version: 66.11
glider: 194
mission: 7
dive: 559
start: 5 10 114 4 22 24
data:
$ID,194
$MISSION,7
$DIVE,559
$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,-14196.826
$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,56
$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
$GPS1,100514,035334,4700.817,-12509.467,36,1.1,36,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.33
$_SM_ANGLEo,-68.5
$GPS2,100514,042156,4701.026,-12509.278,5,1.1,5,16.6
$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,81.0,14372,-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,13,begin dive
$GC,16,-0.83,-146.6,109,2095,1056,969,0.0,0.0,0,50,0.00,0.00,-31.75,0.000,16386,0.000,0.000,109,2096,1894,1892,1896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,54,-0.83,-146.6,109,2096,1893,1896,3.1,-3.8,3,101,9.32,2.22,-31.40,0.000,18948,0.194,0.045,2569,693,3000,3067,2933,0,0,0,0,0,0,25.01,26.04,26.71
$GC,331,-0.68,-146.6,1648,693,3035,2931,51.0,-17.0,30,339,0.17,2.12,0.00,0.000,3078,0.122,0.028,2619,2091,3001,3067,2935,0,0,0,0,0,0,25.49,26.05,28.83
$GC,648,-0.61,-146.6,2619,2091,3067,2935,94.8,-12.8,56,652,0.00,2.12,0.00,0.000,516,0.000,0.031,2619,700,3001,3068,2935,0,0,0,0,0,0,28.83,25.96,28.83
$GC,714,-0.55,-146.6,2618,694,3067,2935,102.3,-12.2,59,720,0.15,2.08,0.00,0.000,3078,0.112,0.027,2663,2100,3001,3068,2935,0,0,0,0,0,0,25.56,26.05,28.83
$GC,1036,-0.55,-146.6,2663,2100,3067,2935,131.5,-8.9,75,1041,0.00,2.12,0.00,0.000,516,0.000,0.031,2663,695,3001,3067,2935,0,0,0,0,0,0,28.83,25.98,28.83
$GC,1324,-0.55,-146.6,2662,694,3067,2935,157.1,-9.4,88,1328,0.00,2.10,0.00,0.000,1030,0.000,0.027,2656,2102,3001,3067,2935,0,0,0,0,0,0,28.83,26.03,28.83
$STATE,1575,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1575,begin apogee
$GC,1582,-0.24,0.0,2655,1979,3067,2933,181.9,-9.4,97,1697,0.30,0.00,110.62,0.689,10246,0.101,0.000,2759,1979,2399,2465,2334,0,0,0,0,0,0,25.79,28.83,24.18
$STATE,1698,end apogee,CONTROL_FINISHED_OK
$STATE,1698,begin climb
$GC,1701,0.83,146.6,2759,1979,2465,2334,188.3,0.0,101,1819,1.00,0.00,114.40,0.666,10246,0.073,0.000,3109,1979,1801,1869,1734,0,0,0,0,0,0,25.39,28.83,24.11
$GC,2117,0.93,222.3,3109,1978,1859,1731,165.9,6.5,115,2182,0.00,2.22,59.03,0.662,8452,0.000,0.035,3109,3388,1491,1563,1420,0,0,0,0,0,0,28.83,25.69,24.29
$GC,2200,1.02,293.9,3109,3387,1563,1420,161.8,6.7,117,2266,0.15,2.05,57.50,0.646,11270,0.063,0.025,3224,2017,1200,1280,1120,0,0,0,0,0,0,25.94,25.96,24.18
$GC,2577,1.02,293.9,3224,2017,1275,1112,106.2,14.3,135,2579,0.20,0.00,0.00,0.000,4102,0.121,0.000,3165,2017,1193,1275,1112,0,0,0,0,0,0,26.02,28.83,28.83
$GC,2877,1.10,293.9,3165,2017,1275,1110,75.2,9.6,152,2886,0.00,2.10,0.00,0.000,260,0.000,0.037,3165,3386,1192,1275,1110,0,0,0,0,0,0,28.83,25.96,28.83
$GC,3015,1.17,293.9,3164,3386,1275,1110,62.6,8.8,165,3022,0.12,2.05,0.00,0.000,3078,0.072,0.025,3262,1999,1192,1275,1110,0,0,0,0,0,0,26.10,26.16,28.83
$GC,3320,1.17,293.9,3261,2000,1273,1109,25.9,11.7,196,3331,0.12,2.15,0.00,0.000,4356,0.138,0.034,3221,3399,1191,1273,1109,0,0,0,0,0,0,26.20,25.91,28.83
$GC,3347,1.17,293.9,3221,3399,1273,1109,23.3,11.1,198,3355,0.00,2.12,0.00,0.000,1030,0.000,0.026,3228,2000,1191,1273,1109,0,0,0,0,0,0,28.83,26.15,28.83
$STATE,3625,end climb,SURFACE_DEPTH_REACHED
$STATE,3625,begin surface coast
$FINISH,1.3,1.003926
$STATE,3663,end surface coast,CONTROL_FINISHED_OK
$STATE,3663,begin surface
$SM_CCo,3682,0.98,0.057,0,0,1175,300.00
$SM_GC,2.74,7.85,0.12,0.98,0.024,0.076,0.057,139,2111,1175,-8.21,-1.55,300.00,0,0,0,0,0,0,26.31,26.48,25.82
$IRIDIUM_FIX,4641.78,-12512.45,100514,020239
$TT8_MAMPS,0.026964,0.026964
$HUMID,45.27
$INTERNAL_PRESSURE,8.98697
$TCM_TEMP,17.80
$XPDR_PINGS,1
$24V_AH,24.1,87.480
$10V_AH,9.9,67.124
$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,19.400,25.725,341.550,0.975,0.000,0.000,0.000,104.325,5.750,0.000,5.911,766.875,2014.618,360.273,756.188,1503.222,0.000,821.509,0.000,646.322,0.000,35.011,0.000
$DEVICE_MAMPS,194.310,76.500,688.500,56.610,0.000,0.000,0.000,55.080,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,155.731,304.550,227.635,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,17071,230
$CAP_FILE_SIZE,43860,0
$CFSIZE,2097872896,1995112448
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,1634.23,0x235a20,2,24
$GPS,100514,052430,4701.270,-12509.325,4,1.6,4,16.6