version: 66.14
glider: 194
mission: 12
dive: 138
start: 2 5 118 22 44 2
data:
$ID,194
$MISSION,12
$DIVE,138
$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,55
$R_STBD_OVSHOOT,69
$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
$GPS1,050218,223757,4739.0000,-12252.6982,4,0.9,17,16.4,0.0,0.0,9,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.77
$_SM_ANGLEo,-68.1
$GPS2,050218,224251,4739.0181,-12252.6709,5,0.9,16,16.4,0.0,0.0,9,5.0
$SPEED_LIMITS,0.173,0.325
$TGT_NAME,NW_NE
$TGT_LATLONG,4739.150,-12252.570
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.116758,0.127936
$KALMAN_X,17820.921875,77.020996,721.365173,-18813.667969,42.649323
$KALMAN_Y,11605.190430,-29.519520,573.790344,-12392.967773,153.633606
$MHEAD_RNG_PITCHd_Wd,26.0,274,-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,-63.1,212,2074,368,370,0.0,0.0,0,16,0.00,0.00,-6.38,0.000,16386,0.000,0.000,212,2074,559,552,566,0,0,0,0,0,0,26.29,28.83,26.29,8.07,39.32
$GC,20,-1.25,-63.1,212,2074,552,566,4.9,0.0,1,100,10.45,2.17,-61.95,0.000,18692,0.249,0.058,2747,3453,2323,2357,2289,0,0,0,0,0,0,25.63,25.42,25.92,8.09,39.40
$GC,394,-1.17,-63.1,2746,3453,2358,2286,45.3,-11.3,50,404,0.05,2.03,0.00,0.000,3078,0.227,0.023,2766,2080,2321,2358,2285,0,0,0,0,0,0,26.00,26.21,26.09,8.24,39.09
$GC,524,-1.17,-63.1,2765,2080,2358,2284,62.3,-12.8,63,528,0.00,2.15,0.00,0.000,516,0.000,0.040,2766,683,2321,2358,2284,0,0,0,0,0,0,26.52,26.21,26.53,8.24,40.15
$GC,596,-1.17,-63.1,2765,683,2358,2283,72.0,-13.7,70,605,0.00,2.08,0.00,0.000,1030,0.000,0.026,2766,2074,2320,2358,2283,0,0,0,0,0,0,26.33,26.26,26.35,8.24,39.72
$GC,726,-1.17,-63.1,2765,2075,2358,2282,88.9,-13.2,83,727,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2075,2320,2358,2283,0,0,0,0,0,0,26.58,26.59,26.59,8.25,39.60
$GC,850,-1.17,-63.1,2765,2075,2357,2282,105.1,-13.2,95,856,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2075,2319,2357,2282,0,0,0,0,0,0,26.60,26.60,26.60,8.25,39.91
$GC,1036,-1.17,-63.1,2765,2075,2357,2281,129.3,-12.8,114,1040,0.00,2.15,0.00,0.000,260,0.000,0.042,2766,3479,2319,2358,2281,0,0,0,0,0,0,26.65,26.32,26.65,8.26,40.39
$GC,1101,-1.17,-63.1,2765,3479,2357,2281,137.0,-12.3,120,1108,0.00,2.05,0.00,0.000,1030,0.000,0.023,2766,2073,2319,2358,2281,0,0,0,0,0,0,26.46,26.39,26.47,8.26,40.58
$STATE,1117,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1117,begin apogee
$GC,1123,-0.22,0.0,2766,2073,2357,2280,139.3,-12.3,122,1181,0.95,0.00,53.95,0.745,10246,0.148,0.000,3071,2073,2064,2107,2022,0,0,0,0,0,0,26.13,25.49,24.91,8.26,40.82
$STATE,1182,end apogee,CONTROL_FINISHED_OK
$STATE,1182,begin climb
$GC,1185,1.25,63.1,3071,2073,2107,2022,142.1,0.0,128,1248,1.27,0.00,55.25,0.728,10502,0.073,0.000,3531,2073,1806,1851,1762,0,0,0,0,0,0,25.54,24.98,24.45,8.24,40.23
