version: 66.14
glider: 194
mission: 12
dive: 615
start: 2 28 118 20 7 30
data:
$ID,194
$MISSION,12
$DIVE,615
$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,59
$R_STBD_OVSHOOT,58
$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,15
$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
$GPS1,280218,200103,4737.9092,-12254.9453,4,0.9,17,16.4,0.3,56.7,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,16.59
$_SM_ANGLEo,-67.2
$GPS2,280218,200651,4737.9404,-12254.8730,5,1.0,30,16.4,0.4,75.8,8,4.9
$SPEED_LIMITS,0.173,0.325
$TGT_NAME,NW2N
$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,357.3,340,-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,8,-1.25,-63.1,212,2061,342,395,0.0,0.0,0,16,0.00,0.00,-5.53,0.000,16386,0.000,0.000,211,2061,515,493,537,0,0,0,0,0,0,26.37,28.83,26.38,8.06,41.21
$GC,19,-1.25,-63.1,212,2062,494,537,16.7,0.0,1,122,10.12,2.20,-85.82,0.000,18948,0.223,0.053,2745,695,2324,2366,2282,0,0,0,0,0,0,25.37,23.96,25.69,8.07,40.86
$GC,416,-1.08,-63.1,2745,694,2367,2275,66.7,-21.8,53,424,0.20,2.08,0.00,0.000,3078,0.196,0.026,2799,2087,2321,2368,2274,0,0,0,0,0,0,25.52,26.15,25.78,8.23,41.84
$GC,543,-1.02,-63.1,2799,2087,2368,2274,90.0,-17.2,66,548,0.00,2.17,0.00,0.000,516,0.000,0.037,2799,686,2320,2367,2273,0,0,0,0,0,0,26.60,26.13,26.61,8.24,41.96
$GC,560,-0.95,-63.1,2799,686,2367,2273,92.1,-16.9,67,567,0.15,2.08,0.00,0.000,3078,0.190,0.024,2841,2082,2320,2367,2273,0,0,0,0,0,0,25.67,26.20,25.89,8.24,41.80
$GC,688,-0.95,-63.1,2840,2082,2367,2273,111.6,-14.4,80,692,0.00,2.17,0.00,0.000,516,0.000,0.037,2841,687,2319,2367,2272,0,0,0,0,0,0,26.63,26.16,26.64,8.25,42.51
$GC,732,-0.95,-63.1,2841,687,2368,2271,118.8,-15.7,84,737,0.00,2.08,0.00,0.000,1030,0.000,0.024,2841,2090,2319,2367,2271,0,0,0,0,0,0,26.31,26.22,26.34,8.25,41.73
$GC,927,-0.95,-63.1,2841,2091,2367,2271,146.9,-14.3,103,931,0.00,2.17,0.00,0.000,516,0.000,0.037,2841,693,2319,2367,2271,0,0,0,0,0,0,26.67,26.20,26.68,8.26,42.87
$GC,993,-0.95,-63.1,2840,693,2367,2270,156.7,-15.1,109,1000,0.00,2.08,0.00,0.000,1030,0.000,0.024,2841,2094,2318,2367,2270,0,0,0,0,0,0,26.35,26.27,26.38,8.26,42.28
$STATE,1097,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1097,begin apogee
$GC,1103,-0.22,0.0,2841,2094,2367,2270,171.8,-13.5,120,1162,0.73,0.00,55.15,0.763,10246,0.150,0.000,3070,2094,2065,2107,2023,0,0,0,0,0,0,25.62,25.33,24.52,8.27,42.59
$STATE,1163,end apogee,CONTROL_FINISHED_OK
$STATE,1163,begin climb
$GC,1166,1.25,63.1,3070,2094,2107,2023,176.1,0.0,126,1230,1.35,0.00,56.83,0.750,10246,0.099,0.000,3527,2094,1805,1855,1756,0,0,0,0,0,0,25.41,24.91,24.19,8.25,42.59
$GC,1410,1.34,63.1,3526,2095,1853,1753,158.5,8.7,151,1412,0.10,0.00,0.00,0.000,2054,0.081,0.000,3604,2095,1803,1853,1753,0,0,0,0,0,0,25.93,25.96,25.95,8.23,41.61
