version: 66.14
glider: 194
mission: 12
dive: 132
start: 2 5 118 16 20 2
data:
$ID,194
$MISSION,12
$DIVE,132
$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,49
$R_STBD_OVSHOOT,67
$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
$GPS1,050218,161413,4739.0244,-12252.4590,4,1.2,25,16.4,0.3,64.1,8,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.80
$_SM_ANGLEo,-73.2
$GPS2,050218,161851,4739.0332,-12252.3994,8,1.2,16,16.4,0.0,71.7,8,5.0
$SPEED_LIMITS,0.173,0.325
$TGT_NAME,NW_NE
$TGT_LATLONG,4739.150,-12252.570
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.176825,-0.069667
$KALMAN_X,16395.611328,-19.632809,-772.849304,-15461.786133,426.696320
$KALMAN_Y,10259.339844,358.261566,-693.780579,-10135.985352,464.237244
$MHEAD_RNG_PITCHd_Wd,232.1,304,-24.8,-10.000,-27.75,1152
$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,-1.15,-75.5,213,2097,356,385,0.0,0.0,0,16,0.00,0.00,-6.40,0.000,16386,0.000,0.000,213,2097,559,544,575,0,0,0,0,0,0,26.20,28.83,26.20,8.07,39.44
$GC,20,-1.15,-75.5,213,2097,544,575,4.7,0.0,1,106,10.57,2.15,-65.10,0.000,18692,0.247,0.055,2775,3458,2375,2410,2340,0,0,0,0,0,0,25.55,24.68,25.84,8.09,39.36
$GC,148,-1.08,-75.5,2774,3458,2410,2341,15.1,-15.5,23,155,0.00,2.05,0.00,0.000,1030,0.000,0.024,2775,2076,2375,2410,2341,0,0,0,0,0,0,26.08,26.01,26.09,8.24,39.01
$GC,223,-0.99,-75.5,2775,2076,2410,2339,25.4,-13.0,33,232,0.17,2.12,0.00,0.000,2564,0.182,0.037,2828,684,2374,2410,2339,0,0,0,0,0,0,25.82,26.01,25.94,8.24,38.85
$GC,357,-0.99,-75.5,2828,684,2410,2337,40.9,-11.9,46,366,0.00,2.05,0.00,0.000,1030,0.000,0.026,2828,2068,2373,2409,2337,0,0,0,0,0,0,26.15,26.13,26.18,8.24,39.72
$GC,485,-0.99,-75.5,2828,2068,2410,2336,55.3,-11.5,59,487,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2068,2372,2409,2336,0,0,0,0,0,0,26.46,26.47,26.47,8.24,39.01
$GC,605,-0.99,-75.5,2828,2068,2410,2336,68.9,-11.0,71,614,0.00,2.17,0.00,0.000,260,0.000,0.042,2828,3474,2373,2410,2336,0,0,0,0,0,0,26.51,26.19,26.51,8.25,39.99
$GC,678,-1.04,-75.5,2828,3474,2410,2336,76.5,-10.5,78,686,0.00,2.05,0.00,0.000,1030,0.000,0.024,2828,2075,2373,2410,2336,0,0,0,0,0,0,26.30,26.27,26.32,8.25,39.72
$GC,808,-1.10,-75.5,2828,2075,2410,2335,90.1,-10.5,91,809,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2076,2373,2410,2336,0,0,0,0,0,0,26.57,26.58,26.58,8.26,39.84
$GC,928,-1.17,-75.5,2828,2075,2409,2336,102.9,-11.0,103,937,0.10,2.12,0.00,0.000,4612,0.095,0.039,2759,690,2373,2410,2336,0,0,0,0,0,0,26.36,26.29,26.39,8.26,40.15
$GC,970,-1.17,-75.5,2758,690,2410,2335,108.9,-14.1,107,979,0.00,2.08,0.00,0.000,1030,0.000,0.026,2759,2086,2372,2410,2335,0,0,0,0,0,0,26.40,26.33,26.41,8.26,39.68
$GC,1161,-1.17,-75.5,2758,2086,2410,2335,135.3,-14.8,126,1169,0.00,2.15,0.00,0.000,260,0.000,0.042,2759,3483,2372,2410,2335,0,0,0,0,0,0,26.65,26.32,26.65,8.26,40.43
$STATE,1210,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1210,begin apogee
$GC,1219,-0.22,0.0,2758,2077,2410,2335,142.8,-14.1,131,1292,1.00,0.00,64.22,0.747,10246,0.148,0.000,3076,2077,2064,2107,2022,0,0,0,0,0,0,26.13,25.37,24.78,8.27,40.58
$STATE,1293,end apogee,CONTROL_FINISHED_OK
$STATE,1293,begin climb
$GC,1295,1.15,75.5,3076,2077,2107,2022,146.1,0.0,139,1366,1.17,0.00,65.60,0.730,10502,0.070,0.000,3501,2077,1756,1799,1713,0,0,0,0,0,0,25.44,24.90,24.37,8.25,39.25
