version: 66.14
glider: 194
mission: 12
dive: 624
start: 3 1 118 6 30 16
data:
$ID,194
$MISSION,12
$DIVE,624
$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,50
$R_STBD_OVSHOOT,49
$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
$GPS1,010318,062413,4738.6387,-12254.1338,4,0.9,16,16.4,0.0,0.0,8,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,16.70
$_SM_ANGLEo,-69.3
$GPS2,010318,062938,4738.6455,-12254.0820,5,0.9,16,16.4,0.0,0.0,8,5.0
$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,211.9,1326,-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,-244.4,204,2069,361,376,0.0,0.0,0,17,0.00,0.00,-6.32,0.000,16386,0.000,0.000,204,2069,533,525,542,0,0,0,0,0,0,26.40,28.83,26.41,8.06,41.06
$GC,20,-0.81,-244.4,204,2069,525,542,16.7,0.0,1,157,10.85,2.22,-119.15,0.000,18948,0.226,0.053,2890,689,3063,3141,2986,0,0,0,0,0,0,25.42,23.99,25.72,8.08,41.14
$GC,175,-0.56,-244.4,2890,688,3141,2987,21.4,-14.9,26,183,0.25,2.10,0.00,0.000,3078,0.161,0.027,2965,2085,3064,3141,2987,0,0,0,0,0,0,25.53,26.06,25.77,8.29,41.02
$GC,303,-0.48,-244.4,2964,2086,3142,2987,42.5,-15.1,39,313,0.10,2.17,0.00,0.000,2308,0.164,0.041,3001,3476,3064,3142,2987,0,0,0,0,0,0,26.01,26.03,26.05,8.29,41.29
$GC,419,-0.48,-244.4,3000,3477,3142,2988,55.8,-11.6,50,428,0.00,2.08,0.00,0.000,1030,0.000,0.023,3001,2083,3064,3142,2987,0,0,0,0,0,0,26.24,26.21,26.26,8.29,41.77
$GC,547,-0.48,-244.4,3000,2082,3142,2987,70.4,-10.8,63,556,0.00,2.20,0.00,0.000,516,0.000,0.040,3001,665,3064,3142,2987,0,0,0,0,0,0,26.61,26.11,26.62,8.31,42.00
$GC,582,-0.48,-244.4,3000,665,3142,2987,74.4,-11.7,66,589,0.00,2.12,0.00,0.000,1030,0.000,0.025,3001,2089,3064,3142,2987,0,0,0,0,0,0,26.29,26.20,26.32,8.31,42.32
$GC,710,-0.48,-244.4,3000,2089,3141,2987,89.8,-13.2,79,719,0.00,2.17,0.00,0.000,260,0.000,0.042,3001,3480,3064,3142,2987,0,0,0,0,0,0,26.65,26.10,26.65,8.31,42.51
$GC,772,-0.48,-244.4,3000,3480,3142,2987,97.6,-11.7,85,782,0.00,2.08,0.00,0.000,1030,0.000,0.023,3000,2070,3064,3142,2987,0,0,0,0,0,0,26.36,26.29,26.37,8.31,42.16
$GC,903,-0.48,-244.4,3000,2070,3141,2987,111.4,-10.2,98,912,0.00,2.12,0.00,0.000,516,0.000,0.038,3001,692,3064,3141,2987,0,0,0,0,0,0,26.67,26.17,26.69,8.31,42.16
$GC,935,-0.48,-244.4,3000,691,3142,2987,114.9,-10.5,101,944,0.00,2.08,0.00,0.000,1030,0.000,0.024,3001,2082,3064,3142,2987,0,0,0,0,0,0,26.35,26.27,26.38,8.32,42.12
$STATE,983,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,983,begin apogee
$GC,989,-0.22,0.0,3000,2082,3142,2987,119.8,-9.5,106,1194,0.20,0.00,198.50,0.734,10246,0.121,0.000,3077,2082,2063,2113,2014,0,0,0,0,0,0,26.03,24.70,24.01,8.33,42.32
