version: 66.14
glider: 194
mission: 12
dive: 126
start: 2 5 118 10 3 10
data:
$ID,194
$MISSION,12
$DIVE,126
$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,1
$FERRY_MAX,45
$KALMAN_USE,1
$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,47
$R_STBD_OVSHOOT,68
$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
$GPS1,050218,095701,4739.2964,-12252.5264,7,0.9,35,16.4,0.3,21.3,10,4.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.53
$_SM_ANGLEo,-73.9
$GPS2,050218,100201,4739.3394,-12252.5029,8,0.9,13,16.4,0.0,35.5,10,4.9
$SPEED_LIMITS,0.173,0.325
$TGT_NAME,NW_NE
$TGT_LATLONG,4739.150,-12252.570
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.094266,-0.145307
$KALMAN_X,14626.882812,289.123657,822.134033,-15723.220703,191.474670
$KALMAN_Y,5808.871094,705.125305,1220.612061,-7387.220215,77.668945
$MHEAD_RNG_PITCHd_Wd,196.6,361,-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,-63.1,208,2063,364,371,0.0,0.0,0,16,0.00,0.00,-6.05,0.000,16386,0.000,0.000,208,2063,541,534,548,0,0,0,0,0,0,26.32,28.83,26.34,8.07,39.84
$GC,20,-1.25,-63.1,208,2063,534,549,4.6,0.0,1,101,10.52,2.22,-63.35,0.000,18692,0.252,0.055,2746,3457,2325,2361,2290,0,0,0,0,0,0,25.67,24.76,25.96,8.09,39.76
$GC,109,-1.11,-63.1,2745,3457,2362,2291,10.7,-17.9,16,116,0.15,2.05,0.00,0.000,3078,0.185,0.023,2789,2065,2326,2362,2290,0,0,0,0,0,0,25.82,26.08,26.01,8.24,38.93
$GC,180,-1.11,-63.1,2788,2065,2362,2289,19.5,-10.6,29,185,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2065,2325,2362,2289,0,0,0,0,0,0,26.38,26.39,26.39,8.24,38.85
$GC,245,-1.11,-63.1,2788,2065,2362,2287,25.1,-8.7,36,253,0.00,2.12,0.00,0.000,516,0.000,0.039,2789,693,2324,2362,2286,0,0,0,0,0,0,26.41,26.11,26.42,8.24,38.97
$GC,379,-1.05,-63.1,2788,693,2362,2284,39.6,-12.6,49,387,0.00,2.03,0.00,0.000,1030,0.000,0.026,2789,2063,2323,2362,2284,0,0,0,0,0,0,26.23,26.20,26.25,8.24,39.36
$GC,506,-1.05,-63.1,2788,2063,2362,2284,56.0,-12.7,62,515,0.00,2.12,0.00,0.000,516,0.000,0.040,2789,694,2322,2362,2283,0,0,0,0,0,0,26.53,26.22,26.53,8.24,39.88
$GC,551,-1.05,-63.1,2788,694,2362,2282,61.2,-12.6,66,557,0.00,2.08,0.00,0.000,1030,0.000,0.026,2789,2094,2322,2362,2282,0,0,0,0,0,0,26.33,26.26,26.34,8.24,39.88
$GC,678,-1.05,-63.1,2788,2094,2362,2282,77.1,-12.2,79,687,0.00,2.15,0.00,0.000,260,0.000,0.043,2789,3482,2322,2362,2282,0,0,0,0,0,0,26.58,26.25,26.58,8.24,39.88
$GC,835,-1.05,-63.1,2789,3482,2361,2282,96.5,-12.4,94,842,0.00,2.05,0.00,0.000,1030,0.000,0.024,2789,2080,2321,2362,2281,0,0,0,0,0,0,26.41,26.35,26.43,8.24,40.31
$GC,961,-1.10,-63.1,2788,2080,2362,2280,111.7,-11.3,107,969,0.00,2.12,0.00,0.000,516,0.000,0.040,2788,687,2321,2362,2280,0,0,0,0,0,0,26.64,26.33,26.65,8.26,40.07
$GC,1025,-1.10,-63.1,2788,687,2362,2279,119.4,-12.5,113,1031,0.00,2.05,0.00,0.000,1030,0.000,0.026,2789,2083,2320,2362,2279,0,0,0,0,0,0,26.44,26.36,26.46,8.26,40.54
$STATE,1110,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1110,begin apogee
$GC,1116,-0.22,0.0,2789,2083,2362,2279,129.9,-11.7,122,1175,0.88,0.00,54.47,0.744,10246,0.143,0.000,3075,2083,2064,2108,2020,0,0,0,0,0,0,26.15,25.49,24.91,8.26,39.95
