version: 66.11
glider: 194
mission: 7
dive: 557
start: 5 10 114 1 13 32
data:
$ID,194
$MISSION,7
$DIVE,557
$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,-14194.312
$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,52
$R_STBD_OVSHOOT,69
$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
$GPS1,100514,004441,4700.246,-12509.124,3,1.3,3,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.27
$_SM_ANGLEo,-65.2
$GPS2,100514,011304,4700.365,-12509.295,30,0.8,30,16.6
$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,76.1,14282,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.83,-146.6,109,2120,966,877,0.0,0.0,0,60,0.00,0.00,-40.70,0.000,16386,0.000,0.000,109,2120,2048,2046,2051,0,0,0,0,0,0,28.83,28.83,28.83
$GC,63,-0.83,-146.6,109,2120,2047,2052,3.5,-3.5,4,102,9.23,2.25,-24.40,0.000,19204,0.190,0.045,2567,689,3000,3066,2934,0,0,0,0,0,0,24.98,26.03,26.72
$GC,215,-0.67,-146.6,2567,689,3067,2934,29.5,-20.0,19,224,0.20,2.05,0.00,0.000,3078,0.122,0.027,2625,2085,3000,3067,2934,0,0,0,0,0,0,25.43,26.06,28.83
$GC,525,-0.60,-146.6,2624,2085,3068,2934,75.3,-13.8,50,534,0.00,2.17,0.00,0.000,260,0.000,0.037,2616,3500,3001,3068,2934,0,0,0,0,0,0,28.83,25.84,28.83
$GC,825,-0.60,-146.6,2616,3500,3069,2934,110.8,-11.1,66,834,0.08,2.12,0.00,0.000,3078,0.126,0.023,2643,2074,3001,3069,2934,0,0,0,0,0,0,25.83,26.18,28.83
$GC,1131,-0.60,-146.6,2642,2074,3069,2934,140.6,-9.1,82,1137,0.00,2.20,0.00,0.000,260,0.000,0.037,2634,3499,3001,3068,2934,0,0,0,0,0,0,28.83,25.79,28.83
$GC,1303,-0.60,-146.6,2634,3499,3068,2934,155.6,-9.8,89,1307,0.00,2.05,0.00,0.000,1030,0.000,0.024,2634,2105,3001,3069,2934,0,0,0,0,0,0,28.83,26.17,28.83
$STATE,1553,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1553,begin apogee
$GC,1560,-0.24,0.0,2634,1997,3069,2933,182.2,-9.7,98,1675,0.38,0.00,110.47,0.689,10246,0.103,0.000,2762,1997,2400,2465,2335,0,0,0,0,0,0,25.61,28.83,24.18
$STATE,1676,end apogee,CONTROL_FINISHED_OK
$STATE,1678,begin climb
$GC,1681,0.83,146.6,2761,1997,2464,2334,188.3,0.0,102,1802,0.98,2.28,112.97,0.666,10500,0.074,0.037,3111,3389,1801,1866,1736,0,0,0,0,0,0,25.44,25.48,24.11
$GC,1846,0.90,262.4,3111,3389,1863,1736,182.5,4.7,107,1947,0.00,2.05,90.30,0.659,9222,0.000,0.025,3119,2012,1328,1403,1254,0,0,0,0,0,0,28.83,26.01,24.13
$GC,2258,1.00,262.4,3119,2012,1397,1249,146.3,8.7,122,2264,0.12,2.15,0.00,0.000,2564,0.076,0.034,3236,606,1323,1398,1249,0,0,0,0,0,0,26.46,26.05,28.83
$GC,2340,1.00,262.4,2344,606,1374,1248,135.3,13.9,126,2345,0.25,2.12,0.00,0.000,5126,0.116,0.028,3161,2012,1322,1395,1249,0,0,0,0,0,0,25.67,26.15,28.83
$GC,2656,1.06,262.4,3161,2012,1395,1249,101.0,10.0,142,2661,0.00,2.12,0.00,0.000,260,0.000,0.037,3161,3399,1322,1395,1249,0,0,0,0,0,0,28.83,25.94,28.83
$GC,2806,1.12,262.4,3161,3399,1395,1249,86.5,10.1,149,2815,0.00,2.08,0.00,0.000,1030,0.000,0.026,3168,2003,1322,1395,1249,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3119,1.19,262.4,3168,2003,1395,1248,57.3,9.2,177,3128,0.12,2.15,0.00,0.000,2564,0.074,0.034,3280,603,1320,1394,1247,0,0,0,0,0,0,26.51,25.93,28.83
$GC,3162,1.19,262.4,3280,603,1392,1247,51.7,12.2,181,3171,0.15,2.08,0.00,0.000,5126,0.112,0.027,3230,2000,1320,1392,1248,0,0,0,0,0,0,25.63,26.09,28.83
$GC,3471,1.19,262.4,3230,2000,1392,1247,19.0,9.4,212,3482,0.00,2.15,0.00,0.000,260,0.000,0.036,3230,3403,1320,1393,1248,0,0,0,0,0,0,28.83,25.89,28.83
$STATE,3685,end climb,SURFACE_DEPTH_REACHED
$STATE,3685,begin surface coast
$FINISH,1.3,1.012263
$STATE,3717,end surface coast,CONTROL_FINISHED_OK
$STATE,3717,begin surface
$SM_CCo,3738,14.43,0.051,0,0,1176,300.00
$SM_GC,4.63,7.95,2.00,14.43,0.028,0.025,0.051,157,2096,1176,-8.23,1.67,300.00,0,0,0,0,0,0,26.26,26.13,25.58
$IRIDIUM_FIX,4644.93,-12512.45,090514,232316
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.92
$INTERNAL_PRESSURE,8.98697
$TCM_TEMP,17.70
$XPDR_PINGS,2
$24V_AH,24.1,87.343
$10V_AH,9.9,67.018
$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,19.450,34.125,313.750,14.425,0.000,0.000,0.000,98.275,6.000,0.000,31.534,788.385,1949.787,330.194,908.547,1495.608,0.000,862.535,0.000,772.653,0.000,35.014,0.000
$DEVICE_MAMPS,190.485,85.680,689.265,51.255,0.000,0.000,0.000,58.140,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,159.786,312.447,236.226,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,16995,236
$CAP_FILE_SIZE,48343,0
$CFSIZE,2097872896,1995505664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,100514,021655,4700.646,-12509.378,10,0.9,10,16.6