version: 66.14
glider: 194
mission: 12
dive: 518
start: 2 24 118 14 37 10
data:
$ID,194
$MISSION,12
$DIVE,518
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,2
$D_TGT,180
$D_ABORT,1090
$D_NO_BLEED,50
$D_BOOST,3
$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,90
$T_ABORT,1440
$T_TURN,290
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_SLOITER,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,250
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,59218
$MASS_COMP,3867
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$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,410
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$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,50840
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,199
$PITCH_MAX,3894
$C_PITCH,3153
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.1
$PITCH_GAIN,23
$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,2082
$C_ROLL_CLIMB,2082
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,48
$R_STBD_OVSHOOT,61
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,375
$VBD_MAX,3900
$C_VBD,2065
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.001
$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,142
$AH0_10V,95
$MINV_24V,19
$MINV_10V,8
$MAXI_24V,0.80000001
$MAXI_10V,0.60000002
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-56.168804
$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,20
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$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
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043142368
$SEABIRD_T_H,0.00062992517
$SEABIRD_T_I,2.3677077e-05
$SEABIRD_T_J,2.5192039e-06
$SEABIRD_C_G,-10.019496
$SEABIRD_C_H,1.1237694
$SEABIRD_C_I,-0.0014884615
$SEABIRD_C_J,0.00020148222
$SEABIRD_C_Z,2989.49
$GPS1,240218,143123,4738.2178,-12254.7627,8,0.9,38,16.4,0.6,58.9,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,15.25
$_SM_ANGLEo,-72.5
$GPS2,240218,143624,4738.2661,-12254.6406,5,0.9,16,16.4,0.6,56.6,10,4.5
$SPEED_LIMITS,0.173,0.325
$TGT_NAME,NW2S
$TGT_LATLONG,4738.117,-12254.800
$TGT_RADIUS,250.000
$KALMAN_CONTROL,-0.288867,-0.148510
$KALMAN_X,34651.437500,518.190002,-280.221558,-35416.792969,662.479614
$KALMAN_Y,12811.416016,296.136719,-399.748138,-13361.724609,330.277039
$MHEAD_RNG_PITCHd_Wd,219.8,340,-25.8,-10.000,-28.70,1066
$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,int_press,humidity
$STATE,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,9,-1.19,-69.9,215,2095,359,375,0.0,0.0,0,17,0.00,0.00,-5.68,0.000,16386,0.000,0.000,214,2095,518,507,529,0,0,0,0,0,0,26.39,28.83,26.39,8.04,40.74
$GC,20,-1.19,-69.9,214,2094,508,530,15.3,0.0,1,111,10.60,0.00,-74.22,0.000,18950,0.238,0.000,2767,2095,2352,2386,2318,0,0,0,0,0,0,25.38,24.35,25.72,8.05,40.66
$GC,178,-1.04,-69.9,2766,2095,2387,2318,30.8,-20.8,23,187,0.15,2.15,0.00,0.000,2308,0.190,0.041,2810,3463,2352,2387,2318,0,0,0,0,0,0,25.63,25.84,25.75,8.22,40.15
$GC,211,-0.92,-69.9,2810,3463,2387,2318,36.7,-16.5,26,216,0.15,2.08,0.00,0.000,3078,0.178,0.023,2853,2067,2352,2387,2318,0,0,0,0,0,0,25.63,26.10,25.84,8.23,40.23
$GC,344,-0.92,-69.9,2853,2065,2387,2315,57.8,-16.0,39,353,0.00,2.15,0.00,0.000,516,0.000,0.038,2853,683,2350,2387,2314,0,0,0,0,0,0,26.51,26.07,26.52,8.23,40.86
$GC,407,-0.86,-69.9,2853,683,2387,2313,69.0,-18.5,45,415,0.00,2.08,0.00,0.000,1030,0.000,0.025,2854,2071,2350,2387,2313,0,0,0,0,0,0,26.18,26.14,26.20,8.23,41.06
$GC,536,-0.86,-69.9,2853,2071,2387,2311,90.5,-16.7,58,541,0.00,2.20,0.00,0.000,260,0.000,0.042,2854,3480,2349,2387,2312,0,0,0,0,0,0,26.58,26.07,26.58,8.23,41.69
$GC,706,-0.86,-69.9,2853,3480,2387,2311,117.5,-14.9,74,713,0.00,2.05,0.00,0.000,1030,0.000,0.023,2853,2081,2349,2387,2311,0,0,0,0,0,0,26.33,26.26,26.34,8.24,41.45
