version: 66.14
glider: 194
mission: 12
dive: 580
start: 2 27 118 10 18 52
data:
$ID,194
$MISSION,12
$DIVE,580
$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,57
$R_STBD_OVSHOOT,55
$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
$GPS1,270218,101340,4738.5098,-12253.3672,8,0.9,13,16.4,0.0,209.6,9,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,16.29
$_SM_ANGLEo,-71.3
$GPS2,270218,101813,4738.5225,-12253.3232,8,0.9,15,16.4,0.0,0.0,9,4.8
$SPEED_LIMITS,0.173,0.325
$TGT_NAME,NW1
$TGT_LATLONG,4738.657,-12253.412
$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,315.7,273,-27.2,-10.000,-30.00,962
$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,9,-1.25,-63.1,189,2074,373,371,0.0,0.0,0,17,0.00,0.00,-5.78,0.000,16386,0.000,0.000,189,2074,526,519,534,0,0,0,0,0,0,26.51,28.83,26.52,8.07,41.53
$GC,20,-1.25,-63.1,189,2074,519,535,16.4,0.0,1,121,10.45,2.15,-81.38,0.000,18948,0.233,0.049,2745,687,2323,2357,2289,0,0,0,0,0,0,25.46,25.46,25.79,8.09,40.86
$GC,284,-1.08,-63.1,2744,687,2357,2285,54.3,-22.0,35,291,0.20,2.08,0.00,0.000,3078,0.198,0.025,2799,2083,2321,2357,2285,0,0,0,0,0,0,25.54,26.17,25.82,8.23,41.49
$GC,411,-1.00,-63.1,2798,2083,2357,2284,79.8,-18.2,48,420,0.10,2.12,0.00,0.000,2308,0.210,0.040,2828,3472,2320,2357,2284,0,0,0,0,0,0,25.93,26.07,26.00,8.24,41.17
$GC,467,-1.00,-63.1,2828,3472,2358,2284,89.2,-17.7,53,473,0.00,2.05,0.00,0.000,1030,0.000,0.022,2829,2079,2320,2357,2284,0,0,0,0,0,0,26.34,26.27,26.36,8.23,41.33
$GC,595,-1.00,-63.1,2828,2079,2357,2283,110.2,-16.2,66,603,0.00,2.15,0.00,0.000,260,0.000,0.041,2828,3466,2320,2357,2283,0,0,0,0,0,0,26.63,26.13,26.63,8.24,41.77
$GC,669,-1.00,-63.1,2828,3466,2357,2283,122.3,-15.9,73,673,0.00,2.05,0.00,0.000,1030,0.000,0.022,2829,2078,2319,2357,2282,0,0,0,0,0,0,26.36,26.30,26.39,8.25,41.49
$GC,861,-1.00,-63.1,2828,2077,2356,2281,151.9,-15.5,92,866,0.00,2.15,0.00,0.000,516,0.000,0.037,2829,687,2318,2357,2280,0,0,0,0,0,0,26.70,26.22,26.70,8.24,41.77
$GC,996,-0.94,-63.1,2828,688,2357,2279,173.5,-16.3,105,1000,0.00,2.08,0.00,0.000,1030,0.000,0.024,2829,2090,2318,2357,2279,0,0,0,0,0,0,26.39,26.31,26.41,8.26,41.96
$STATE,1005,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1005,begin apogee
$GC,1012,-0.22,0.0,2828,2090,2357,2280,175.7,-16.1,106,1071,0.75,0.00,56.00,0.773,10246,0.138,0.000,3072,2090,2064,2104,2024,0,0,0,0,0,0,25.72,25.35,24.58,8.26,42.51
$STATE,1072,end apogee,CONTROL_FINISHED_OK
$STATE,1072,begin climb
$GC,1075,1.25,63.1,3072,2090,2104,2023,177.2,0.0,112,1139,1.33,2.33,56.08,0.754,10756,0.091,0.037,3537,691,1805,1854,1757,0,0,0,0,0,0,25.44,24.98,24.24,8.24,41.25
$GC,1177,1.41,117.2,3536,691,1854,1757,174.5,4.2,122,1235,0.12,2.12,46.30,0.740,11270,0.065,0.023,3629,2093,1584,1639,1530,0,0,0,0,0,0,25.44,25.45,24.15,8.22,40.86
