version: 66.14
glider: 194
mission: 12
dive: 553
start: 2 26 118 4 4 40
data:
$ID,194
$MISSION,12
$DIVE,553
$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,47
$R_STBD_OVSHOOT,75
$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
$GPS1,260218,035903,4739.0635,-12252.5771,9,1.0,25,16.4,0.4,48.0,9,4.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,15.72
$_SM_ANGLEo,-71.9
$GPS2,260218,040404,4739.1045,-12252.5234,6,1.0,13,16.4,0.0,130.7,9,4.9
$SPEED_LIMITS,0.173,0.325
$TGT_NAME,HEADING
$TGT_LATLONG,4739.104,-12236.492
$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,-244.4,206,2102,372,364,0.0,0.0,0,17,0.00,0.00,-6.53,0.000,16386,0.000,0.000,206,2102,540,535,545,0,0,0,0,0,0,26.40,28.83,26.41,8.06,40.58
$GC,20,-0.81,-244.4,207,2102,535,546,15.7,0.0,1,146,10.90,2.12,-106.40,0.000,18692,0.231,0.055,2884,3452,3061,3138,2985,0,0,0,0,0,0,25.46,25.40,25.77,8.07,40.78
$GC,294,-0.64,-244.4,2884,3452,3139,2986,49.6,-20.2,38,301,0.17,2.05,0.00,0.000,3078,0.148,0.024,2939,2072,3062,3139,2985,0,0,0,0,0,0,25.75,26.15,25.94,8.28,41.14
$GC,421,-0.54,-244.4,2938,2071,3139,2986,71.0,-15.5,51,430,0.10,2.15,0.00,0.000,2564,0.164,0.038,2975,686,3062,3139,2986,0,0,0,0,0,0,26.03,26.10,26.08,8.30,41.53
$GC,476,-0.48,-244.4,2974,686,3139,2986,78.5,-13.7,56,483,0.00,2.05,0.00,0.000,1030,0.000,0.025,2974,2056,3062,3139,2986,0,0,0,0,0,0,26.27,26.19,26.29,8.30,42.12
$GC,603,-0.48,-244.4,2974,2056,3139,2986,94.2,-12.1,69,607,0.00,2.20,0.00,0.000,260,0.000,0.042,2975,3480,3062,3139,2986,0,0,0,0,0,0,26.60,26.10,26.61,8.30,41.69
$GC,660,-0.48,-244.4,2974,3480,3139,2986,100.1,-11.0,74,666,0.00,2.08,0.00,0.000,1030,0.000,0.023,2975,2077,3062,3138,2986,0,0,0,0,0,0,26.34,26.27,26.36,8.31,42.51
$GC,849,-0.48,-244.4,2974,2076,3139,2986,122.5,-11.5,93,858,0.00,2.15,0.00,0.000,516,0.000,0.040,2975,685,3062,3139,2986,0,0,0,0,0,0,26.65,26.20,26.66,8.32,42.51
$GC,891,-0.48,-244.4,2974,684,3139,2986,128.0,-12.7,97,900,0.00,2.10,0.00,0.000,1030,0.000,0.025,2975,2091,3062,3138,2986,0,0,0,0,0,0,26.34,26.26,26.37,8.32,42.24
$STATE,1079,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1079,begin apogee
$GC,1085,-0.22,0.0,2974,2091,3138,2986,150.1,-11.1,116,1291,0.28,0.00,199.32,0.748,10246,0.122,0.000,3076,2091,2063,2115,2012,0,0,0,0,0,0,25.96,24.69,24.02,8.33,41.88
$STATE,1292,end apogee,CONTROL_FINISHED_OK
$STATE,1292,begin climb
$GC,1295,0.81,244.4,3076,2091,2114,2011,156.0,0.0,137,1504,0.95,2.35,200.48,0.715,10756,0.095,0.039,3389,691,1066,1132,1001,0,0,0,0,0,0,24.79,24.39,23.74,8.25,40.51