$GC,1544,1.07,75.5,3500,2077,1798,1713,120.3,13.0,164,1553,0.00,2.17,0.00,0.000,516,0.000,0.041,3511,691,1755,1798,1712,0,0,0,0,0,0,25.96,25.68,25.97,8.23,39.28
$GC,1616,0.95,75.5,3511,691,1798,1713,109.6,15.0,171,1626,0.15,2.10,0.00,0.000,5126,0.162,0.025,3467,2097,1755,1798,1713,0,0,0,0,0,0,25.63,25.82,25.72,8.22,39.95
$GC,1808,0.95,75.5,3466,2097,1798,1712,85.8,12.0,190,1816,0.00,2.10,0.00,0.000,260,0.000,0.038,3467,3461,1755,1798,1712,0,0,0,0,0,0,26.27,25.96,26.28,8.23,39.76
$GC,1832,0.95,75.5,3466,3461,1798,1712,82.9,12.3,192,1839,0.00,2.05,0.00,0.000,1030,0.000,0.022,3475,2079,1755,1798,1712,0,0,0,0,0,0,26.10,26.04,26.11,8.23,39.56
$GC,1959,0.95,75.5,3474,2079,1797,1712,67.3,11.7,205,1968,0.00,2.17,0.00,0.000,516,0.000,0.041,3486,684,1755,1798,1712,0,0,0,0,0,0,26.37,26.06,26.39,8.22,40.27
$GC,2042,0.89,75.5,3485,684,1798,1712,58.1,11.2,213,2051,0.12,2.05,0.00,0.000,5126,0.156,0.025,3447,2082,1754,1798,1711,0,0,0,0,0,0,25.95,26.15,26.05,8.23,39.60
$GC,2172,0.89,75.5,3447,2082,1798,1711,44.8,10.3,226,2173,0.00,0.00,0.00,0.000,6,0.000,0.000,3447,2082,1754,1797,1712,0,0,0,0,0,0,26.47,26.48,26.48,8.22,39.84
$GC,2291,0.89,75.5,3447,2081,1798,1711,31.8,11.2,238,2300,0.00,2.17,0.00,0.000,516,0.000,0.042,3456,688,1754,1798,1711,0,0,0,0,0,0,26.52,26.20,26.53,8.21,39.64
$GC,2313,0.89,75.5,3455,688,1798,1711,29.4,11.0,240,2322,0.00,2.08,0.00,0.000,1030,0.000,0.026,3456,2084,1754,1798,1710,0,0,0,0,0,0,26.32,26.26,26.34,8.21,39.91
$GC,2444,0.89,75.5,3455,2084,1797,1711,17.4,9.0,255,2451,0.00,2.10,0.00,0.000,260,0.000,0.037,3456,3474,1754,1798,1711,0,0,0,0,0,0,26.56,26.26,26.57,8.21,39.60
$GC,2561,0.96,154.6,3455,3474,1798,1711,12.1,3.0,277,2608,0.00,2.05,41.62,0.573,9222,0.000,0.022,3467,2068,1432,1484,1381,0,0,0,0,0,0,26.39,26.33,25.22,8.21,39.64
$GC,2673,1.04,233.6,3466,2068,1485,1380,10.2,3.0,297,2720,0.00,2.20,39.97,0.555,8708,0.000,0.041,3472,690,1109,1157,1062,0,0,0,0,0,0,26.19,25.29,24.94,8.18,39.25
$GC,2744,1.19,307.3,3472,690,1157,1062,9.1,3.5,309,2791,0.10,2.10,36.97,0.539,11270,0.076,0.024,3562,2094,809,846,772,0,0,0,0,0,0,25.63,25.65,24.78,8.15,38.62
$GC,2857,1.25,369.0,3561,2094,846,772,4.2,4.5,329,2892,0.00,2.20,30.95,0.513,8452,0.000,0.036,3562,3458,557,581,534,0,0,0,0,0,0,25.85,25.29,24.81,8.12,38.62
$STATE,3064,end climb,NO_VERTICAL_VELOCITY
$STATE,3064,begin surface
$SM_CCo,3068,22.88,0.507,0,0,373,414.56
$SM_GC,4.64,9.35,2.12,0.00,0.065,0.023,0.000,218,2085,372,-9.13,1.53,415.29,0,0,0,0,0,0,25.88,25.98,25.97
$IRIDIUM_FIX,4737.86,-12251.79,050218,151659
$TT8_MAMPS,0.026964,0.276381
$HUMID,39.88
$INTERNAL_PRESSURE,8.0299
$TCM_TEMP,10.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,15.5
$ALTIM_BOTTOM_PING,100.8,51.2
$24V_AH,24.37,9.474
$10V_AH,10.30,3.631
$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,22.750,50.750,279.350,22.875,0.000,0.000,0.000,187.775,0.750,0.000,17.829,869.412,1481.115,406.490,834.182,133.633,33.450,1010.486,0.000,642.349,0.000,7.198,0.000
$DEVICE_MAMPS,247.095,55.080,746.640,507.195,0.000,0.000,0.000,78.030,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,69.640,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,250.410,487.888,492.653,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312004
$DATA_FILE_SIZE,24434,369
$CAP_FILE_SIZE,59638,0
$CFSIZE,2097872896,2081554432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,050218,171819,4738.969,-12252.592,4,0.9,34,16.4,0.0,0.0,11,3.9