version: 66.11
glider: 194
mission: 7
dive: 554
start: 5 9 114 20 23 40
data:
$ID,194
$MISSION,7
$DIVE,554
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,180
$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,60
$T_MISSION,75
$T_ABORT,90
$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,14
$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,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,1
$PROTOCOL,0
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,20
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-14190.45
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,199
$PITCH_MAX,3894
$C_PITCH,2842
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,21
$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,2100
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,56
$R_STBD_OVSHOOT,49
$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,2
$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,75
$ALTIM_PING_DELTA,5
$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
$GPS1,090514,195523,4700.242,-12509.104,4,1.4,4,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.25
$_SM_ANGLEo,-63.0
$GPS2,090514,202311,4700.139,-12509.103,5,1.3,5,16.6
$SPEED_LIMITS,0.119,0.260
$TGT_NAME,GRAYS_HARBOR
$TGT_LATLONG,4700.000,-12458.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.098,-0.192
$KALMAN_X,-116131.8,0.0,0.0,-60659.7,-2366.7
$KALMAN_Y,127094.2,0.0,0.0,128462.3,1406.9
$MHEAD_RNG_PITCHd_Wd,74.5,14026,-17.5,-10.000,-21.04,2226
$D_GRID,180
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.83,-146.6,109,2105,558,420,0.0,0.0,0,71,0.00,0.00,-52.17,0.000,16386,0.000,0.000,109,2105,1941,1942,1941,0,0,0,0,0,0,28.83,28.83,28.83
$GC,75,-0.83,-146.6,110,2105,1945,1940,3.3,-2.7,5,123,9.32,2.25,-31.40,0.000,18692,0.197,0.050,2556,3505,2999,3073,2926,0,0,0,0,0,0,24.92,25.91,26.73
$GC,175,-0.59,-146.6,2555,3505,3075,2925,16.3,-21.5,15,184,0.28,2.05,0.00,0.000,3078,0.128,0.023,2643,2071,3000,3075,2926,0,0,0,0,0,0,25.29,26.22,28.83
$GC,483,-0.54,-146.6,2643,2071,3075,2926,62.5,-14.4,46,492,0.00,2.00,0.00,0.000,516,0.000,0.031,2643,728,3000,3075,2925,0,0,0,0,0,0,28.83,25.97,28.83
$GC,547,-0.54,-146.6,2643,728,3075,2926,71.8,-14.1,52,557,0.08,2.05,0.00,0.000,3078,0.124,0.027,2662,2110,3001,3076,2926,0,0,0,0,0,0,25.70,26.03,28.83
$GC,856,-0.54,-146.6,2662,2110,3076,2926,107.5,-9.2,71,860,0.00,2.12,0.00,0.000,516,0.000,0.032,2662,721,3000,3075,2926,0,0,0,0,0,0,28.83,25.93,28.83
$GC,866,-0.54,-146.6,2662,721,3076,2926,107.5,-9.2,71,870,0.00,2.08,0.00,0.000,1030,0.000,0.027,2655,2106,3000,3075,2926,0,0,0,0,0,0,28.83,26.01,28.83
$GC,1173,-0.54,-146.6,2655,2107,3076,2926,137.4,-10.0,86,1179,0.00,2.15,0.00,0.000,260,0.000,0.037,2645,3502,3001,3076,2926,0,0,0,0,0,0,28.83,25.74,28.83
$GC,1412,-0.54,-146.6,2644,3502,3075,2925,161.3,-11.3,95,1419,0.00,2.03,0.00,0.000,1030,0.000,0.024,2645,2115,3000,3076,2925,0,0,0,0,0,0,28.83,26.16,28.83
