version: 66.11
glider: 194
mission: 7
dive: 558
start: 5 10 114 2 45 26
data:
$ID,194
$MISSION,7
$DIVE,558
$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,-14195.569
$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,54
$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
$GPS1,100514,021655,4700.646,-12509.378,10,0.9,10,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.43
$_SM_ANGLEo,-69.3
$GPS2,100514,024459,4700.750,-12509.626,9,0.9,9,16.6
$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,78.8,14750,-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,-146.6,109,2092,1194,1140,0.0,0.0,0,50,0.00,0.00,-31.33,0.000,16386,0.000,0.000,109,2092,2039,2045,2033,0,0,0,0,0,0,28.83,28.83,28.83
$GC,54,-0.83,-146.6,109,2092,2043,2035,3.4,-5.0,3,93,9.30,2.25,-23.95,0.000,19204,0.192,0.050,2558,3492,3000,3067,2933,0,0,0,0,0,0,24.84,25.87,26.72
$GC,389,-0.65,-146.6,1600,3492,3035,2929,61.3,-18.9,36,398,0.20,2.10,0.00,0.000,3078,0.119,0.024,2624,2086,3001,3069,2933,0,0,0,0,0,0,25.47,26.17,28.83
$GC,698,-0.60,-146.6,2624,2086,3069,2934,100.7,-12.9,59,703,0.00,2.05,0.00,0.000,516,0.000,0.031,2624,713,3001,3070,2933,0,0,0,0,0,0,28.83,25.98,28.83
$GC,742,-0.55,-146.6,2624,713,3069,2933,105.9,-12.7,61,747,0.17,2.08,0.00,0.000,3078,0.131,0.027,2667,2111,3001,3069,2933,0,0,0,0,0,0,25.60,26.05,28.83
$GC,1056,-0.55,-146.6,2667,2111,3069,2933,136.2,-9.7,77,1060,0.00,2.15,0.00,0.000,260,0.000,0.038,2660,3496,3001,3070,2933,0,0,0,0,0,0,28.83,25.77,28.83
$GC,1310,-0.55,-146.6,2660,3499,3069,2933,157.7,-8.0,88,1314,0.00,2.05,0.00,0.000,1030,0.000,0.024,2660,2099,3001,3069,2933,0,0,0,0,0,0,28.83,26.17,28.83
$STATE,1566,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1566,begin apogee
$GC,1573,-0.24,0.0,2660,1989,3069,2932,180.7,-8.8,97,1690,0.30,0.00,111.03,0.685,10246,0.100,0.000,2763,1989,2399,2465,2334,0,0,0,0,0,0,25.80,28.83,24.13
$STATE,1693,end apogee,CONTROL_FINISHED_OK
$STATE,1693,begin climb
$GC,1696,0.83,146.6,2763,1988,2465,2334,186.7,0.0,101,1819,0.98,2.30,113.18,0.666,10500,0.074,0.036,3110,3390,1800,1866,1735,0,0,0,0,0,0,25.40,25.46,24.10
$GC,1887,0.90,251.1,3109,3390,1861,1735,179.6,5.2,107,1975,0.00,2.05,81.75,0.657,9222,0.000,0.025,3119,2011,1375,1448,1303,0,0,0,0,0,0,28.83,26.08,24.15
$GC,2290,1.01,251.1,3119,2011,1441,1296,147.9,8.1,121,2296,0.12,2.12,0.00,0.000,2564,0.074,0.034,3237,616,1368,1441,1296,0,0,0,0,0,0,26.47,26.04,28.83
$GC,2372,1.01,251.1,3237,616,1439,1296,137.4,13.1,125,2377,0.25,2.08,0.00,0.000,5126,0.119,0.027,3163,2007,1367,1439,1296,0,0,0,0,0,0,25.65,26.15,28.83
$GC,2686,1.01,251.1,3163,2007,1439,1296,104.9,10.1,141,2692,0.00,2.10,0.00,0.000,260,0.000,0.036,3163,3387,1367,1439,1296,0,0,0,0,0,0,28.83,25.96,28.83
$GC,2859,1.01,251.1,3162,3387,1438,1296,87.5,11.0,149,2865,0.00,2.05,0.00,0.000,1030,0.000,0.025,3170,2001,1367,1439,1296,0,0,0,0,0,0,28.83,26.16,28.83
$GC,3169,1.07,335.3,3170,2001,1439,1294,62.9,6.1,177,3238,0.00,0.00,66.70,0.607,8710,0.000,0.000,3170,2001,1031,1117,945,0,0,0,0,0,0,28.83,28.83,24.35
$GC,3537,1.19,335.3,3170,2000,1114,935,33.4,8.1,214,3548,0.12,2.12,0.00,0.000,2308,0.073,0.035,3272,3385,1024,1114,935,0,0,0,0,0,0,26.48,25.96,28.83
$GC,3574,1.19,335.3,3272,3385,1114,936,29.5,10.7,217,3581,0.20,2.05,0.00,0.000,5126,0.127,0.025,3224,2000,1024,1114,935,0,0,0,0,0,0,25.70,26.17,28.83
$GC,3881,1.25,335.3,3224,2000,1112,934,4.3,8.0,248,3891,0.00,2.12,0.00,0.000,260,0.000,0.037,3224,3394,1023,1112,934,0,0,0,0,0,0,28.83,25.96,28.83
$STATE,3901,end climb,SURFACE_DEPTH_REACHED
$STATE,3901,begin surface coast
$FINISH,1.2,1.015340
$STATE,3933,end surface coast,CONTROL_FINISHED_OK
$STATE,3934,begin surface
$SM_CCo,4014,0.00,0.000,0,0,1021,338.27
$SM_GC,2.35,7.82,1.98,0.00,0.024,0.025,0.000,150,2100,1021,-8.21,1.81,338.27,0,0,0,0,0,0,26.28,26.16,28.83
$IRIDIUM_FIX,4644.93,-12509.87,100514,010109
$TT8_MAMPS,0.026215,0.026215
$HUMID,46.14
$INTERNAL_PRESSURE,8.9772
$TCM_TEMP,13.70
$XPDR_PINGS,3
$24V_AH,24.1,87.414
$10V_AH,9.9,67.072
$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,19.475,33.750,372.650,0.000,0.000,0.000,0.000,95.350,6.250,0.000,9.908,816.527,2159.491,338.705,895.849,1499.989,0.000,881.404,0.000,784.528,0.000,36.834,0.000
$DEVICE_MAMPS,192.015,84.915,684.675,0.000,0.000,0.000,0.000,49.725,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,171.160,335.027,253.414,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,17043,253
$CAP_FILE_SIZE,49616,0
$CFSIZE,2097872896,1995309056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,100514,035334,4700.817,-12509.467,36,1.1,36,16.6