version: 66.14
glider: 194
mission: 12
dive: 130
start: 2 5 118 14 22 28
data:
$ID,194
$MISSION,12
$DIVE,130
$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,53
$R_STBD_OVSHOOT,63
$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
$GPS1,050218,141616,4739.2349,-12252.2129,4,0.8,33,16.4,0.4,29.2,9,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.57
$_SM_ANGLEo,-72.9
$GPS2,050218,142119,4739.2827,-12252.1719,2,0.9,24,16.4,0.3,29.4,9,5.0
$SPEED_LIMITS,0.173,0.325
$TGT_NAME,NW_NE
$TGT_LATLONG,4739.150,-12252.570
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.063185,-0.161269
$KALMAN_X,15147.512695,151.871918,-121.358414,-14754.233398,-333.515259
$KALMAN_Y,9259.482422,255.857300,-80.535522,-9193.549805,165.346283
$MHEAD_RNG_PITCHd_Wd,185.0,555,-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,-63.1,218,2081,361,378,0.0,0.0,0,16,0.00,0.00,-6.32,0.000,16386,0.000,0.000,217,2081,550,540,560,0,0,0,0,0,0,26.31,28.83,26.32,8.07,39.72
$GC,20,-1.25,-63.1,218,2081,540,561,4.6,0.0,1,106,10.38,2.17,-65.50,0.000,18692,0.248,0.057,2744,3454,2325,2361,2289,0,0,0,0,0,0,25.67,24.72,25.94,8.09,39.56
$GC,142,-1.16,-63.1,2743,3455,2362,2289,13.6,-16.4,22,149,0.12,2.03,0.00,0.000,3078,0.190,0.023,2778,2078,2324,2361,2288,0,0,0,0,0,0,25.83,26.09,26.02,8.24,39.32
$GC,218,-1.11,-63.1,2777,2079,2362,2286,22.9,-12.2,34,226,0.00,2.15,0.00,0.000,260,0.000,0.041,2778,3460,2323,2361,2286,0,0,0,0,0,0,26.39,26.07,26.40,8.24,38.81
$GC,352,-1.11,-63.1,2778,3460,2362,2285,38.5,-11.6,47,359,0.00,2.03,0.00,0.000,1030,0.000,0.023,2778,2082,2322,2361,2284,0,0,0,0,0,0,26.26,26.20,26.27,8.23,39.72
$GC,480,-1.11,-63.1,2778,2082,2361,2282,52.4,-11.7,60,488,0.00,2.15,0.00,0.000,516,0.000,0.040,2778,691,2321,2361,2282,0,0,0,0,0,0,26.51,26.20,26.51,8.24,39.84
$GC,521,-1.11,-63.1,2778,691,2362,2281,58.1,-13.6,64,530,0.00,2.08,0.00,0.000,1030,0.000,0.026,2778,2084,2321,2361,2281,0,0,0,0,0,0,26.30,26.24,26.32,8.23,39.44
$GC,651,-1.11,-63.1,2778,2083,2361,2281,74.8,-12.1,77,660,0.00,2.15,0.00,0.000,260,0.000,0.042,2778,3472,2321,2362,2281,0,0,0,0,0,0,26.55,26.23,26.56,8.24,39.76
$GC,706,-1.11,-63.1,2778,3473,2361,2281,80.9,-12.1,82,713,0.00,2.05,0.00,0.000,1030,0.000,0.024,2778,2076,2320,2361,2280,0,0,0,0,0,0,26.37,26.31,26.39,8.24,40.35
$GC,833,-1.11,-63.1,2778,2076,2362,2280,96.6,-12.3,95,834,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2076,2320,2361,2280,0,0,0,0,0,0,26.60,26.61,26.61,8.25,39.72
$GC,953,-1.11,-63.1,2778,2075,2362,2280,110.3,-11.5,107,954,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2076,2321,2362,2280,0,0,0,0,0,0,26.63,26.64,26.64,8.25,39.91
$GC,1133,-1.11,-63.1,2778,2076,2361,2279,131.1,-11.7,125,1135,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2075,2320,2362,2279,0,0,0,0,0,0,26.67,26.67,26.67,8.26,40.43
$STATE,1201,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1201,begin apogee
$GC,1207,-0.22,0.0,2778,2076,2361,2279,139.7,-12.6,132,1265,0.93,0.00,53.97,0.748,10246,0.149,0.000,3075,2075,2065,2109,2022,0,0,0,0,0,0,26.17,25.50,24.92,8.26,40.07
$STATE,1266,end apogee,CONTROL_FINISHED_OK
$STATE,1266,begin climb