$STATE,1568,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1568,begin apogee
$GC,1575,-0.24,0.0,2644,1984,3075,2925,180.5,-10.7,101,1690,0.35,0.00,110.43,0.690,10246,0.102,0.000,2764,1984,2399,2468,2331,0,0,0,0,0,0,25.67,28.83,24.18
$STATE,1691,end apogee,CONTROL_FINISHED_OK
$STATE,1693,begin climb
$GC,1695,0.83,146.6,2764,1984,2466,2331,188.0,0.0,105,1816,0.95,2.25,112.65,0.669,10500,0.075,0.037,3106,3393,1801,1865,1737,0,0,0,0,0,0,25.39,25.46,24.13
$GC,1860,0.90,276.3,3105,3393,1861,1737,183.3,4.0,110,1968,0.00,2.05,100.75,0.659,9222,0.000,0.024,3114,2016,1271,1339,1204,0,0,0,0,0,0,28.83,26.01,24.11
$GC,2282,1.02,276.3,3114,2016,1331,1198,147.2,8.4,125,2289,0.12,2.17,0.00,0.000,2564,0.076,0.033,3231,600,1264,1331,1198,0,0,0,0,0,0,26.47,26.06,28.83
$GC,2336,1.07,276.3,3231,600,1330,1196,142.3,9.7,127,2344,0.17,2.10,0.00,0.000,5126,0.122,0.027,3181,2006,1263,1330,1197,0,0,0,0,0,0,25.79,26.16,28.83
$GC,2643,1.07,276.3,3181,2006,1329,1197,105.0,11.1,143,2648,0.00,2.12,0.00,0.000,260,0.000,0.036,3181,3397,1262,1329,1196,0,0,0,0,0,0,28.83,25.96,28.83
$GC,2692,1.07,276.3,3181,3397,1329,1197,100.3,11.4,145,2701,0.00,2.08,0.00,0.000,1030,0.000,0.025,3189,1994,1262,1329,1196,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3004,1.07,276.3,3189,1994,1328,1196,66.9,10.1,167,3012,0.00,2.15,0.00,0.000,260,0.000,0.037,3188,3393,1262,1328,1196,0,0,0,0,0,0,28.83,25.90,28.83
$GC,3107,1.07,276.3,3189,3393,1328,1197,56.6,9.6,177,3115,0.00,2.05,0.00,0.000,1030,0.000,0.025,3199,1998,1262,1328,1197,0,0,0,0,0,0,28.83,26.14,28.83
$GC,3416,1.07,276.3,3199,1998,1325,1196,31.1,8.9,208,3420,0.00,2.17,0.00,0.000,516,0.000,0.036,3209,603,1261,1326,1197,0,0,0,0,0,0,28.83,25.89,28.83
$GC,3714,1.15,365.8,3209,603,1325,1194,8.4,5.9,237,3761,0.00,2.08,37.62,0.063,9222,0.000,0.026,3209,2001,908,990,826,0,0,0,0,0,0,28.83,26.08,25.52
$STATE,3800,end climb,SURFACE_DEPTH_REACHED
$STATE,3800,begin surface coast
$FINISH,1.3,1.002147
$STATE,3833,end surface coast,CONTROL_FINISHED_OK
$STATE,3833,begin surface
$SM_CCo,3912,0.00,0.000,0,0,901,367.70
$SM_GC,2.38,7.88,0.12,0.00,0.028,0.081,0.000,145,2127,901,-8.21,-1.36,367.70,0,0,0,0,0,0,26.25,26.46,28.83
$IRIDIUM_FIX,4641.78,-12508.05,090514,181857
$TT8_MAMPS,0.026215,0.026215
$HUMID,45.11
$INTERNAL_PRESSURE,8.96744
$TCM_TEMP,14.60
$XPDR_PINGS,1
$24V_AH,24.1,87.133
$10V_AH,9.9,66.856
$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,19.150,38.200,361.450,0.000,0.000,0.000,0.000,113.575,5.750,0.000,8.419,797.827,2072.137,362.435,888.006,1469.256,0.000,924.565,0.000,761.729,0.000,36.829,0.000
$DEVICE_MAMPS,196.605,81.090,690.030,0.000,0.000,0.000,0.000,49.725,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,167.713,329.408,251.272,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,300696
$DATA_FILE_SIZE,17023,249
$CAP_FILE_SIZE,49979,0
$CFSIZE,2097872896,1996095488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,090514,212933,4700.126,-12508.980,4,0.8,4,16.6