$GC,1639,1.02,348.1,3389,691,1129,1001,136.4,7.1,171,1732,0.17,2.12,85.93,0.697,11270,0.040,0.024,3496,2096,644,694,595,0,0,0,0,0,0,25.45,25.45,24.04,8.18,40.58
$GC,1913,1.02,348.1,3496,2096,694,593,101.7,13.1,198,1921,0.00,2.25,0.00,0.000,516,0.000,0.041,3496,691,643,694,593,0,0,0,0,0,0,26.02,25.68,26.03,8.15,40.51
$GC,2027,1.02,348.1,3496,691,692,593,87.0,13.4,209,2034,0.00,2.08,0.00,0.000,1030,0.000,0.024,3497,2077,642,692,592,0,0,0,0,0,0,25.97,25.90,25.98,8.14,41.06
$GC,2155,1.02,348.1,3496,2077,692,593,70.2,12.3,222,2163,0.00,2.17,0.00,0.000,516,0.000,0.042,3497,694,642,691,593,0,0,0,0,0,0,26.33,25.93,26.34,8.14,40.86
$GC,2239,1.02,348.1,3497,694,692,593,60.0,12.4,230,2246,0.00,2.08,0.00,0.000,1030,0.000,0.024,3497,2090,642,692,593,0,0,0,0,0,0,26.14,26.07,26.16,8.13,40.98
$GC,2367,1.02,348.1,3497,2090,692,593,44.5,11.6,243,2375,0.00,2.20,0.00,0.000,516,0.000,0.042,3497,688,642,692,593,0,0,0,0,0,0,26.46,26.03,26.46,8.13,40.74
$GC,2428,1.02,348.1,3496,688,692,593,37.3,11.6,249,2437,0.00,2.08,0.00,0.000,1030,0.000,0.024,3497,2082,642,691,593,0,0,0,0,0,0,26.22,26.15,26.25,8.12,40.78
$GC,2559,1.02,348.1,3497,2082,692,593,24.7,8.8,262,2560,0.00,0.00,0.00,0.000,6,0.000,0.000,3497,2082,642,691,593,0,0,0,0,0,0,26.53,26.54,26.54,8.12,40.62
$GC,2680,1.11,434.4,3497,2082,692,593,15.3,7.6,279,2721,0.00,2.15,34.30,0.522,8452,0.000,0.034,3497,3469,371,373,369,0,0,0,0,0,0,26.57,25.39,25.00,8.11,40.90
$STATE,2827,end climb,NO_VERTICAL_VELOCITY
$STATE,2827,begin surface
$SM_CCo,3158,0.00,0.000,0,0,368,416.52
$SM_GC,15.93,8.80,2.15,0.00,0.042,0.024,0.000,205,2074,368,-9.15,1.22,416.52,0,0,0,0,0,0,26.05,26.16,26.14
$IRIDIUM_FIX,4741.99,-12255.26,260218,030142
$TT8_MAMPS,0.026215,0.289863
$HUMID,41.49
$INTERNAL_PRESSURE,8.0299
$TCM_TEMP,9.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,999.0
$ALTIM_BOTTOM_PING,110.5,49.5
$24V_AH,23.74,46.288
$10V_AH,10.12,17.027
$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,21.375,38.525,520.025,0.000,0.000,0.000,0.000,204.650,1.750,0.000,15.020,668.643,1306.861,558.587,823.231,123.155,0.000,1191.360,0.000,610.974,0.000,19.345,0.000
$DEVICE_MAMPS,231.030,55.080,748.170,0.000,0.000,0.000,0.000,78.795,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,205.294,404.789,408.829,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312176
$DATA_FILE_SIZE,21084,307
$CAP_FILE_SIZE,49768,0
$CFSIZE,2097872896,2036334592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,260218,045813,4739.074,-12251.981,6,1.2,14,16.3,0.4,31.3,8,4.7