867,806.6,-12.5,243,7745,0.00,2.17,0.00,0.000,1030,0.000,0.037,2452,2269,2931,2997,2866,0,0,0,0,0,0,28.83,26.24,28.83
$GC,8098,-0.97,-130.9,2451,2270,2997,2866,851.9,-12.8,249,8104,0.00,2.20,0.00,0.000,260,0.000,0.047,2447,3666,2931,2997,2866,0,0,0,0,0,0,28.83,26.08,28.83
$GC,8160,-0.97,-130.9,2447,3666,2997,2866,859.4,-12.7,250,8164,0.00,2.10,0.00,0.000,1030,0.000,0.030,2447,2266,2931,2997,2866,0,0,0,0,0,0,28.83,26.40,28.83
$GC,8518,-0.97,-130.9,2447,2266,2997,2865,901.6,-11.5,256,8524,0.00,2.17,0.00,0.000,516,0.000,0.041,2447,869,2931,2997,2865,0,0,0,0,0,0,28.83,26.19,28.83
$GC,8611,-0.97,-130.9,2447,870,2997,2865,908.6,-11.5,257,8616,0.12,2.15,0.00,0.000,3078,0.152,0.037,2470,2265,2930,2997,2864,0,0,0,0,0,0,25.94,26.23,28.83
$GC,8935,-0.97,-130.9,2469,2265,2997,2864,944.5,-9.9,263,8936,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2265,2930,2997,2864,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9234,-0.97,-130.9,2469,2265,2997,2863,974.0,-9.9,268,9240,0.00,2.20,0.00,0.000,260,0.000,0.047,2462,3663,2930,2997,2863,0,0,0,0,0,0,28.83,26.06,28.83
$GC,9281,-0.97,-130.9,2461,3663,2997,2863,974.0,-9.9,268,9285,0.00,2.12,0.00,0.000,1030,0.000,0.031,2462,2256,2930,2997,2863,0,0,0,0,0,0,28.83,26.37,28.83
$STATE,9413,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9413,begin apogee
$GC,9417,-0.22,0.0,2461,2157,2997,2863,992.7,-10.3,271,9535,0.75,0.00,108.20,1.239,10246,0.105,0.000,2711,2157,2400,2464,2336,0,0,0,0,0,0,25.58,28.83,23.01
$STATE,9536,end apogee,CONTROL_FINISHED_OK
$STATE,9537,begin climb
$GC,9538,0.82,130.9,2710,2157,2464,2336,995.5,0.0,273,9660,0.98,0.00,118.45,1.194,10246,0.052,0.000,3054,2157,1866,1929,1804,0,0,0,0,0,0,24.63,28.83,22.09
$GC,9953,0.82,130.9,3054,2157,1921,1797,959.7,10.5,280,9959,0.00,2.33,0.00,0.000,260,0.000,0.045,3054,3581,1859,1921,1797,0,0,0,0,0,0,28.83,25.48,28.83
$GC,10098,0.77,130.9,3054,3581,1921,1797,946.4,10.8,282,10103,0.12,2.17,0.00,0.000,5126,0.153,0.031,3033,2172,1859,1921,1797,0,0,0,0,0,0,25.65,25.92,28.83
$GC,10430,0.77,130.9,3033,2172,1919,1796,912.7,9.3,288,10434,0.00,2.22,0.00,0.000,516,0.000,0.044,3041,771,1857,1919,1796,0,0,0,0,0,0,28.83,26.10,28.83
$GC,10469,0.77,130.9,3041,771,1916,1795,912.7,9.3,288,10473,0.00,2.17,0.00,0.000,1030,0.000,0.036,3041,2170,1856,1916,1796,0,0,0,0,0,0,28.83,26.18,28.83
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$STATE,21208,end climb,SURFACE_DEPTH_REACHED
$STATE,21209,begin surface coast
$FINISH,1.3,1.024989
$STATE,21242,end surface coast,CONTROL_FINISHED_OK
$STATE,21242,begin surface
$SM_CCo,21257,32.47,0.054,0,0,1378,250.21
$SM_GC,3.13,7.62,0.15,32.47,0.031,0.076,0.054,153,2294,1378,-8.04,-0.96,250.21,0,0,0,0,0,0,26.44,26.53,26.03
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$TT8_MAMPS,0.026964,0.026964
$HUMID,40.39
$INTERNAL_PRESSURE,8.89908
$TCM_TEMP,13.70
$XPDR_PINGS,0
$24V_AH,22.1,37.848
$10V_AH,10.2,25.622
$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,311628
$DATA_FILE_SIZE,47064,635
$CAP_FILE_SIZE,182649,0
$CFSIZE,2097872896,2063400960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,090114,071307,4808.734,-12617.207,35,1.5,35,17.0