$GC,1590,1.34,63.1,3603,2095,1852,1753,139.1,10.8,169,1599,0.00,2.17,0.00,0.000,516,0.000,0.037,3614,690,1802,1851,1753,0,0,0,0,0,0,26.36,25.94,26.37,8.23,41.73
$GC,1702,1.34,63.1,3614,690,1851,1753,126.7,11.0,180,1713,0.10,2.10,0.00,0.000,5126,0.171,0.024,3588,2097,1802,1852,1752,0,0,0,0,0,0,25.77,26.08,25.92,8.23,41.84
$GC,1894,1.34,63.1,3587,2097,1850,1752,108.9,9.9,199,1903,0.00,2.17,0.00,0.000,516,0.000,0.038,3596,695,1801,1850,1752,0,0,0,0,0,0,26.53,26.08,26.54,8.23,41.96
$GC,1987,1.34,63.1,3595,696,1850,1752,99.2,10.3,208,1991,0.00,2.08,0.00,0.000,1030,0.000,0.024,3596,2075,1801,1850,1752,0,0,0,0,0,0,26.23,26.20,26.26,8.23,41.49
$GC,2120,1.34,63.1,3595,2075,1851,1752,86.5,8.7,221,2123,0.00,2.15,0.00,0.000,260,0.000,0.037,3595,3473,1801,1850,1752,0,0,0,0,0,0,26.61,26.13,26.61,8.23,41.84
$GC,2336,1.34,63.1,3595,3473,1851,1752,64.5,9.7,242,2343,0.00,2.05,0.00,0.000,1030,0.000,0.022,3606,2076,1801,1851,1751,0,0,0,0,0,0,26.36,26.29,26.39,8.22,42.12
$GC,2464,1.36,89.4,3605,2075,1850,1751,54.3,7.2,255,2494,0.00,2.17,22.80,0.671,8452,0.000,0.035,3606,3473,1698,1750,1647,0,0,0,0,0,0,26.68,25.41,24.89,8.22,41.53
$GC,2572,1.36,89.4,3605,3473,1749,1647,44.4,11.0,265,2579,0.00,2.08,0.00,0.000,1030,0.000,0.021,3616,2078,1698,1749,1647,0,0,0,0,0,0,26.16,26.10,26.18,8.21,41.02
$GC,2699,1.39,119.7,3615,2079,1749,1646,33.2,6.8,278,2721,0.00,2.20,16.48,0.588,8452,0.000,0.036,3616,3473,1575,1629,1521,0,0,0,0,0,0,26.51,25.71,24.91,8.21,41.45
$GC,2813,1.42,142.6,3615,3473,1629,1519,26.0,7.6,289,2832,0.00,2.08,12.02,0.534,9222,0.000,0.021,3626,2076,1481,1540,1423,0,0,0,0,0,0,26.13,26.07,24.84,8.19,41.17
$GC,2958,1.46,190.2,3625,2076,1540,1420,18.4,4.9,306,2989,0.00,2.20,23.48,0.522,8708,0.000,0.038,3636,685,1286,1346,1227,0,0,0,0,0,0,26.40,25.32,24.88,8.18,41.88
$STATE,3142,end climb,NO_VERTICAL_VELOCITY
$STATE,3142,begin surface
$SM_CCo,3145,112.90,0.519,0,0,373,414.56
$SM_GC,16.77,9.23,2.17,0.00,0.041,0.024,0.000,209,2079,368,-9.14,-1.58,416.27,0,0,0,0,0,0,25.82,25.92,25.91
$IRIDIUM_FIX,4739.20,-12253.53,280218,185700
$TT8_MAMPS,0.026964,0.283122
$HUMID,41.49
$INTERNAL_PRESSURE,8.0299
$TCM_TEMP,9.90
$XPDR_PINGS,10
$ALTIM_TOP_PING,19.5,999.0
$ALTIM_BOTTOM_PING,135.6,50.7
$24V_AH,23.96,52.605
$10V_AH,10.07,18.741
$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,21.975,42.650,186.750,112.900,0.000,0.000,0.000,232.350,5.250,0.000,31.595,918.734,1568.166,410.147,915.734,148.887,0.000,1035.354,0.000,665.139,0.000,24.557,0.000
$DEVICE_MAMPS,222.615,52.785,763.470,519.435,0.000,0.000,0.000,78.795,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,234.043,451.844,456.245,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312168
$DATA_FILE_SIZE,24504,341
$CAP_FILE_SIZE,57231,0
$CFSIZE,2097872896,2030239744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.031,3.68,1
$GPS,280218,210832,4738.247,-12254.835,11,0.9,30,16.4,0.2,56.2,9,4.7