version: 66.11
glider: 194
mission: 7
dive: 561
start: 5 10 114 7 27 26
data:
$ID,194
$MISSION,7
$DIVE,561
$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,-14208.03
$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,57
$R_STBD_OVSHOOT,70
$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
$GPS1,100514,065706,4701.586,-12509.014,4,1.0,4,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.39
$_SM_ANGLEo,-68.3
$GPS2,100514,072658,4701.542,-12508.754,37,1.7,37,16.6
$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,85.3,13880,-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,17,-0.83,-146.6,110,2126,1197,1138,0.0,0.0,0,50,0.00,0.00,-31.73,0.000,16386,0.000,0.000,110,2126,2065,2065,2065,0,0,0,0,0,0,28.83,28.83,28.83
$GC,54,-0.83,-146.6,110,2126,2067,2066,3.5,-5.1,3,93,9.27,2.25,-24.48,0.000,18948,0.193,0.044,2564,703,3000,3064,2936,0,0,0,0,0,0,24.91,26.01,26.71
$GC,389,-0.66,-146.6,1600,702,3032,2933,63.7,-16.5,36,398,0.20,2.10,0.00,0.000,3078,0.121,0.027,2622,2087,3001,3066,2936,0,0,0,0,0,0,25.41,26.08,28.83
$GC,697,-0.61,-146.6,2622,2087,3066,2936,100.5,-10.8,58,702,0.00,2.15,0.00,0.000,260,0.000,0.037,2613,3499,3001,3066,2937,0,0,0,0,0,0,28.83,25.82,28.83
$GC,971,-0.61,-146.6,2613,3500,3066,2937,131.1,-11.6,71,976,0.12,2.08,0.00,0.000,3078,0.141,0.024,2647,2078,3001,3066,2937,0,0,0,0,0,0,25.80,26.17,28.83
$GC,1300,-0.61,-146.6,2647,2078,3066,2937,161.3,-8.5,85,1301,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2078,3001,3066,2936,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1538,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1539,begin apogee
$GC,1545,-0.24,0.0,2647,2078,3066,2936,181.5,-8.2,93,1662,0.32,0.03,110.78,0.687,10246,0.103,0.086,2760,2019,2399,2465,2334,0,0,0,0,0,0,25.73,24.84,24.14
$STATE,1665,end apogee,CONTROL_FINISHED_OK
$STATE,1665,begin climb
$GC,1667,0.83,146.6,2760,2019,2464,2334,186.3,0.0,97,1785,0.98,0.00,113.72,0.667,10246,0.073,0.000,3107,2019,1801,1868,1734,0,0,0,0,0,0,25.41,28.83,24.11
$GC,2081,0.93,210.6,3107,2019,1859,1731,159.4,7.1,111,2138,0.00,0.00,49.92,0.653,8198,0.000,0.000,3107,2018,1541,1612,1470,0,0,0,0,0,0,28.83,28.83,24.30
$GC,2450,1.04,308.5,3107,2019,1607,1465,136.5,5.5,127,2531,0.15,0.00,78.45,0.646,10758,0.066,0.000,3226,2019,1141,1224,1058,0,0,0,0,0,0,26.46,28.83,24.27
$GC,2830,1.04,308.5,3226,2019,1221,1048,88.8,13.0,146,2836,0.15,2.10,0.00,0.000,4356,0.129,0.034,3178,3385,1134,1221,1047,0,0,0,0,0,0,26.10,26.01,28.83
$GC,2930,1.04,308.5,3178,3385,1221,1048,77.0,11.3,152,2934,0.00,2.08,0.00,0.000,1030,0.000,0.026,3186,1990,1134,1221,1047,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3243,1.10,308.5,3185,1990,1221,1047,47.5,9.1,183,3252,0.00,2.12,0.00,0.000,516,0.000,0.036,3196,604,1133,1221,1046,0,0,0,0,0,0,28.83,25.97,28.83
$GC,3327,1.16,308.5,3196,604,1218,1047,39.6,9.1,191,3336,0.00,2.08,0.00,0.000,1030,0.000,0.027,3196,1994,1132,1218,1046,0,0,0,0,0,0,28.83,26.12,28.83
$GC,3636,1.25,405.2,3195,1994,1218,1046,17.6,5.6,222,3686,0.15,0.00,43.90,0.090,10246,0.065,0.000,3304,1994,747,846,648,0,0,0,0,0,0,26.50,28.83,25.44
$STATE,3765,end climb,SURFACE_DEPTH_REACHED
$STATE,3765,begin surface coast
$FINISH,1.3,1.012003
$STATE,3785,end surface coast,CONTROL_FINISHED_OK
$STATE,3787,begin surface
$SM_CCo,3866,0.00,0.000,0,0,740,406.95
$SM_GC,2.45,8.12,0.12,0.00,0.028,0.077,0.000,138,2118,740,-8.23,-1.55,406.95,0,0,0,0,0,0,26.28,26.46,28.83
$IRIDIUM_FIX,4644.93,-12505.47,100514,050528
$TT8_MAMPS,0.026215,0.026215
$HUMID,45.74
$INTERNAL_PRESSURE,8.95767
$TCM_TEMP,14.40
$XPDR_PINGS,1
$24V_AH,24.1,87.614
$10V_AH,9.9,67.230
$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,19.475,17.100,396.775,0.000,0.000,0.000,0.000,145.700,5.750,0.000,38.744,767.449,2157.919,404.056,803.392,1538.090,0.000,895.315,0.000,641.102,0.000,38.866,0.000
$DEVICE_MAMPS,192.780,85.680,686.970,0.000,0.000,0.000,0.000,58.140,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,160.222,313.643,236.247,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,300836
$DATA_FILE_SIZE,16999,237
$CAP_FILE_SIZE,42095,0
$CFSIZE,2097872896,1994719232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,100514,083240,4701.480,-12509.039,11,0.8,11,16.6