version: 66.14
glider: 194
mission: 12
dive: 552
start: 2 26 118 3 5 40
data:
$ID,194
$MISSION,12
$DIVE,552
$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,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,90
$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,35
$R_STBD_OVSHOOT,62
$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
$GPS1,260218,030007,4739.0933,-12253.2158,5,0.8,14,16.4,0.0,58.3,9,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,15.67
$_SM_ANGLEo,-70.0
$GPS2,260218,030504,4739.1016,-12253.1826,7,0.9,17,16.4,0.0,0.0,9,4.8
$SPEED_LIMITS,0.173,0.325
$TGT_NAME,HEADING
$TGT_LATLONG,4739.102,-12237.151
$TGT_RADIUS,1852.000
$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,73.6,20000,-13.0,-10.000,-17.11,3689
$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,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,8,-0.81,-244.4,213,2084,378,362,0.0,0.0,0,17,0.00,0.00,-6.47,0.000,16386,0.000,0.000,213,2084,539,537,542,0,0,0,0,0,0,26.41,28.83,26.41,8.05,41.06
$GC,20,-0.81,-244.4,213,2084,537,543,15.6,0.0,1,157,10.70,2.17,-118.75,0.000,18692,0.226,0.052,2886,3466,3064,3142,2986,0,0,0,0,0,0,25.50,25.40,25.79,8.07,41.21
$GC,285,-0.64,-244.4,2885,3466,3142,2987,43.2,-19.8,38,293,0.17,2.10,0.00,0.000,3078,0.145,0.024,2942,2057,3064,3141,2987,0,0,0,0,0,0,25.77,26.14,25.96,8.28,41.29
$GC,413,-0.54,-244.4,2941,2056,3142,2987,64.8,-16.5,51,422,0.10,2.10,0.00,0.000,2564,0.164,0.038,2978,689,3064,3142,2987,0,0,0,0,0,0,26.03,26.10,26.08,8.29,41.53
$GC,488,-0.54,-244.4,2976,689,3142,2987,74.9,-12.7,58,495,0.00,2.08,0.00,0.000,1030,0.000,0.026,2977,2077,3064,3141,2987,0,0,0,0,0,0,26.27,26.19,26.29,8.29,41.80
$GC,615,-0.54,-244.4,2976,2077,3142,2987,90.8,-12.0,71,624,0.00,2.20,0.00,0.000,260,0.000,0.041,2977,3487,3064,3142,2987,0,0,0,0,0,0,26.60,26.11,26.61,8.30,42.08
$GC,650,-0.54,-244.4,2976,3487,3142,2987,94.6,-11.6,74,657,0.00,2.08,0.00,0.000,1030,0.000,0.023,2977,2081,3064,3142,2987,0,0,0,0,0,0,26.33,26.26,26.35,8.30,42.08
$GC,779,-0.54,-244.4,2976,2081,3142,2987,109.9,-11.8,87,788,0.00,2.12,0.00,0.000,516,0.000,0.039,2978,688,3064,3142,2987,0,0,0,0,0,0,26.64,26.18,26.65,8.30,41.96
$GC,831,-0.54,-244.4,2977,689,3142,2987,116.2,-12.1,92,840,0.00,2.10,0.00,0.000,1030,0.000,0.025,2977,2094,3064,3142,2987,0,0,0,0,0,0,26.34,26.25,26.36,8.31,42.63
$GC,1021,-0.54,-244.4,2977,2093,3141,2987,138.1,-11.6,111,1030,0.00,2.15,0.00,0.000,260,0.000,0.041,2977,3475,3064,3142,2987,0,0,0,0,0,0,26.68,26.17,26.69,8.32,41.96
$GC,1115,-0.54,-244.4,2976,3476,3142,2987,147.9,-10.2,120,1122,0.00,2.05,0.00,0.000,1030,0.000,0.023,2977,2079,3064,3142,2987,0,0,0,0,0,0,26.40,26.33,26.42,8.32,42.36
$STATE,1160,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1160,begin apogee
$GC,1167,-0.22,0.0,2977,2079,3142,2986,153.4,-10.7,125,1372,0.28,0.00,199.55,0.749,10246,0.119,0.000,3079,2079,2063,2115,2012,0,0,0,0,0,0,25.99,24.68,24.01,8.33,41.92
