version: 66.11
glider: 194
mission: 7
dive: 556
start: 5 9 114 23 39 9
data:
$ID,194
$MISSION,7
$DIVE,556
$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,-14193.054
$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,58
$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,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
$GPS1,090514,230627,4700.171,-12509.132,16,1.0,16,16.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.37
$_SM_ANGLEo,-66.6
$GPS2,090514,233840,4700.162,-12509.369,6,1.0,6,16.6
$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,74.6,14363,-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,-146.6,109,2083,1030,947,0.0,0.0,0,50,0.00,0.00,-31.50,0.000,16386,0.000,0.000,109,2083,1868,1863,1874,0,0,0,0,0,0,28.83,28.83,28.83
$GC,54,-0.83,-146.6,109,2083,1869,1869,3.2,-4.0,3,103,9.27,2.12,-34.35,0.000,19204,0.194,0.044,2568,699,2999,3065,2933,0,0,0,0,0,0,25.07,26.03,26.72
$GC,212,-0.66,-146.6,1664,697,3035,2929,25.3,-17.8,18,220,0.20,2.12,0.00,0.000,3078,0.120,0.027,2626,2097,2999,3066,2933,0,0,0,0,0,0,25.44,26.07,28.83
$GC,521,-0.59,-146.6,2626,2098,3067,2932,73.3,-15.4,49,529,0.00,2.12,0.00,0.000,260,0.000,0.037,2618,3497,2999,3067,2932,0,0,0,0,0,0,28.83,25.82,28.83
$GC,737,-0.59,-146.6,2617,3498,3067,2932,100.4,-13.3,62,742,0.12,2.05,0.00,0.000,3078,0.142,0.023,2652,2086,2999,3067,2932,0,0,0,0,0,0,25.82,26.18,28.83
$GC,1045,-0.59,-146.6,2652,2087,3067,2932,133.5,-10.0,77,1051,0.00,2.20,0.00,0.000,260,0.000,0.037,2643,3501,2999,3067,2932,0,0,0,0,0,0,28.83,25.79,28.83
$GC,1146,-0.59,-146.6,2644,3501,3068,2932,143.9,-10.2,82,1151,0.00,2.05,0.00,0.000,1030,0.000,0.023,2644,2096,2999,3067,2932,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1469,-0.59,-146.6,2643,2096,3067,2931,174.2,-9.2,94,1474,0.00,2.08,0.00,0.000,516,0.000,0.032,2644,713,2999,3067,2931,0,0,0,0,0,0,28.83,25.94,28.83
$STATE,1527,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1527,begin apogee
$GC,1536,-0.24,0.0,2635,1998,3067,2931,180.5,-9.6,96,1651,0.38,0.00,110.10,0.692,10246,0.104,0.000,2762,1999,2399,2464,2334,0,0,0,0,0,0,25.59,28.83,24.19
$STATE,1654,end apogee,CONTROL_FINISHED_OK
$STATE,1654,begin climb
$GC,1657,0.83,146.6,2761,1999,2464,2333,187.2,0.0,100,1775,0.98,0.00,113.78,0.665,10246,0.076,0.000,3107,1999,1801,1865,1738,0,0,0,0,0,0,25.44,28.83,24.10
$GC,2072,0.92,234.9,3107,1998,1856,1734,166.5,5.9,114,2143,0.00,0.00,69.30,0.659,8198,0.000,0.000,3107,1998,1441,1508,1374,0,0,0,0,0,0,28.83,28.83,24.25
$GC,2440,1.04,298.4,3107,1998,1501,1368,141.1,7.1,128,2500,0.17,2.22,50.10,0.648,10756,0.059,0.036,3243,627,1181,1256,1107,0,0,0,0,0,0,26.48,25.74,24.34
$GC,2548,1.04,298.4,3243,627,1254,1103,127.5,14.0,133,2554,0.17,2.05,0.00,0.000,5126,0.103,0.027,3183,2005,1178,1253,1103,0,0,0,0,0,0,25.71,26.06,28.83
$GC,2868,1.04,298.4,3183,2005,1254,1100,89.4,11.0,149,2873,0.00,2.12,0.00,0.000,516,0.000,0.036,3192,622,1176,1253,1099,0,0,0,0,0,0,28.83,26.01,28.83
$GC,2960,1.04,298.4,3190,623,1250,1100,80.8,10.8,153,2967,0.00,2.05,0.00,0.000,1030,0.000,0.027,3190,2001,1175,1251,1099,0,0,0,0,0,0,28.83,26.13,28.83
$GC,3268,1.09,298.4,3191,2001,1251,1099,49.4,8.8,184,3269,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,2001,1175,1251,1099,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3570,1.17,358.5,3191,2001,1251,1098,25.4,7.2,214,3607,0.00,2.17,29.35,0.565,8452,0.000,0.035,3191,3398,938,1024,852,0,0,0,0,0,0,28.83,25.86,24.47
$GC,3653,1.24,358.5,2272,3397,1014,849,19.0,8.2,222,3661,0.10,2.10,0.00,0.000,3078,0.037,0.025,3293,2018,936,1023,849,0,0,0,0,0,0,26.07,26.15,28.83
$STATE,3788,end climb,SURFACE_DEPTH_REACHED
$STATE,3788,begin surface coast
$FINISH,1.3,1.022308
$STATE,3811,end surface coast,CONTROL_FINISHED_OK
$STATE,3811,begin surface
$SM_CCo,3891,0.00,0.000,0,0,931,360.35
$SM_GC,2.22,8.12,0.10,0.00,0.030,0.092,0.000,127,2120,931,-8.24,-1.53,360.35,0,0,0,0,0,0,26.34,26.46,28.83
$IRIDIUM_FIX,4644.93,-12509.87,090514,232308
$TT8_MAMPS,0.026964,0.026964
$HUMID,45.55
$INTERNAL_PRESSURE,8.96744
$TCM_TEMP,17.70
$XPDR_PINGS,4
$24V_AH,24.1,87.281
$10V_AH,9.9,66.964
$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,19.525,29.550,372.625,0.000,0.000,0.000,0.000,247.375,6.500,0.000,7.007,775.735,2280.969,385.515,916.585,1480.469,0.000,1004.691,0.000,662.545,0.000,35.013,0.000
$DEVICE_MAMPS,194.310,91.800,692.325,0.000,0.000,0.000,0.000,59.670,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,160.863,315.051,234.089,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,300652
$DATA_FILE_SIZE,16993,238
$CAP_FILE_SIZE,46903,0
$CFSIZE,2097872896,1995702272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,100514,004441,4700.246,-12509.124,3,1.3,3,16.6