$GC,1414,1.41,117.2,3629,2093,1639,1529,144.2,14.5,146,1415,0.00,0.00,0.00,0.000,6,0.000,0.000,3629,2093,1583,1639,1528,0,0,0,0,0,0,26.12,26.13,26.12,8.21,41.41
$GC,1595,1.41,117.2,3629,2093,1639,1527,117.9,14.9,164,1603,0.00,2.17,0.00,0.000,516,0.000,0.039,3639,693,1583,1639,1528,0,0,0,0,0,0,26.34,25.93,26.34,8.21,41.92
$GC,1699,1.41,117.2,3638,693,1638,1527,102.7,14.7,174,1708,0.10,2.05,0.00,0.000,5126,0.157,0.024,3611,2078,1582,1638,1527,0,0,0,0,0,0,25.74,26.07,25.82,8.21,42.16
$GC,1889,1.41,117.2,3610,2078,1638,1526,75.5,12.9,193,1897,0.00,2.12,0.00,0.000,260,0.000,0.037,3611,3463,1582,1638,1526,0,0,0,0,0,0,26.51,26.06,26.52,8.20,41.45
$GC,1953,1.41,117.2,3610,3463,1638,1526,66.9,13.5,199,1960,0.00,2.05,0.00,0.000,1030,0.000,0.022,3619,2077,1582,1638,1526,0,0,0,0,0,0,26.27,26.20,26.29,8.21,41.61
$GC,2081,1.41,117.2,3618,2077,1638,1526,51.3,11.4,212,2084,0.00,2.15,0.00,0.000,516,0.000,0.039,3629,688,1582,1638,1526,0,0,0,0,0,0,26.58,26.13,26.58,8.20,41.96
$GC,2142,1.41,117.2,3629,687,1638,1526,43.7,12.6,218,2152,0.00,2.08,0.00,0.000,1030,0.000,0.024,3629,2079,1582,1638,1526,0,0,0,0,0,0,26.30,26.23,26.33,8.20,42.16
$GC,2273,1.43,137.3,3629,2080,1638,1526,30.6,7.9,231,2293,0.00,2.12,10.80,0.559,8452,0.000,0.037,3629,3474,1503,1562,1444,0,0,0,0,0,0,26.63,25.82,24.97,8.20,41.80
$GC,2307,1.45,166.3,3629,3474,1562,1443,28.3,6.9,234,2329,0.00,2.05,15.32,0.562,9222,0.000,0.021,3640,2084,1385,1446,1325,0,0,0,0,0,0,26.21,26.19,24.98,8.19,41.92
$GC,2454,1.50,208.3,3639,2084,1444,1322,17.0,5.5,252,2480,0.00,2.25,20.80,0.520,8708,0.000,0.038,3650,684,1213,1273,1153,0,0,0,0,0,0,26.44,25.67,24.97,8.17,41.80
$STATE,2633,end climb,NO_VERTICAL_VELOCITY
$STATE,2633,begin surface
$SM_CCo,2636,104.65,0.526,0,0,374,414.56
$SM_GC,16.18,9.25,2.17,0.00,0.041,0.024,0.000,209,2088,369,-9.13,-1.67,416.03,0,0,0,0,0,0,25.84,25.94,25.94
$IRIDIUM_FIX,4738.33,-12256.21,270218,091507
$TT8_MAMPS,0.026215,0.274883
$HUMID,41.57
$INTERNAL_PRESSURE,8.02014
$TCM_TEMP,10.80
$XPDR_PINGS,7
$ALTIM_TOP_PING,19.2,999.0
$ALTIM_BOTTOM_PING,115.6,68.7
$24V_AH,24.15,49.006
$10V_AH,10.12,17.818
$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,22.300,42.500,205.300,104.650,0.000,0.000,0.000,182.700,3.250,0.000,16.595,765.504,1326.502,406.875,745.870,130.661,0.000,950.228,0.000,561.871,0.000,15.253,0.000
$DEVICE_MAMPS,232.560,48.960,772.650,526.320,0.000,0.000,0.000,74.205,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,195.133,378.491,382.201,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312108
$DATA_FILE_SIZE,21051,286
$CAP_FILE_SIZE,52072,0
$CFSIZE,2097872896,2033680384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.091,63.27,1
$GPS,270218,111103,4738.792,-12253.314,9,0.8,16,16.4,0.5,44.0,10,4.8