$GC,1269,1.25,63.1,3075,2075,2108,2021,142.2,0.0,138,1333,1.27,0.00,55.83,0.732,10246,0.076,0.000,3532,2075,1806,1850,1762,0,0,0,0,0,0,25.54,24.84,24.46,8.24,39.52
$GC,1514,1.16,63.1,3532,2075,1850,1762,116.3,13.6,163,1522,0.00,2.15,0.00,0.000,516,0.000,0.041,3543,694,1806,1850,1762,0,0,0,0,0,0,26.00,25.71,26.01,8.23,39.64
$GC,1546,1.07,63.1,3542,694,1851,1762,111.5,14.6,166,1555,0.12,2.10,0.00,0.000,5126,0.171,0.025,3508,2092,1806,1850,1762,0,0,0,0,0,0,25.58,25.80,25.69,8.23,40.19
$GC,1737,1.07,63.1,3507,2093,1850,1761,87.0,12.4,185,1746,0.00,2.12,0.00,0.000,260,0.000,0.038,3508,3470,1805,1850,1761,0,0,0,0,0,0,26.26,25.96,26.27,8.23,39.76
$GC,1820,0.99,63.1,3507,3470,1850,1760,76.7,12.6,193,1829,0.12,2.05,0.00,0.000,5126,0.168,0.023,3480,2086,1805,1850,1761,0,0,0,0,0,0,25.82,26.07,25.94,8.22,39.95
$GC,1949,0.99,63.1,3479,2086,1850,1761,62.6,10.1,206,1958,0.00,2.17,0.00,0.000,516,0.000,0.041,3487,687,1805,1850,1760,0,0,0,0,0,0,26.39,26.09,26.40,8.22,39.28
$GC,1984,0.99,63.1,3487,687,1850,1760,59.5,10.0,209,1991,0.00,2.08,0.00,0.000,1030,0.000,0.025,3487,2086,1805,1850,1760,0,0,0,0,0,0,26.21,26.15,26.23,8.23,40.03
$GC,2111,0.99,63.1,3487,2086,1850,1760,46.9,9.7,222,2120,0.00,2.12,0.00,0.000,260,0.000,0.037,3488,3471,1805,1850,1760,0,0,0,0,0,0,26.46,26.16,26.48,8.22,39.91
$GC,2136,0.99,63.1,3487,3471,1850,1760,44.5,10.4,224,2143,0.00,2.05,0.00,0.000,1030,0.000,0.023,3498,2080,1805,1850,1760,0,0,0,0,0,0,26.28,26.22,26.29,8.22,40.31
$GC,2263,0.99,63.1,3498,2080,1850,1759,30.5,10.5,237,2272,0.00,2.17,0.00,0.000,516,0.000,0.041,3509,681,1805,1850,1760,0,0,0,0,0,0,26.53,26.21,26.53,8.21,39.36
$GC,2355,0.99,63.1,3508,681,1850,1760,21.8,8.5,246,2365,0.12,2.08,0.00,0.000,5126,0.174,0.025,3474,2090,1805,1850,1760,0,0,0,0,0,0,26.06,26.29,26.23,8.21,39.80
$GC,2487,1.08,159.6,3473,2090,1850,1760,18.7,-0.3,269,2545,0.00,2.20,52.30,0.610,8452,0.000,0.037,3473,3468,1412,1466,1358,0,0,0,0,0,0,26.59,25.61,25.07,8.21,39.56
$STATE,2819,end climb,NO_VERTICAL_VELOCITY
$STATE,2819,begin surface
$SM_CCo,2822,130.10,0.549,0,0,372,414.56
$SM_GC,4.78,9.12,2.17,0.00,0.057,0.023,0.000,212,2081,369,-9.14,1.53,416.03,0,0,0,0,0,0,25.48,25.53,25.56
$IRIDIUM_FIX,4739.20,-12253.53,050218,131352
$TT8_MAMPS,0.026215,0.281624
$HUMID,38.69
$INTERNAL_PRESSURE,8.03967
$TCM_TEMP,10.00
$XPDR_PINGS,1
$ALTIM_TOP_PING,20.0,17.3
$ALTIM_BOTTOM_PING,100.0,49.3
$24V_AH,24.46,9.360
$10V_AH,10.28,3.577
$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,22.200,42.275,162.100,130.100,0.000,0.000,0.000,200.025,1.000,0.000,27.405,817.525,1283.772,421.651,788.122,128.535,33.451,979.178,0.000,580.971,0.000,7.194,0.000
$DEVICE_MAMPS,247.860,56.610,748.170,548.505,0.000,0.000,0.000,78.795,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,69.640,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,227.639,440.872,445.145,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,311968
$DATA_FILE_SIZE,24613,333
$CAP_FILE_SIZE,54220,0
$CFSIZE,2097872896,2081751040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050218,151533,4739.090,-12252.285,26,0.8,28,16.4,0.0,0.0,9,5.0