version: 66.14
glider: 194
mission: 12
dive: 136
start: 2 5 118 20 32 30
data:
$ID,194
$MISSION,12
$DIVE,136
$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,71
$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
$GPS1,050218,202637,4739.1157,-12252.7334,4,0.9,15,16.4,0.0,0.0,9,4.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.72
$_SM_ANGLEo,-74.0
$GPS2,050218,203121,4739.1426,-12252.7051,2,0.8,14,16.4,0.0,0.0,9,5.0
$SPEED_LIMITS,0.173,0.325
$TGT_NAME,NW_NE
$TGT_LATLONG,4739.150,-12252.570
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.108325,-0.135157
$KALMAN_X,17499.558594,94.211945,267.191925,-18094.996094,555.474365
$KALMAN_Y,11162.754883,234.416870,-34.539860,-11374.730469,499.936920
$MHEAD_RNG_PITCHd_Wd,202.3,168,-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,-63.1,212,2089,361,377,0.0,0.0,0,16,0.00,0.00,-6.22,0.000,16386,0.000,0.000,212,2090,551,540,562,0,0,0,0,0,0,26.31,28.83,26.32,8.07,39.68
$GC,20,-1.25,-63.1,212,2090,540,562,4.8,0.0,1,101,10.55,2.17,-62.92,0.000,18948,0.253,0.050,2743,683,2323,2358,2289,0,0,0,0,0,0,25.63,25.44,25.94,8.09,39.56
$GC,185,-1.13,-63.1,2742,683,2359,2288,20.3,-11.6,31,190,0.12,2.10,0.00,0.000,3078,0.185,0.026,2788,2070,2323,2359,2287,0,0,0,0,0,0,25.84,26.10,26.05,8.24,39.44
$GC,319,-1.13,-63.1,2788,2071,2359,2286,33.5,-11.1,44,327,0.00,2.12,0.00,0.000,516,0.000,0.040,2788,687,2322,2359,2285,0,0,0,0,0,0,26.44,26.14,26.45,8.24,39.64
$GC,480,-1.13,-63.1,2788,687,2359,2283,55.2,-12.8,60,489,0.00,2.10,0.00,0.000,1030,0.000,0.026,2788,2095,2321,2359,2284,0,0,0,0,0,0,26.30,26.23,26.32,8.24,39.91
$GC,611,-1.13,-63.1,2788,2095,2359,2283,70.7,-11.9,73,619,0.00,2.12,0.00,0.000,260,0.000,0.043,2788,3470,2320,2359,2282,0,0,0,0,0,0,26.55,26.22,26.56,8.25,40.15
$GC,732,-1.13,-63.1,2788,3470,2359,2283,86.2,-13.0,85,741,0.00,2.05,0.00,0.000,1030,0.000,0.024,2788,2078,2320,2359,2282,0,0,0,0,0,0,26.38,26.32,26.40,8.25,39.91
$GC,862,-1.13,-63.1,2787,2078,2359,2282,102.0,-11.9,98,871,0.00,2.15,0.00,0.000,516,0.000,0.041,2788,684,2320,2359,2281,0,0,0,0,0,0,26.61,26.30,26.62,8.25,40.11
$GC,944,-1.13,-63.1,2788,684,2359,2280,112.5,-12.8,106,953,0.00,2.08,0.00,0.000,1030,0.000,0.026,2788,2085,2320,2359,2281,0,0,0,0,0,0,26.42,26.34,26.44,8.25,40.15
$GC,1135,-1.18,-63.1,2788,2085,2359,2280,134.9,-10.9,125,1143,0.00,2.12,0.00,0.000,260,0.000,0.043,2788,3472,2319,2358,2280,0,0,0,0,0,0,26.67,26.34,26.67,8.26,40.07
$GC,1177,-1.23,-63.1,2788,3472,2359,2280,139.8,-11.6,129,1185,0.00,2.03,0.00,0.000,1030,0.000,0.024,2788,2081,2319,2359,2280,0,0,0,0,0,0,26.44,26.41,26.46,8.27,39.95
$STATE,1194,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1194,begin apogee
$GC,1200,-0.22,0.0,2788,2081,2359,2280,142.1,-11.4,131,1258,0.88,0.00,54.15,0.746,10246,0.142,0.000,3074,2081,2064,2107,2022,0,0,0,0,0,0,26.16,25.50,24.91,8.27,40.66
$STATE,1259,end apogee,CONTROL_FINISHED_OK
$STATE,1259,begin climb
$GC,1262,1.25,63.1,3073,2081,2107,2022,144.3,0.0,137,1326,1.27,0.00,55.90,0.731,10246,0.073,0.000,3532,2081,1806,1850,1762,0,0,0,0,0,0,25.55,24.84,24.46,8.25,40.23
$GC,1507,1.16,63.1,3531,2081,1850,1762,117.7,13.3,162,1516,0.00,2.17,0.00,0.000,260,0.000,0.037,3533,3475,1806,1850,1762,0,0,0,0,0,0,26.01,25.72,26.01,8.23,39.13
$GC,1569,1.04,63.1,3532,3475,1850,1762,108.9,14.3,168,1578,0.17,2.08,0.00,0.000,5126,0.165,0.023,3493,2085,1806,1850,1762,0,0,0,0,0,0,25.62,25.86,25.72,8.23,39.44
