version: 66.11
glider: 194
mission: 7
dive: 560
start: 5 10 114 5 54 25
data:
$ID,194
$MISSION,7
$DIVE,560
$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,-14206.772
$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
$GPS1,100514,052430,4701.270,-12509.325,4,1.6,4,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.35
$_SM_ANGLEo,-69.8
$GPS2,100514,055358,4701.373,-12509.067,5,1.9,5,16.6
$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,83.7,14208,-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,-146.6,109,2111,1204,1133,0.0,0.0,0,51,0.00,0.00,-31.98,0.000,16386,0.000,0.000,109,2112,2060,2064,2056,0,0,0,0,0,0,28.83,28.83,28.83
$GC,55,-0.83,-146.6,109,2112,2064,2056,3.3,-4.6,3,94,9.30,2.22,-24.20,0.000,18948,0.194,0.045,2566,696,3000,3065,2935,0,0,0,0,0,0,24.89,26.03,26.70
$GC,390,-0.65,-146.6,1604,696,3033,2932,65.4,-19.3,36,399,0.20,2.12,0.00,0.000,3078,0.121,0.027,2624,2095,3001,3066,2937,0,0,0,0,0,0,25.41,26.07,28.83
$GC,698,-0.65,-146.6,2624,2095,3065,2936,103.0,-10.9,57,703,0.00,2.15,0.00,0.000,260,0.000,0.037,2616,3502,3001,3066,2936,0,0,0,0,0,0,28.83,25.82,28.83
$GC,966,-0.65,-146.6,1696,3501,3037,2933,133.2,-11.1,70,970,0.00,2.08,0.00,0.000,1030,0.000,0.024,2616,2083,3001,3066,2936,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1299,-0.65,-146.6,2616,2083,3066,2936,170.1,-10.9,84,1300,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2083,3001,3066,2936,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1418,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1418,begin apogee
$GC,1425,-0.24,0.0,2616,2006,3066,2936,182.4,-10.3,88,1540,0.43,0.00,110.75,0.684,10246,0.102,0.000,2760,2005,2399,2465,2334,0,0,0,0,0,0,25.55,28.83,24.15
$STATE,1543,end apogee,CONTROL_FINISHED_OK
$STATE,1543,begin climb
$GC,1546,0.83,146.6,2760,2005,2465,2334,188.3,0.0,92,1667,0.98,2.22,112.85,0.664,10500,0.073,0.035,3107,3400,1801,1868,1734,0,0,0,0,0,0,25.41,25.46,24.15
$GC,1706,0.90,265.9,3107,3400,1865,1734,182.8,4.5,97,1808,0.00,2.10,93.35,0.656,9222,0.000,0.025,3116,1998,1314,1392,1237,0,0,0,0,0,0,28.83,25.97,24.13
$GC,2107,1.01,265.9,3116,1998,1389,1229,150.6,8.1,111,2113,0.12,2.12,0.00,0.000,2564,0.076,0.034,3230,607,1309,1389,1229,0,0,0,0,0,0,26.46,26.05,28.83
$GC,2210,1.01,265.9,3229,607,1385,1229,137.5,14.0,116,2215,0.22,2.08,0.00,0.000,5126,0.117,0.027,3163,1998,1307,1385,1229,0,0,0,0,0,0,25.71,26.15,28.83
$GC,2524,1.01,265.9,3163,1999,1385,1229,105.5,9.7,132,2525,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,1999,1307,1385,1229,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2824,1.08,265.9,3163,1999,1385,1228,76.6,9.7,148,2833,0.00,2.15,0.00,0.000,260,0.000,0.037,3163,3397,1306,1385,1228,0,0,0,0,0,0,28.83,25.92,28.83
$GC,3000,1.15,265.9,3163,3397,1385,1228,60.9,8.2,165,3010,0.08,2.05,0.00,0.000,3078,0.044,0.026,3251,1997,1306,1385,1228,0,0,0,0,0,0,26.04,26.15,28.83
$GC,3309,1.15,265.9,3250,1997,1385,1227,25.5,11.9,196,3320,0.12,2.15,0.00,0.000,4612,0.138,0.034,3218,607,1305,1385,1226,0,0,0,0,0,0,26.20,25.91,28.83
$GC,3333,1.15,265.9,3217,608,1384,1226,23.5,9.8,198,3343,0.00,2.10,0.00,0.000,1030,0.000,0.027,3218,2014,1305,1384,1226,0,0,0,0,0,0,28.83,26.08,28.83
$GC,3645,1.21,325.1,3217,2014,1384,1226,3.2,7.3,229,3654,0.00,0.00,7.65,0.050,8450,0.000,0.000,3217,2015,1231,1311,1152,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3655,end climb,SURFACE_DEPTH_REACHED
$STATE,3655,begin surface coast
$FINISH,1.3,1.004249
$STATE,3692,end surface coast,CONTROL_FINISHED_OK
$STATE,3692,begin surface
$SM_CCo,3710,5.03,0.050,0,0,1176,300.00
$SM_GC,3.84,7.90,0.10,5.03,0.028,0.087,0.050,153,2124,1176,-8.22,-1.41,300.00,0,0,0,0,0,0,26.27,26.50,25.63
$IRIDIUM_FIX,4644.93,-12512.45,100514,040428
$TT8_MAMPS,0.026964,0.026964
$HUMID,45.31
$INTERNAL_PRESSURE,8.99674
$TCM_TEMP,17.80
$XPDR_PINGS,2
$24V_AH,24.1,87.544
$10V_AH,9.9,67.177
$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,19.350,25.700,324.600,5.025,0.000,0.000,0.000,161.450,6.000,0.000,5.899,774.775,2020.979,311.374,856.616,1535.042,0.000,875.681,0.000,705.045,0.000,35.008,0.000
$DEVICE_MAMPS,194.310,141.525,683.910,50.490,0.000,0.000,0.000,65.025,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,158.610,309.977,231.942,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,300892
$DATA_FILE_SIZE,17007,234
$CAP_FILE_SIZE,46631,0
$CFSIZE,2097872896,1994915840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,100514,065706,4701.586,-12509.014,4,1.0,4,16.6