version: 66.11
glider: 194
mission: 7
dive: 564
start: 5 10 114 12 12 48
data:
$ID,194
$MISSION,7
$DIVE,564
$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,-14211.808
$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,53
$R_STBD_OVSHOOT,62
$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
$GPS1,100514,114250,4701.026,-12507.902,3,1.2,3,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.31
$_SM_ANGLEo,-67.7
$GPS2,100514,121221,4700.774,-12508.069,6,1.6,6,16.6
$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,79.8,12799,-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,-146.6,110,2116,966,868,0.0,0.0,0,51,0.00,0.00,-32.10,0.000,16386,0.000,0.000,110,2117,1820,1825,1816,0,0,0,0,0,0,28.83,28.83,28.83
$GC,55,-0.83,-146.6,110,2116,1825,1817,3.3,-5.4,3,112,9.25,2.25,-38.20,0.000,18948,0.192,0.046,2567,691,3000,3065,2935,0,0,0,0,0,0,24.94,26.02,26.72
$GC,271,-0.65,-146.6,1648,690,3034,2932,34.5,-18.2,24,279,0.20,2.12,0.00,0.000,3078,0.124,0.027,2624,2090,3000,3065,2935,0,0,0,0,0,0,25.42,26.08,28.83
$GC,579,-0.59,-146.6,2624,2091,3066,2936,78.0,-12.9,55,587,0.00,2.15,0.00,0.000,260,0.000,0.037,2616,3501,3000,3066,2935,0,0,0,0,0,0,28.83,25.84,28.83
$GC,829,-0.59,-146.6,2615,3501,3066,2936,110.8,-12.7,68,834,0.12,2.08,0.00,0.000,3078,0.145,0.023,2650,2082,3000,3066,2935,0,0,0,0,0,0,25.81,26.18,28.83
$GC,1143,-0.59,-146.6,2649,2082,3066,2935,141.9,-9.4,84,1148,0.00,2.17,0.00,0.000,260,0.000,0.037,2641,3499,3000,3066,2935,0,0,0,0,0,0,28.83,25.81,28.83
$GC,1203,-0.59,-146.6,2641,3499,3066,2935,147.8,-9.8,87,1209,0.00,2.03,0.00,0.000,1030,0.000,0.024,2641,2112,3000,3066,2935,0,0,0,0,0,0,28.83,26.18,28.83
$GC,1514,-0.59,-146.6,2641,2112,3066,2935,179.2,-10.3,98,1520,0.00,2.10,0.00,0.000,516,0.000,0.032,2641,715,3000,3066,2935,0,0,0,0,0,0,28.83,25.96,28.83
$STATE,1541,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1541,begin apogee
$GC,1550,-0.24,0.0,2632,2005,3066,2934,182.4,-10.3,99,1665,0.38,0.00,110.38,0.692,10246,0.104,0.000,2759,2005,2400,2465,2335,0,0,0,0,0,0,25.60,28.83,24.18
$STATE,1668,end apogee,CONTROL_FINISHED_OK
$STATE,1668,begin climb
$GC,1671,0.83,146.6,2758,2005,2464,2335,188.9,0.0,103,1788,0.98,0.00,113.57,0.669,10246,0.075,0.000,3105,2005,1802,1869,1735,0,0,0,0,0,0,25.41,28.83,24.10
$GC,2086,0.93,223.6,3105,2005,1858,1731,166.4,6.5,117,2149,0.10,0.00,60.05,0.659,10502,0.090,0.000,3195,2005,1487,1559,1416,0,0,0,0,0,0,26.47,28.83,24.29
$GC,2456,0.93,223.6,3194,2005,1553,1409,122.3,12.3,133,2458,0.20,0.00,0.00,0.000,4102,0.118,0.000,3135,2005,1481,1553,1409,0,0,0,0,0,0,26.04,28.83,28.83
$GC,2754,1.01,311.4,3134,2006,1553,1407,100.0,6.0,148,2832,0.00,2.25,68.60,0.630,8708,0.000,0.035,3142,625,1128,1214,1043,0,0,0,0,0,0,28.83,25.67,24.33
$GC,2916,1.11,311.4,3142,625,1211,1040,87.3,8.6,156,2922,0.12,2.05,0.00,0.000,3078,0.033,0.027,3246,1998,1125,1210,1040,0,0,0,0,0,0,26.06,26.09,28.83
$GC,3227,1.11,311.4,3246,1998,1210,1036,48.2,11.6,183,3236,0.12,2.12,0.00,0.000,4356,0.137,0.035,3205,3390,1123,1210,1036,0,0,0,0,0,0,26.17,25.98,28.83
$GC,3435,1.11,311.4,3205,3390,1210,1036,27.1,9.8,203,3442,0.00,2.05,0.00,0.000,1030,0.000,0.025,3213,2012,1122,1210,1035,0,0,0,0,0,0,28.83,26.17,28.83
$STATE,3740,end climb,SURFACE_DEPTH_REACHED
$STATE,3740,begin surface coast
$FINISH,1.3,1.012059
$STATE,3781,end surface coast,CONTROL_FINISHED_OK
$STATE,3781,begin surface
$SM_CCo,3860,0.00,0.000,0,0,1120,313.98
$SM_GC,2.95,7.90,0.10,0.00,0.029,0.089,0.000,145,2106,1120,-8.22,-1.67,313.98,0,0,0,0,0,0,26.30,26.48,28.83
$IRIDIUM_FIX,4644.93,-12509.87,100514,101017
$TT8_MAMPS,0.026964,0.026964
$HUMID,46.06
$INTERNAL_PRESSURE,8.98697
$TCM_TEMP,17.70
$XPDR_PINGS,2
$24V_AH,24.1,87.823
$10V_AH,9.9,67.393
$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,19.375,25.450,352.600,0.000,0.000,0.000,0.000,128.575,6.000,0.000,6.934,774.953,2135.276,370.436,798.047,1565.648,0.000,871.876,0.000,680.390,0.000,35.010,0.000
$DEVICE_MAMPS,192.015,88.740,692.325,0.000,0.000,0.000,0.000,65.025,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,161.153,315.104,238.362,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,300916
$DATA_FILE_SIZE,17032,238
$CAP_FILE_SIZE,44410,0
$CFSIZE,2097872896,1994129408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,100514,131804,4700.803,-12507.861,18,0.8,18,16.6