version: 66.11
glider: 194
mission: 7
dive: 565
start: 5 10 114 13 51 1
data:
$ID,194
$MISSION,7
$DIVE,565
$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,-14213.065
$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,58
$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
$GPS1,100514,131804,4700.803,-12507.861,18,0.8,18,16.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.42
$_SM_ANGLEo,-69.5
$GPS2,100514,135033,4700.778,-12508.271,38,1.0,38,16.6
$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,79.7,13053,-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,-146.6,109,2106,1146,1070,0.0,0.0,0,50,0.00,0.00,-31.50,0.000,16386,0.000,0.000,109,2106,1988,1986,1991,0,0,0,0,0,0,28.83,28.83,28.83
$GC,54,-0.83,-146.6,109,2106,1989,1989,3.3,-4.4,3,100,9.27,2.22,-26.75,0.000,18948,0.194,0.045,2561,697,3000,3064,2937,0,0,0,0,0,0,24.92,26.04,26.71
$GC,247,-0.67,-146.6,1640,697,3035,2934,35.6,-18.4,22,256,0.20,2.12,0.00,0.000,3078,0.122,0.027,2620,2094,3001,3066,2937,0,0,0,0,0,0,25.42,26.08,28.83
$GC,556,-0.60,-146.6,2620,2094,3066,2937,77.6,-12.8,53,565,0.00,2.12,0.00,0.000,260,0.000,0.037,2611,3493,3001,3066,2937,0,0,0,0,0,0,28.83,25.84,28.83
$GC,820,-0.60,-146.6,2611,3493,3066,2937,112.6,-13.1,66,829,0.10,2.10,0.00,0.000,3078,0.119,0.024,2646,2084,3002,3066,2938,0,0,0,0,0,0,25.77,26.18,28.83
$GC,1128,-0.60,-146.6,2646,2084,3066,2937,142.4,-8.5,82,1133,0.00,2.20,0.00,0.000,260,0.000,0.037,2637,3506,3001,3066,2937,0,0,0,0,0,0,28.83,25.80,28.83
$GC,1196,-0.60,-146.6,2637,3506,3066,2937,147.8,-8.9,85,1200,0.00,2.05,0.00,0.000,1030,0.000,0.023,2637,2102,3001,3066,2937,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1527,-0.60,-146.6,2637,2102,3066,2937,178.7,-9.4,96,1532,0.00,2.10,0.00,0.000,516,0.000,0.032,2637,701,3001,3066,2936,0,0,0,0,0,0,28.83,25.94,28.83
$STATE,1555,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1555,begin apogee
$GC,1563,-0.24,0.0,2628,2002,3066,2936,182.1,-9.8,97,1678,0.40,0.00,110.43,0.688,10246,0.103,0.000,2763,2002,2400,2465,2335,0,0,0,0,0,0,25.57,28.83,24.17
$STATE,1681,end apogee,CONTROL_FINISHED_OK
$STATE,1681,begin climb
$GC,1684,0.83,146.6,2763,2002,2464,2335,188.4,0.0,101,1802,0.98,0.00,113.78,0.663,10246,0.073,0.000,3110,2002,1800,1867,1734,0,0,0,0,0,0,25.41,28.83,24.13
$GC,2098,0.92,217.4,3110,2002,1860,1730,164.4,6.7,115,2159,0.00,2.25,55.40,0.657,8452,0.000,0.037,3110,3397,1512,1584,1440,0,0,0,0,0,0,28.83,25.70,24.31
$GC,2191,1.01,270.4,3109,3397,1584,1438,157.3,7.6,118,2239,0.15,2.08,42.70,0.640,11270,0.063,0.024,3226,2005,1296,1374,1219,0,0,0,0,0,0,26.00,26.03,24.23
$GC,2552,1.01,270.4,3226,2005,1368,1210,106.4,13.9,134,2558,0.17,2.12,0.00,0.000,4612,0.126,0.033,3178,614,1289,1368,1210,0,0,0,0,0,0,26.03,26.04,28.83
$GC,2716,1.01,270.4,3178,614,1365,1210,89.0,10.7,142,2720,0.00,2.08,0.00,0.000,1030,0.000,0.027,3178,2001,1287,1365,1210,0,0,0,0,0,0,28.83,26.13,28.83
$GC,3031,1.07,270.4,3178,2001,1365,1209,59.3,8.1,169,3040,0.00,2.12,0.00,0.000,260,0.000,0.037,3178,3393,1287,1365,1209,0,0,0,0,0,0,28.83,25.94,28.83
$GC,3157,1.12,270.4,3178,3392,1365,1209,48.8,8.7,181,3166,0.00,2.03,0.00,0.000,1030,0.000,0.025,3188,2008,1287,1365,1209,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3465,1.20,318.9,3187,2008,1365,1209,24.6,7.8,212,3495,0.12,2.20,23.40,0.549,10756,0.076,0.032,3301,600,1097,1182,1012,0,0,0,0,0,0,26.50,25.89,24.49
$STATE,3667,end climb,SURFACE_DEPTH_REACHED
$STATE,3667,begin surface coast
$FINISH,1.3,1.023662
$STATE,3679,end surface coast,CONTROL_FINISHED_OK
$STATE,3679,begin surface
$SM_CCo,3761,0.00,0.000,0,0,1090,321.34
$SM_GC,2.46,8.05,2.33,0.00,0.025,0.027,0.000,141,2110,1090,-8.23,-1.47,321.34,0,0,0,0,0,0,26.32,26.13,28.83
$IRIDIUM_FIX,4641.78,-12508.05,100514,131351
$TT8_MAMPS,0.026215,0.026215
$HUMID,45.39
$INTERNAL_PRESSURE,8.9772
$TCM_TEMP,13.50
$XPDR_PINGS,4
$24V_AH,24.1,87.891
$10V_AH,9.9,67.449
$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,19.450,34.125,345.700,0.000,0.000,0.000,0.000,196.425,6.500,0.000,39.051,781.722,2069.258,365.084,943.105,1564.121,0.000,944.900,0.000,704.176,0.000,35.010,0.000
$DEVICE_MAMPS,193.545,45.135,687.735,0.000,0.000,0.000,0.000,60.435,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,157.744,308.475,231.921,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,300748
$DATA_FILE_SIZE,16991,233
$CAP_FILE_SIZE,46970,0
$CFSIZE,2097872896,1993932800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,100514,145422,4700.704,-12508.189,3,1.5,3,16.6