$STATE,1195,end apogee,CONTROL_FINISHED_OK
$STATE,1196,begin climb
$GC,1200,0.81,244.4,3077,2082,2113,2014,132.1,0.0,127,1409,0.95,2.35,200.02,0.700,10756,0.106,0.038,3388,687,1066,1131,1002,0,0,0,0,0,0,24.85,24.23,23.77,8.25,41.02
$GC,1485,1.09,416.0,3388,687,1129,1002,123.0,5.2,155,1635,0.22,2.15,140.32,0.681,11270,0.037,0.024,3511,2090,373,374,373,0,0,0,0,0,0,25.31,25.30,23.87,8.19,40.74
$GC,1814,1.09,416.0,3511,2090,374,371,79.0,14.3,188,1822,0.00,2.22,0.00,0.000,516,0.000,0.041,3513,695,372,374,371,0,0,0,0,0,0,26.03,25.65,26.04,8.12,40.39
$GC,1950,1.09,416.0,3512,695,374,371,61.4,13.2,201,1957,0.00,2.08,0.00,0.000,1030,0.000,0.024,3513,2078,372,374,370,0,0,0,0,0,0,26.01,25.94,26.03,8.12,40.70
$GC,2076,1.09,416.0,3512,2078,374,370,44.5,12.9,214,2079,0.00,2.20,0.00,0.000,516,0.000,0.041,3513,685,372,374,370,0,0,0,0,0,0,26.38,25.95,26.39,8.11,40.82
$GC,2157,1.09,416.0,3512,686,374,370,34.5,11.9,222,2161,0.00,2.10,0.00,0.000,1030,0.000,0.024,3513,2093,372,374,370,0,0,0,0,0,0,26.17,26.10,26.19,8.11,41.14
$GC,2290,1.09,416.0,3512,2093,374,370,20.0,10.8,235,2295,0.00,2.22,0.00,0.000,516,0.000,0.041,3513,687,371,374,369,0,0,0,0,0,0,26.50,26.06,26.51,8.10,41.10
$GC,2397,1.66,775.2,3512,687,374,369,15.7,0.0,254,2405,0.40,2.08,0.00,0.000,3078,0.050,0.027,3687,2070,371,374,369,0,0,0,0,0,0,26.17,26.12,26.25,8.09,41.10
$GC,2470,2.21,1131.9,3687,2072,374,369,15.7,0.1,267,2477,0.38,2.17,0.00,0.000,2308,0.052,0.037,3856,3480,371,374,369,0,0,0,0,0,0,26.22,26.10,26.25,8.09,40.98
$STATE,2482,end climb,NO_VERTICAL_VELOCITY
$STATE,2482,begin surface
$SM_CCo,2814,0.00,0.000,0,0,370,415.78
$SM_GC,16.77,9.73,2.15,0.00,0.041,0.024,0.000,180,2095,370,-9.21,1.50,415.78,0,0,0,0,0,0,26.21,26.29,26.27
$IRIDIUM_FIX,4737.86,-12251.79,010318,051734
$TT8_MAMPS,0.026215,0.280875
$HUMID,42.28
$INTERNAL_PRESSURE,8.03967
$TCM_TEMP,9.90
$XPDR_PINGS,11
$ALTIM_TOP_PING,18.8,95.3
$ALTIM_BOTTOM_PING,100.5,34.1
$24V_AH,23.77,53.562
$10V_AH,10.08,19.007
$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,23.075,43.075,538.850,0.000,0.000,0.000,0.000,221.500,3.500,0.000,17.889,614.945,1053.357,589.320,765.917,135.713,0.000,1222.712,0.000,544.738,0.000,10.419,0.000
$DEVICE_MAMPS,226.440,52.785,733.635,0.000,0.000,0.000,0.000,78.030,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,178.548,354.116,358.283,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312140
$DATA_FILE_SIZE,17628,269
$CAP_FILE_SIZE,49074,0
$CFSIZE,2097872896,2029355008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.059,240.89,1
$GPS,010318,071806,4738.511,-12254.661,5,0.9,15,16.4,0.2,126.8,9,4.7