version: 66.11
glider: 194
mission: 7
dive: 563
start: 5 10 114 10 43 1
data:
$ID,194
$MISSION,7
$DIVE,563
$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,-14210.554
$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,54
$R_STBD_OVSHOOT,65
$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
$GPS1,100514,101258,4701.363,-12508.070,39,0.8,39,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.26
$_SM_ANGLEo,-66.6
$GPS2,100514,104233,4701.107,-12508.106,4,1.1,4,16.6
$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,82.5,12929,-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,13,begin dive
$GC,16,-0.83,-146.6,109,2123,774,664,0.0,0.0,0,60,0.00,0.00,-40.90,0.000,16386,0.000,0.000,110,2123,1858,1859,1858,0,0,0,0,0,0,28.83,28.83,28.83
$GC,63,-0.83,-146.6,109,2123,1860,1859,3.1,-2.6,4,113,9.25,2.25,-34.17,0.000,19204,0.194,0.044,2562,696,2999,3065,2934,0,0,0,0,0,0,24.96,26.04,26.72
$GC,412,-0.65,-146.6,2562,696,3066,2935,60.9,-18.3,38,421,0.20,2.12,0.00,0.000,3078,0.120,0.028,2621,2089,3000,3066,2935,0,0,0,0,0,0,25.41,26.06,28.83
$GC,720,-0.60,-146.6,2621,2089,3066,2935,99.5,-11.1,61,725,0.00,2.12,0.00,0.000,260,0.000,0.037,2612,3487,3000,3066,2935,0,0,0,0,0,0,28.83,25.85,28.83
$GC,1025,-0.60,-146.6,2612,3487,3067,2935,136.4,-11.5,76,1031,0.08,2.05,0.00,0.000,3078,0.119,0.024,2640,2080,3000,3066,2934,0,0,0,0,0,0,25.84,26.17,28.83
$GC,1346,-0.60,-146.6,2640,2080,3066,2934,171.4,-10.7,89,1351,0.00,2.17,0.00,0.000,260,0.000,0.037,2632,3495,3000,3067,2934,0,0,0,0,0,0,28.83,25.79,28.83
$GC,1419,-0.60,-146.6,2631,3495,3066,2934,177.9,-10.8,91,1423,0.00,2.05,0.00,0.000,1030,0.000,0.024,2632,2098,3000,3066,2934,0,0,0,0,0,0,28.83,26.16,28.83
$STATE,1428,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1429,begin apogee
$GC,1435,-0.24,0.0,2631,1990,3066,2934,180.7,-10.8,92,1551,0.38,0.00,110.30,0.692,10246,0.103,0.000,2760,1990,2399,2464,2335,0,0,0,0,0,0,25.63,28.83,24.18
$STATE,1552,end apogee,CONTROL_FINISHED_OK
$STATE,1554,begin climb
$GC,1557,0.83,146.6,2760,1989,2463,2335,187.9,0.0,96,1674,1.00,0.00,113.78,0.665,10246,0.073,0.000,3110,1989,1801,1867,1735,0,0,0,0,0,0,25.42,28.83,24.12
$GC,1972,0.92,236.4,3110,1989,1858,1732,167.6,5.9,110,2047,0.00,2.28,69.72,0.666,8452,0.000,0.037,3110,3390,1434,1507,1362,0,0,0,0,0,0,28.83,25.64,24.26
$GC,2087,1.02,314.3,3110,3390,1504,1360,161.7,6.4,113,2155,0.15,2.08,62.10,0.652,11270,0.063,0.025,3228,2000,1117,1201,1034,0,0,0,0,0,0,26.01,26.03,24.19
$GC,2459,1.02,314.3,3228,2000,1198,1025,106.7,14.0,131,2465,0.17,2.12,0.00,0.000,4612,0.124,0.034,3180,611,1111,1198,1024,0,0,0,0,0,0,26.04,26.03,28.83
$GC,2540,1.02,314.3,3180,611,1194,1024,97.5,11.4,135,2545,0.00,2.08,0.00,0.000,1030,0.000,0.027,3180,2002,1109,1194,1024,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2852,1.08,314.3,3180,2002,1194,1023,64.1,10.8,157,2860,0.00,2.12,0.00,0.000,260,0.000,0.037,3180,3391,1108,1194,1023,0,0,0,0,0,0,28.83,25.96,28.83
$GC,2965,1.15,314.3,3180,3391,1194,1023,50.6,11.7,168,2975,0.00,2.05,0.00,0.000,1030,0.000,0.025,3189,1997,1108,1194,1023,0,0,0,0,0,0,28.83,26.16,28.83
$GC,3277,1.23,359.6,3188,1997,1194,1022,23.2,7.9,199,3305,0.12,2.25,21.60,0.545,10756,0.076,0.035,3303,600,932,1024,840,0,0,0,0,0,0,26.51,25.90,24.51
$GC,3411,1.23,359.6,3303,601,1023,833,7.2,12.1,212,3422,0.22,2.10,0.00,0.000,5126,0.121,0.026,3236,2012,927,1022,832,0,0,0,0,0,0,25.69,26.15,28.83
$STATE,3449,end climb,SURFACE_DEPTH_REACHED
$STATE,3449,begin surface coast
$FINISH,1.2,1.023676
$STATE,3470,end surface coast,CONTROL_FINISHED_OK
$STATE,3470,begin surface
$SM_CCo,3549,0.00,0.000,0,0,926,361.57
$SM_GC,2.04,7.90,0.10,0.00,0.027,0.088,0.000,150,2114,926,-8.22,-1.50,361.57,0,0,0,0,0,0,26.31,26.46,28.83
$IRIDIUM_FIX,4644.93,-12509.87,100514,090921
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.99
$INTERNAL_PRESSURE,8.96744
$TCM_TEMP,17.70
$XPDR_PINGS,2
$24V_AH,24.1,87.754
$10V_AH,9.9,67.340
$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,19.475,30.050,377.500,0.000,0.000,0.000,0.000,140.000,6.000,0.000,5.905,742.229,1821.236,389.444,820.377,1563.437,0.000,922.137,0.000,691.920,0.000,35.015,0.000
$DEVICE_MAMPS,193.545,87.975,692.325,0.000,0.000,0.000,0.000,65.025,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,147.187,288.454,216.899,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,300812
$DATA_FILE_SIZE,17024,218
$CAP_FILE_SIZE,46788,0
$CFSIZE,2097872896,1994326016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,100514,114250,4701.026,-12507.902,3,1.2,3,16.6