$GC,1428,1.17,63.1,3530,2073,1850,1762,115.7,13.4,153,1437,0.00,2.15,0.00,0.000,516,0.000,0.040,3541,701,1806,1851,1762,0,0,0,0,0,0,26.01,25.72,26.01,8.23,40.19
$GC,1510,1.07,63.1,3540,701,1850,1762,104.9,13.3,161,1520,0.12,2.08,0.00,0.000,5126,0.165,0.025,3505,2097,1806,1850,1762,0,0,0,0,0,0,25.65,25.86,25.76,8.23,39.99
$GC,1702,1.07,63.1,3505,2097,1850,1761,82.6,11.9,180,1711,0.00,2.10,0.00,0.000,260,0.000,0.037,3505,3465,1805,1850,1761,0,0,0,0,0,0,26.30,25.98,26.31,8.23,39.56
$GC,1766,1.00,63.1,3505,3465,1850,1761,74.2,12.8,186,1774,0.12,2.05,0.00,0.000,5126,0.174,0.022,3478,2079,1806,1851,1761,0,0,0,0,0,0,25.86,26.09,26.04,8.23,39.28
$GC,1894,1.00,63.1,3478,2079,1850,1760,58.9,11.6,199,1895,0.00,0.00,0.00,0.000,6,0.000,0.000,3478,2079,1805,1850,1760,0,0,0,0,0,0,26.41,26.43,26.42,8.23,40.47
$GC,2014,1.00,63.1,3477,2079,1850,1760,46.3,10.0,211,2022,0.00,2.15,0.00,0.000,516,0.000,0.041,3486,690,1805,1850,1760,0,0,0,0,0,0,26.47,26.16,26.48,8.22,40.23
$GC,2146,1.00,63.1,3485,690,1850,1760,33.3,10.7,224,2155,0.00,2.05,0.00,0.000,1030,0.000,0.026,3486,2079,1805,1850,1760,0,0,0,0,0,0,26.32,26.25,26.34,8.22,39.91
$GC,2276,1.02,83.8,3485,2078,1850,1760,21.6,7.8,237,2295,0.00,2.15,11.60,0.571,8708,0.000,0.041,3497,688,1722,1769,1675,0,0,0,0,0,0,26.56,26.06,25.44,8.21,39.60
$GC,2592,1.10,166.0,3496,688,1769,1676,13.1,1.3,296,2644,0.00,2.05,42.65,0.576,9222,0.000,0.025,3496,2090,1386,1438,1335,0,0,0,0,0,0,26.35,26.29,25.17,8.20,39.48
$GC,2710,1.25,229.2,3496,2090,1437,1334,8.4,3.3,317,2751,0.10,2.17,31.73,0.548,10500,0.077,0.037,3590,3461,1127,1174,1081,0,0,0,0,0,0,25.96,25.51,25.00,8.18,38.54
$STATE,2913,end climb,NO_VERTICAL_VELOCITY
$STATE,2913,begin surface
$SM_CCo,2917,93.93,0.539,0,0,373,414.56
$SM_GC,5.25,9.32,2.17,0.00,0.050,0.025,0.000,216,2074,370,-9.13,1.44,415.78,0,0,0,0,0,0,25.53,25.58,25.60
$IRIDIUM_FIX,4742.38,-12248.15,050218,213505
$TT8_MAMPS,0.026215,0.280126
$HUMID,39.05
$INTERNAL_PRESSURE,8.03967
$TCM_TEMP,10.20
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.0,15.2
$ALTIM_BOTTOM_PING,105.1,43.0
$24V_AH,24.45,9.829
$10V_AH,10.31,3.800
$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,22.400,33.750,195.175,93.925,0.000,0.000,0.000,202.525,1.750,0.000,17.731,865.902,1268.366,375.246,858.046,122.997,33.443,963.951,0.000,648.691,0.000,11.591,0.000
$DEVICE_MAMPS,248.625,58.140,745.110,538.560,0.000,0.000,0.000,80.325,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,69.640,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,243.586,471.544,476.110,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,311984
$DATA_FILE_SIZE,24384,356
$CAP_FILE_SIZE,52764,0
$CFSIZE,2097872896,2080964608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,050218,233751,4739.185,-12252.364,4,0.9,15,16.4,0.0,0.0,9,4.7