$STATE,1176,end apogee,CONTROL_FINISHED_OK
$STATE,1176,begin climb
$GC,1178,1.25,63.1,3074,2083,2108,2020,132.6,0.0,128,1243,1.27,2.25,54.65,0.725,10756,0.075,0.039,3543,694,1806,1852,1760,0,0,0,0,0,0,25.53,24.96,24.48,8.25,40.19
$GC,1318,1.14,63.1,3542,694,1851,1761,120.3,12.6,142,1326,0.00,2.12,0.00,0.000,1030,0.000,0.025,3543,2090,1806,1851,1761,0,0,0,0,0,0,25.57,25.53,25.59,8.23,39.56
$GC,1510,1.04,63.1,3543,2090,1851,1759,94.7,12.9,161,1519,0.17,2.20,0.00,0.000,4612,0.181,0.039,3501,693,1805,1851,1759,0,0,0,0,0,0,25.65,25.83,25.77,8.23,39.60
$GC,1657,0.98,63.1,3500,693,1850,1758,77.2,11.7,175,1664,0.10,2.08,0.00,0.000,5126,0.180,0.026,3474,2084,1804,1850,1758,0,0,0,0,0,0,25.81,26.01,25.98,8.23,39.99
$GC,1783,0.98,63.1,3474,2083,1850,1758,63.9,9.7,188,1784,0.00,0.00,0.00,0.000,6,0.000,0.000,3474,2084,1804,1850,1758,0,0,0,0,0,0,26.36,26.37,26.37,8.23,39.95
$GC,1903,0.98,63.1,3474,2083,1850,1757,52.0,10.2,200,1912,0.00,2.15,0.00,0.000,260,0.000,0.039,3474,3479,1804,1850,1758,0,0,0,0,0,0,26.43,26.12,26.43,8.23,39.60
$GC,2078,0.98,63.1,3474,3479,1850,1757,34.3,10.0,217,2085,0.00,2.05,0.00,0.000,1030,0.000,0.024,3482,2088,1804,1850,1758,0,0,0,0,0,0,26.30,26.24,26.32,8.22,39.36
$GC,2205,0.98,63.1,3481,2089,1850,1757,22.2,9.1,230,2206,0.00,0.00,0.00,0.000,6,0.000,0.000,3482,2088,1803,1850,1757,0,0,0,0,0,0,26.54,26.55,26.55,8.22,39.48
$GC,2328,1.04,121.1,3482,2088,1850,1758,15.2,3.8,251,2364,0.00,2.25,30.62,0.584,8708,0.000,0.041,3493,680,1569,1622,1517,0,0,0,0,0,0,26.58,25.86,25.29,8.21,39.17
$GC,2660,1.14,220.5,3492,680,1621,1516,10.4,-0.6,315,2718,0.00,2.08,50.15,0.565,9222,0.000,0.025,3493,2090,1163,1216,1111,0,0,0,0,0,0,26.24,26.17,25.03,8.19,40.11
$GC,2784,1.30,290.2,3492,2090,1215,1109,7.7,2.6,337,2825,0.12,2.30,34.62,0.535,10756,0.067,0.041,3600,688,880,923,837,0,0,0,0,0,0,25.84,25.39,24.90,8.15,39.52
$STATE,2997,end climb,NO_VERTICAL_VELOCITY
$STATE,2997,begin surface
$SM_CCo,3001,62.95,0.532,0,0,372,414.56
$SM_GC,4.60,9.48,2.15,0.00,0.066,0.024,0.000,218,2086,369,-9.12,-1.92,416.03,0,0,0,0,0,0,25.81,25.90,25.90
$IRIDIUM_FIX,4737.86,-12251.79,050218,085110
$TT8_MAMPS,0.026215,0.27713
$HUMID,39.76
$INTERNAL_PRESSURE,8.03967
$TCM_TEMP,10.10
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.8,16.5
$ALTIM_BOTTOM_PING,100.2,39.4
$24V_AH,24.48,9.135
$10V_AH,10.31,3.463
$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,22.700,42.625,224.525,62.950,0.000,0.000,0.000,206.725,1.000,0.000,15.202,910.527,1383.217,383.124,902.191,136.108,33.436,1006.989,0.000,696.066,0.000,7.170,0.000
$DEVICE_MAMPS,251.685,55.080,744.345,532.440,0.000,0.000,0.000,81.855,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,69.640,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,258.046,500.353,505.201,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,311980
$DATA_FILE_SIZE,24532,378
$CAP_FILE_SIZE,57727,0
$CFSIZE,2097872896,2082144256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,050218,110040,4739.317,-12252.652,7,0.9,14,16.4,0.0,0.0,10,5.0