$GC,893,-0.86,-69.9,2853,2080,2387,2309,144.3,-13.4,93,898,0.00,2.15,0.00,0.000,516,0.000,0.038,2853,690,2348,2387,2309,0,0,0,0,0,0,26.65,26.18,26.66,8.25,41.92
$GC,943,-0.86,-69.9,2853,690,2387,2308,150.9,-14.7,97,948,0.00,2.10,0.00,0.000,1030,0.000,0.025,2854,2095,2347,2387,2308,0,0,0,0,0,0,26.33,26.25,26.36,8.26,42.12
$STATE,1113,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1113,begin apogee
$GC,1120,-0.22,0.0,2853,2095,2387,2308,174.3,-12.8,114,1187,0.70,0.00,61.75,0.779,10246,0.145,0.000,3077,2095,2063,2104,2023,0,0,0,0,0,0,25.68,25.29,24.55,8.25,41.73
$STATE,1188,end apogee,CONTROL_FINISHED_OK
$STATE,1188,begin climb
$GC,1191,1.19,69.9,3077,2095,2104,2023,178.6,0.0,121,1266,1.27,2.30,61.47,0.759,10756,0.090,0.037,3523,693,1778,1826,1730,0,0,0,0,0,0,25.36,24.68,24.22,8.24,41.45
$GC,1411,1.19,69.9,3523,693,1823,1729,161.4,10.0,143,1420,0.00,2.10,0.00,0.000,1030,0.000,0.024,3523,2079,1775,1823,1728,0,0,0,0,0,0,25.71,25.69,25.75,8.23,41.53
$GC,1601,1.19,69.9,3523,2079,1823,1727,142.4,9.6,162,1610,0.00,2.15,0.00,0.000,260,0.000,0.038,3523,3479,1775,1823,1727,0,0,0,0,0,0,26.27,25.84,26.28,8.23,41.45
$GC,1703,1.19,69.9,3523,3479,1823,1727,131.6,10.5,172,1712,0.00,2.08,0.00,0.000,1030,0.000,0.022,3534,2080,1775,1823,1727,0,0,0,0,0,0,26.06,26.01,26.08,8.23,41.49
$GC,1893,1.19,69.9,3533,2080,1823,1727,114.8,8.8,191,1897,0.00,2.15,0.00,0.000,516,0.000,0.038,3545,689,1774,1822,1726,0,0,0,0,0,0,26.47,26.03,26.47,8.23,41.06
$GC,1968,1.19,69.9,3544,687,1823,1726,108.3,9.2,198,1976,0.00,2.08,0.00,0.000,1030,0.000,0.024,3544,2085,1774,1822,1726,0,0,0,0,0,0,26.21,26.14,26.23,8.22,41.17
$GC,2155,1.19,69.9,3544,2085,1822,1726,92.7,8.2,217,2165,0.00,2.17,0.00,0.000,516,0.000,0.038,3555,691,1774,1823,1726,0,0,0,0,0,0,26.56,26.10,26.57,8.23,40.98
$GC,2278,1.19,69.9,3554,691,1823,1726,82.4,8.6,229,2288,0.00,2.08,0.00,0.000,1030,0.000,0.025,3555,2084,1774,1822,1726,0,0,0,0,0,0,26.29,26.22,26.32,8.22,41.41
$GC,2408,1.19,69.9,3555,2084,1822,1726,71.9,8.2,242,2417,0.00,2.10,0.00,0.000,260,0.000,0.038,3555,3469,1774,1822,1726,0,0,0,0,0,0,26.63,26.15,26.63,8.22,40.78
$GC,2500,1.19,69.9,3555,3470,1822,1726,64.1,8.5,251,2510,0.00,2.05,0.00,0.000,1030,0.000,0.022,3565,2077,1774,1822,1726,0,0,0,0,0,0,26.35,26.29,26.38,8.22,41.25
$GC,2631,1.23,106.9,3565,2077,1822,1726,55.4,6.4,264,2671,0.00,2.17,31.42,0.685,8708,0.000,0.037,3575,691,1626,1679,1573,0,0,0,0,0,0,26.66,25.47,24.99,8.21,41.21
$GC,2755,1.23,106.9,3575,691,1677,1573,44.2,9.7,276,2758,0.00,2.10,0.00,0.000,1030,0.000,0.025,3576,2087,1625,1677,1573,0,0,0,0,0,0,26.04,25.96,26.07,8.19,40.94
$GC,2887,1.23,106.9,3575,2087,1677,1572,30.2,10.1,289,2891,0.00,2.15,0.00,0.000,260,0.000,0.037,3575,3480,1624,1677,1572,0,0,0,0,0,0,26.41,25.97,26.42,8.19,41.10
$STATE,3138,end climb,NO_VERTICAL_VELOCITY
$STATE,3138,begin surface
$SM_CCo,3142,160.70,0.564,0,0,373,414.56
$SM_GC,15.59,9.10,2.17,0.00,0.044,0.023,0.000,214,2083,368,-9.13,1.47,416.27,0,0,0,0,0,0,25.75,25.89,25.85
$IRIDIUM_FIX,4736.40,-12251.79,240218,132112
$TT8_MAMPS,0.026215,0.273385
$HUMID,40.62
$INTERNAL_PRESSURE,8.02014
$TCM_TEMP,9.30
$XPDR_PINGS,6
$ALTIM_BOTTOM_PING,150.9,32.3
$24V_AH,24.22,42.866
$10V_AH,10.15,16.038
$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,21.975,46.800,154.650,160.700,0.000,0.000,0.000,199.350,5.250,0.000,17.785,881.529,1661.213,433.909,878.879,139.083,0.000,1038.165,0.000,668.160,0.000,33.110,0.000
$DEVICE_MAMPS,237.915,42.075,778.770,563.805,0.000,0.000,0.000,83.385,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,215.260,416.052,420.094,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312192
$DATA_FILE_SIZE,21106,314
$CAP_FILE_SIZE,57887,0
$CFSIZE,2097872896,2039775232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.063,75.31,1
$GPS,240218,153912,4738.176,-12254.808,8,1.1,16,16.4,0.5,69.4,10,4.9