version: 66.11
glider: 194
mission: 7
dive: 555
start: 5 9 114 22 0 31
data:
$ID,194
$MISSION,7
$DIVE,555
$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,-14191.708
$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,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
$GPS1,090514,212933,4700.126,-12508.980,4,0.8,4,16.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.34
$_SM_ANGLEo,-68.9
$GPS2,090514,220003,4700.080,-12509.223,29,1.1,30,16.6
$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,74.0,14176,-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,-146.6,109,2129,934,847,0.0,0.0,0,60,0.00,0.00,-40.70,0.000,16386,0.000,0.000,109,2129,2010,2008,2012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,63,-0.83,-146.6,109,2130,2009,2012,3.4,-3.6,4,104,9.30,2.10,-26.02,0.000,18692,0.194,0.048,2557,3483,2998,3067,2929,0,0,0,0,0,0,24.88,25.91,26.72
$GC,261,-0.67,-146.6,2557,3483,3069,2928,37.9,-18.8,23,270,0.20,2.03,0.00,0.000,3078,0.118,0.023,2623,2072,2998,3069,2928,0,0,0,0,0,0,25.48,26.19,28.83
$GC,571,-0.61,-146.6,2623,2072,3070,2928,81.3,-12.4,54,576,0.00,2.15,0.00,0.000,260,0.000,0.037,2615,3478,2999,3070,2928,0,0,0,0,0,0,28.83,25.80,28.83
$GC,733,-0.54,-146.6,2614,3478,3070,2928,101.3,-12.3,62,739,0.15,2.00,0.00,0.000,3078,0.110,0.023,2666,2097,2999,3070,2928,0,0,0,0,0,0,25.65,26.19,28.83
$GC,1052,-0.54,-146.6,2666,2096,3069,2928,132.0,-10.0,78,1057,0.00,2.15,0.00,0.000,260,0.000,0.037,2659,3482,2999,3070,2928,0,0,0,0,0,0,28.83,25.76,28.83
$GC,1244,-0.59,-146.6,2659,3482,3069,2928,149.3,-9.3,87,1249,0.00,2.03,0.00,0.000,1030,0.000,0.023,2659,2095,2999,3070,2928,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1573,-0.64,-146.6,2659,2095,3070,2927,178.4,-8.4,98,1579,0.00,2.08,0.00,0.000,516,0.000,0.032,2659,711,2998,3069,2927,0,0,0,0,0,0,28.83,25.92,28.83
$STATE,1600,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1600,begin apogee
$GC,1609,-0.24,0.0,2651,1981,3070,2927,181.1,-8.6,99,1724,0.32,0.00,110.07,0.692,10246,0.100,0.000,2762,1981,2398,2465,2332,0,0,0,0,0,0,25.73,28.83,24.17
$STATE,1727,end apogee,CONTROL_FINISHED_OK
$STATE,1727,begin climb
$GC,1729,0.83,146.6,2762,1981,2464,2333,187.2,0.0,103,1847,0.98,0.00,113.60,0.668,10246,0.074,0.000,3109,1981,1801,1865,1738,0,0,0,0,0,0,25.39,28.83,24.13
$GC,2145,0.92,227.6,3109,1980,1856,1734,163.6,6.3,117,2211,0.00,0.00,63.35,0.666,8198,0.000,0.000,3109,1980,1471,1536,1406,0,0,0,0,0,0,28.83,28.83,24.27
$GC,2513,1.04,292.6,3109,1980,1528,1401,137.7,7.0,132,2573,0.17,2.17,51.35,0.644,10756,0.057,0.034,3245,615,1204,1275,1134,0,0,0,0,0,0,26.46,25.74,24.32
$GC,2644,1.04,292.6,3245,614,1271,1130,121.0,14.3,138,2649,0.25,2.10,0.00,0.000,5126,0.116,0.027,3171,2014,1201,1272,1130,0,0,0,0,0,0,25.69,26.10,28.83
$GC,2955,1.09,292.6,3171,2014,1272,1127,84.5,11.3,153,2960,0.00,2.12,0.00,0.000,516,0.000,0.035,3179,626,1199,1272,1127,0,0,0,0,0,0,28.83,26.01,28.83
$GC,3025,1.15,292.6,3178,626,1270,1127,77.4,9.9,157,3033,0.00,2.03,0.00,0.000,1030,0.000,0.027,3179,1998,1198,1270,1127,0,0,0,0,0,0,28.83,26.13,28.83
$GC,3334,1.21,342.1,3178,1998,1269,1126,52.1,7.7,188,3384,0.12,2.25,39.15,0.601,10500,0.073,0.037,3278,3401,1004,1085,924,0,0,0,0,0,0,26.50,25.81,24.40
$GC,3453,1.21,342.1,3278,3401,1081,923,37.7,14.2,199,3460,0.20,2.08,0.00,0.000,5126,0.127,0.026,3230,2007,1001,1081,922,0,0,0,0,0,0,25.72,26.14,28.83
$GC,3760,1.27,342.1,3230,2006,1080,918,6.7,9.0,230,3770,0.00,2.12,0.00,0.000,260,0.000,0.037,3230,3396,999,1080,918,0,0,0,0,0,0,28.83,25.96,28.83
$STATE,3800,end climb,SURFACE_DEPTH_REACHED
$STATE,3800,begin surface coast
$FINISH,1.3,1.011396
$STATE,3822,end surface coast,CONTROL_FINISHED_OK
$STATE,3822,begin surface
$SM_CCo,3903,0.00,0.000,0,0,997,343.91
$SM_GC,2.34,7.90,2.00,0.00,0.027,0.025,0.000,144,2087,997,-8.24,1.39,343.91,0,0,0,0,0,0,26.32,26.16,28.83
$IRIDIUM_FIX,4641.78,-12508.05,090514,212154
$TT8_MAMPS,0.026964,0.026964
$HUMID,45.23
$INTERNAL_PRESSURE,8.9772
$TCM_TEMP,17.70
$XPDR_PINGS,3
$24V_AH,24.1,87.207
$10V_AH,9.9,66.910
$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,19.600,33.350,377.525,0.000,0.000,0.000,0.000,188.100,6.250,0.000,30.284,771.156,2205.633,392.814,902.252,1473.631,0.000,965.213,0.000,682.793,0.000,36.874,0.000
$DEVICE_MAMPS,193.545,48.195,691.560,0.000,0.000,0.000,0.000,58.140,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,159.401,312.358,234.067,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,300756
$DATA_FILE_SIZE,17052,236
$CAP_FILE_SIZE,47970,0
$CFSIZE,2097872896,1995898880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,090514,230627,4700.171,-12509.132,16,1.0,16,16.6