version: 66.11
glider: 194
mission: 7
dive: 553
start: 5 9 114 18 53 20
data:
$ID,194
$MISSION,7
$DIVE,553
$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,3000
$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,-14172.65
$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,64
$R_STBD_OVSHOOT,66
$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
$GPS1,090514,182459,4700.216,-12509.501,22,1.1,23,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.29
$_SM_ANGLEo,-63.8
$GPS2,090514,185252,4700.107,-12509.355,42,1.1,43,16.6
$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,74.2,14344,-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,-146.6,185,2105,558,444,0.0,0.0,0,70,0.00,0.00,-51.28,0.000,16386,0.000,0.000,182,2106,1909,1912,1906,0,0,0,0,0,0,28.83,28.83,28.83
$GC,74,-0.83,-146.6,182,2105,1915,1905,3.1,-1.9,5,121,9.10,2.25,-31.45,0.000,18692,0.197,0.050,2555,3497,3000,3075,2925,0,0,0,0,0,0,24.89,25.82,26.74
$GC,340,-0.67,-146.6,2555,3497,3078,2925,50.2,-17.1,31,348,0.22,2.05,0.00,0.000,3078,0.133,0.023,2619,2085,3001,3078,2925,0,0,0,0,0,0,25.44,26.16,28.83
$GC,650,-0.61,-146.6,2619,2085,3078,2925,90.4,-12.7,58,656,0.00,2.15,0.00,0.000,260,0.000,0.037,2611,3482,3001,3078,2925,0,0,0,0,0,0,28.83,25.72,28.83
$GC,957,-0.61,-146.6,2611,3482,3078,2925,129.0,-11.6,73,962,0.08,2.00,0.00,0.000,3078,0.124,0.023,2638,2100,3001,3078,2925,0,0,0,0,0,0,25.79,26.16,28.83
$GC,1265,-0.61,-146.6,2638,2101,3078,2924,159.8,-10.0,87,1271,0.00,2.10,0.00,0.000,516,0.000,0.031,2638,710,3000,3078,2923,0,0,0,0,0,0,28.83,25.89,28.83
$GC,1343,-0.61,-146.6,2637,710,3078,2923,165.9,-9.9,89,1347,0.00,2.05,0.00,0.000,1030,0.000,0.027,2630,2089,3000,3077,2923,0,0,0,0,0,0,28.83,25.98,28.83
$STATE,1474,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1474,begin apogee
$GC,1481,-0.24,0.0,2630,2005,3078,2922,180.8,-10.0,94,1597,0.40,0.00,110.72,0.680,10246,0.102,0.000,2765,2005,2399,2466,2332,0,0,0,0,0,0,25.52,28.83,24.15
$STATE,1600,end apogee,CONTROL_FINISHED_OK
$STATE,1600,begin climb
$GC,1602,0.83,146.6,2765,2005,2465,2332,187.8,0.0,98,1722,0.98,2.20,112.22,0.666,10756,0.073,0.033,3118,617,1801,1863,1739,0,0,0,0,0,0,25.20,25.44,24.17
$GC,1756,0.89,287.4,3117,617,1859,1735,183.7,3.5,103,1871,0.00,2.10,108.45,0.662,9222,0.000,0.026,3118,2009,1227,1292,1163,0,0,0,0,0,0,28.83,25.86,24.15
$GC,2189,1.00,287.4,3118,2009,1286,1158,148.0,9.0,118,2195,0.12,2.12,0.00,0.000,2564,0.076,0.034,3237,623,1221,1285,1158,0,0,0,0,0,0,26.49,26.03,28.83
$GC,2232,1.00,287.4,3237,623,1285,1157,142.7,10.3,120,2237,0.25,2.05,0.00,0.000,5126,0.116,0.027,3163,2004,1221,1286,1157,0,0,0,0,0,0,25.67,26.16,28.83
$GC,2547,1.06,287.4,3162,2004,1284,1156,105.9,10.9,136,2551,0.00,2.15,0.00,0.000,260,0.000,0.037,3163,3389,1220,1284,1156,0,0,0,0,0,0,28.83,25.93,28.83
$GC,2602,1.11,287.4,3162,3392,1284,1156,101.5,10.1,138,2610,0.00,2.08,0.00,0.000,1030,0.000,0.025,3169,2019,1220,1284,1157,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2910,1.18,333.0,3169,2019,1282,1156,74.2,7.9,157,2953,0.12,2.17,36.17,0.613,10500,0.075,0.037,3268,3396,1041,1111,972,0,0,0,0,0,0,26.53,25.79,24.38
$GC,3074,1.18,333.0,3268,3396,1107,972,50.1,16.9,173,3083,0.17,2.05,0.00,0.000,5126,0.111,0.025,3219,2001,1038,1106,971,0,0,0,0,0,0,25.70,26.20,28.83
$GC,3383,1.18,333.0,3219,2001,1104,968,16.0,8.9,204,3393,0.00,2.15,0.00,0.000,516,0.000,0.035,3228,602,1035,1104,967,0,0,0,0,0,0,28.83,25.94,28.83
$GC,3498,1.25,333.0,3228,602,1104,965,7.3,8.4,215,3507,0.00,2.05,0.00,0.000,1030,0.000,0.026,3228,1996,1034,1103,965,0,0,0,0,0,0,28.83,26.10,28.83
$STATE,3555,end climb,SURFACE_DEPTH_REACHED
$STATE,3555,begin surface coast
$FINISH,1.3,1.012915
$STATE,3597,end surface coast,CONTROL_FINISHED_OK
$STATE,3597,begin surface
$SM_CCo,3615,56.10,0.051,0,0,499,466.07
$SM_CCo,3675,-0.12,0.000,0,0,501,466.07
$SM_CCo,3679,0.15,0.125,0,0,499,466.07
$SM_GC,2.40,7.97,0.12,0.15,0.031,0.078,0.125,158,2102,499,-8.21,-1.47,466.07,0,0,0,0,0,0,26.29,26.48,26.13
$IRIDIUM_FIX,4644.93,-12503.66,090514,181832
$TT8_MAMPS,0.026964,0.026964
$HUMID,43.62
$INTERNAL_PRESSURE,8.93814
$TCM_TEMP,14.40
$XPDR_PINGS,36
$24V_AH,24.1,87.068
$10V_AH,9.9,66.803
$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,19.425,33.925,367.575,56.250,0.000,0.000,0.000,0.000,14.500,0.000,43.824,630.339,1870.436,410.187,786.667,89.015,0.000,835.901,0.000,728.721,0.000,35.011,0.000
$DEVICE_MAMPS,196.605,100.980,680.085,124.695,0.000,0.000,0.000,0.000,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,151.680,297.757,225.465,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,300724
$DATA_FILE_SIZE,16966,225
$CAP_FILE_SIZE,92009,0
$CFSIZE,2097872896,1996259328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,090514,195523,4700.242,-12509.104,4,1.4,4,16.6