$GC,1761,1.04,63.1,3492,2085,1849,1761,86.4,11.3,187,1769,0.00,2.17,0.00,0.000,516,0.000,0.040,3501,687,1805,1850,1761,0,0,0,0,0,0,26.29,25.98,26.29,8.23,40.39
$GC,1863,0.98,63.1,3501,687,1849,1761,74.0,12.1,197,1872,0.10,2.08,0.00,0.000,5126,0.177,0.025,3474,2088,1805,1850,1761,0,0,0,0,0,0,25.89,26.10,26.05,8.23,39.64
$GC,1992,0.98,63.1,3474,2087,1850,1761,60.0,11.1,210,2001,0.00,2.12,0.00,0.000,260,0.000,0.037,3474,3470,1805,1850,1761,0,0,0,0,0,0,26.42,26.12,26.43,8.22,39.80
$GC,2097,0.98,63.1,3474,3470,1850,1760,48.9,10.7,220,2103,0.00,2.05,0.00,0.000,1030,0.000,0.023,3482,2077,1805,1850,1761,0,0,0,0,0,0,26.27,26.22,26.29,8.22,39.76
$GC,2224,0.98,63.1,3482,2077,1850,1761,36.2,8.7,233,2233,0.00,2.15,0.00,0.000,260,0.000,0.037,3482,3473,1805,1850,1761,0,0,0,0,0,0,26.52,26.22,26.53,8.22,39.88
$GC,2246,0.98,63.1,3482,3474,1850,1760,34.3,8.5,235,2255,0.00,2.05,0.00,0.000,1030,0.000,0.023,3492,2082,1805,1849,1761,0,0,0,0,0,0,26.32,26.27,26.34,8.22,39.99
$GC,2376,0.98,63.1,3492,2081,1850,1761,23.6,8.4,248,2385,0.00,2.15,0.00,0.000,516,0.000,0.041,3502,688,1805,1850,1760,0,0,0,0,0,0,26.56,26.25,26.57,8.22,39.80
$GC,2683,1.08,155.6,3502,688,1850,1761,14.8,0.2,303,2741,0.00,2.05,49.03,0.590,9222,0.000,0.025,3503,2093,1427,1480,1375,0,0,0,0,0,0,26.44,26.38,25.17,8.21,39.76
$GC,2806,1.11,189.1,3502,2093,1480,1375,9.5,6.4,325,2831,0.00,2.12,16.55,0.528,8964,0.000,0.037,3503,3465,1292,1344,1240,0,0,0,0,0,0,26.16,25.65,25.14,8.18,39.68
$GC,2918,1.26,281.0,3502,3465,1344,1240,7.4,0.2,345,2971,0.08,2.08,45.80,0.542,11270,0.095,0.023,3586,2071,916,958,875,0,0,0,0,0,0,25.86,25.89,24.91,8.17,38.62
$GC,3036,1.35,372.4,3585,2071,958,874,6.0,0.3,366,3089,0.00,2.22,45.75,0.526,8964,0.000,0.040,3595,691,544,563,525,0,0,0,0,0,0,25.92,25.10,24.79,8.14,39.01
$GC,3159,1.78,460.9,3594,691,563,524,3.3,0.6,388,3189,0.30,2.10,21.08,0.502,11270,0.045,0.024,3744,2087,371,365,378,0,0,0,0,0,0,25.62,25.60,24.89,8.10,38.69
$GC,3255,2.10,553.9,3743,2087,366,378,3.4,0.1,405,3263,0.15,2.17,0.00,0.000,2308,0.067,0.037,3841,3472,372,366,378,0,0,0,0,0,0,25.67,25.61,25.70,8.09,38.30
$STATE,3268,end climb,NO_VERTICAL_VELOCITY
$STATE,3268,begin surface
$SM_CCo,3599,0.00,0.000,0,0,371,415.54
$SM_GC,4.73,10.10,2.15,0.00,0.064,0.024,0.000,216,2076,371,-9.13,1.44,415.54,0,0,0,0,0,0,25.91,25.98,25.98
$IRIDIUM_FIX,4738.72,-12249.11,050218,192733
$TT8_MAMPS,0.026215,0.253162
$HUMID,39.28
$INTERNAL_PRESSURE,8.03967
$TCM_TEMP,10.20
$XPDR_PINGS,19
$ALTIM_TOP_PING,19.1,15.2
$ALTIM_BOTTOM_PING,100.9,51.0
$24V_AH,24.46,9.718
$10V_AH,10.31,3.744
$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,23.725,54.975,288.250,0.000,0.000,0.000,0.000,190.100,5.500,0.000,17.827,953.227,1487.479,401.081,919.231,142.709,33.444,1044.974,0.000,727.341,0.000,7.198,0.000
$DEVICE_MAMPS,253.215,49.725,745.875,0.000,0.000,0.000,0.000,78.030,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,69.640,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,276.469,538.254,543.792,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,311972
$DATA_FILE_SIZE,27983,407
$CAP_FILE_SIZE,62200,0
$CFSIZE,2097872896,2081161216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050218,213334,4739.076,-12252.701,4,0.9,24,16.4,0.0,0.0,10,5.0