$STATE,1374,end apogee,CONTROL_FINISHED_OK
$STATE,1374,begin climb
$GC,1376,0.81,244.4,3079,2079,2115,2012,155.8,0.0,146,1588,0.93,2.33,201.85,0.717,11012,0.083,0.038,3391,694,1066,1132,1001,0,0,0,0,0,0,24.82,24.15,23.71,8.24,40.74
$GC,1655,1.08,370.8,3390,694,1129,1001,141.9,6.5,173,1771,0.22,2.15,104.82,0.696,11270,0.047,0.023,3511,2094,551,594,509,0,0,0,0,0,0,25.13,25.13,23.88,8.18,39.84
$GC,1952,1.08,370.8,3510,2094,594,508,101.7,14.0,203,1960,0.00,2.25,0.00,0.000,516,0.000,0.042,3513,688,551,594,508,0,0,0,0,0,0,25.94,25.58,25.95,8.14,40.15
$GC,2085,1.08,370.8,3512,688,593,508,83.0,14.1,216,2094,0.00,2.08,0.00,0.000,1030,0.000,0.024,3513,2075,550,593,508,0,0,0,0,0,0,25.91,25.88,25.94,8.13,41.14
$GC,2214,1.08,370.8,3512,2076,593,509,65.2,13.5,229,2223,0.00,2.20,0.00,0.000,516,0.000,0.042,3513,694,550,593,508,0,0,0,0,0,0,26.32,25.91,26.32,8.13,40.82
$GC,2286,1.08,370.8,3513,694,593,508,55.4,13.4,236,2295,0.00,2.10,0.00,0.000,1030,0.000,0.024,3513,2098,550,593,508,0,0,0,0,0,0,26.12,26.06,26.14,8.12,40.47
$GC,2416,1.08,370.8,3512,2097,593,508,39.4,11.9,249,2425,0.00,2.20,0.00,0.000,516,0.000,0.041,3513,693,550,593,508,0,0,0,0,0,0,26.44,26.03,26.45,8.11,41.25
$GC,2491,1.08,370.8,3513,693,593,508,31.0,11.2,256,2497,0.00,2.05,0.00,0.000,1030,0.000,0.024,3513,2083,550,593,508,0,0,0,0,0,0,26.22,26.15,26.24,8.11,40.66
$GC,2620,1.15,444.3,3512,2083,593,508,18.8,8.0,270,2650,0.00,2.15,22.73,0.522,8452,0.000,0.034,3513,3470,372,377,367,0,0,0,0,0,0,26.53,25.44,25.02,8.10,40.62
$GC,2716,1.72,797.0,3512,3470,376,365,14.7,0.2,287,2724,0.45,2.08,0.00,0.000,3078,0.053,0.024,3695,2082,371,377,365,0,0,0,0,0,0,25.97,26.04,26.06,8.09,40.27
$GC,2788,2.26,1157.1,3694,2081,376,365,14.8,0.0,300,2795,0.43,2.20,0.00,0.000,2564,0.051,0.040,3879,683,371,377,365,0,0,0,0,0,0,26.04,25.97,26.08,8.08,40.58
$STATE,2806,end climb,NO_VERTICAL_VELOCITY
$STATE,2806,begin surface
$SM_CCo,3137,0.00,0.000,0,0,369,416.27
$SM_GC,15.83,9.88,2.15,0.00,0.047,0.024,0.000,207,2099,369,-9.14,-1.75,416.27,0,0,0,0,0,0,26.08,26.21,26.16
$IRIDIUM_FIX,4738.72,-12249.11,260218,020737
$TT8_MAMPS,0.026215,0.282373
$HUMID,41.57
$INTERNAL_PRESSURE,8.0299
$TCM_TEMP,9.70
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.8,6.2
$ALTIM_BOTTOM_PING,100.3,62.9
$24V_AH,23.71,46.179
$10V_AH,10.10,17.000
$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,23.150,47.075,528.950,0.000,0.000,0.000,0.000,197.175,1.750,0.000,18.688,656.404,1255.968,614.532,802.145,126.415,0.000,1239.333,0.000,599.052,0.000,10.393,0.000
$DEVICE_MAMPS,225.675,52.020,748.935,0.000,0.000,0.000,0.000,77.265,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,201.611,399.105,403.108,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312208
$DATA_FILE_SIZE,20980,303
$CAP_FILE_SIZE,52578,0
$CFSIZE,2097872896,2036432896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,260218,035903,4739.063,-12252.577,9,1.0,25,16.4,0.4,48.0,9,4.4