version: 66.14
glider: 194
mission: 12
dive: 254
start: 2 11 118 17 17 23
data:
$ID,194
$MISSION,12
$DIVE,254
$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,2
$FERRY_MAX,45
$KALMAN_USE,2
$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,48
$R_STBD_OVSHOOT,57
$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
$GPS1,110218,171112,4737.9868,-12255.0430,4,0.8,18,16.4,0.0,0.0,11,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,9.42
$_SM_ANGLEo,-69.9
$GPS2,110218,171644,4737.9819,-12255.0654,9,1.0,24,16.4,0.0,307.8,10,4.9
$SPEED_LIMITS,0.173,0.325
$TGT_NAME,NW2N
$TGT_LATLONG,4738.117,-12254.800
$TGT_RADIUS,250.000
$KALMAN_CONTROL,-0.288867,-0.148510
$KALMAN_X,34651.437500,518.190002,-280.221558,-35416.792969,662.479614
$KALMAN_Y,12811.416016,296.136719,-399.748138,-13361.724609,330.277039
$MHEAD_RNG_PITCHd_Wd,46.4,415,-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,-63.1,207,2089,372,368,0.0,0.0,0,17,0.00,0.00,-6.38,0.000,16386,0.000,0.000,207,2089,552,546,558,0,0,0,0,0,0,26.32,28.83,26.33,8.05,39.60
$GC,20,-1.25,-63.1,207,2089,546,558,9.4,0.0,1,105,10.38,2.20,-64.45,0.000,18948,0.243,0.050,2746,686,2324,2357,2292,0,0,0,0,0,0,25.58,24.53,25.89,8.07,39.32
$GC,119,-1.06,-63.1,2745,686,2358,2292,18.1,-25.4,17,127,0.22,2.08,0.00,0.000,3078,0.189,0.026,2809,2075,2325,2358,2292,0,0,0,0,0,0,25.72,26.05,25.95,8.23,39.13
$GC,195,-1.06,-63.1,2808,2074,2359,2291,34.2,-18.0,25,197,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2075,2325,2359,2291,0,0,0,0,0,0,26.39,26.41,26.40,8.23,39.44
$GC,316,-1.06,-63.1,2808,2075,2359,2289,50.5,-14.1,37,320,0.00,2.20,0.00,0.000,260,0.000,0.041,2808,3491,2324,2360,2289,0,0,0,0,0,0,26.46,26.11,26.46,8.23,40.35
$GC,339,-1.06,-63.1,2808,3491,2359,2288,53.8,-13.9,39,343,0.00,2.10,0.00,0.000,1030,0.000,0.023,2808,2072,2323,2359,2288,0,0,0,0,0,0,26.26,26.20,26.27,8.23,39.95
$GC,471,-1.06,-63.1,2808,2072,2359,2286,72.1,-14.3,52,472,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2072,2323,2360,2286,0,0,0,0,0,0,26.52,26.53,26.53,8.24,40.78
$GC,591,-1.06,-63.1,2808,2071,2359,2285,89.1,-14.4,64,593,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2071,2322,2359,2285,0,0,0,0,0,0,26.56,26.58,26.57,8.25,40.94
$GC,712,-1.06,-63.1,2808,2071,2359,2284,106.2,-14.2,76,713,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2071,2321,2359,2284,0,0,0,0,0,0,26.58,26.59,26.58,8.25,40.58
$GC,894,-1.06,-63.1,2808,2071,2359,2283,130.4,-13.4,94,898,0.00,2.17,0.00,0.000,260,0.000,0.041,2808,3477,2321,2359,2283,0,0,0,0,0,0,26.63,26.28,26.63,8.26,40.98
$GC,953,-1.06,-63.1,2808,3477,2359,2283,138.1,-13.1,99,960,0.00,2.05,0.00,0.000,1030,0.000,0.023,2808,2074,2321,2359,2283,0,0,0,0,0,0,26.43,26.36,26.44,8.26,40.35
$GC,1140,-1.06,-63.1,2808,2074,2359,2282,162.7,-12.5,118,1149,0.00,2.12,0.00,0.000,516,0.000,0.039,2808,691,2320,2359,2281,0,0,0,0,0,0,26.68,26.34,26.69,8.26,40.54
$STATE,1180,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1180,begin apogee
$GC,1188,-0.22,0.0,2808,2089,2359,2280,168.3,-13.4,122,1252,0.82,0.00,55.00,0.764,10246,0.146,0.000,3075,2089,2065,2108,2022,0,0,0,0,0,0,26.06,25.31,24.88,8.26,40.78
$STATE,1253,end apogee,CONTROL_FINISHED_OK
$STATE,1253,begin climb
$GC,1256,1.25,63.1,3075,2089,2107,2022,171.8,0.0,129,1322,1.27,2.20,55.92,0.746,10500,0.076,0.036,3530,3474,1805,1853,1758,0,0,0,0,0,0,25.54,25.04,24.46,8.25,40.07
$GC,1368,1.17,63.1,3528,3474,1853,1759,164.4,9.8,140,1376,0.00,2.10,0.00,0.000,1030,0.000,0.021,3541,2085,1805,1852,1759,0,0,0,0,0,0,25.53,25.46,25.54,8.23,39.05
$GC,1556,1.11,63.1,3540,2085,1852,1758,144.0,10.8,159,1566,0.10,2.15,0.00,0.000,4612,0.187,0.037,3520,691,1805,1853,1758,0,0,0,0,0,0,25.65,25.81,25.74,8.23,39.76
$GC,1684,1.05,63.1,3519,691,1852,1758,130.6,10.9,171,1692,0.00,2.08,0.00,0.000,1030,0.000,0.024,3520,2090,1804,1851,1757,0,0,0,0,0,0,26.06,25.99,26.07,8.23,40.54
$GC,1870,1.05,63.1,3519,2090,1852,1757,110.6,10.6,190,1879,0.00,2.20,0.00,0.000,516,0.000,0.040,3530,681,1804,1852,1757,0,0,0,0,0,0,26.39,26.06,26.40,8.23,40.07
$GC,1924,1.00,63.1,3530,681,1852,1757,105.1,10.6,195,1933,0.17,2.05,0.00,0.000,5126,0.158,0.024,3479,2083,1804,1852,1757,0,0,0,0,0,0,25.86,26.15,25.96,8.23,40.58
$GC,2115,1.00,63.1,3479,2083,1851,1756,88.4,8.5,214,2119,0.00,2.12,0.00,0.000,260,0.000,0.037,3479,3468,1803,1851,1756,0,0,0,0,0,0,26.51,26.17,26.51,8.23,39.95
$GC,2157,1.00,63.1,3478,3468,1852,1756,84.5,8.8,218,2161,0.00,2.03,0.00,0.000,1030,0.000,0.022,3486,2084,1804,1852,1756,0,0,0,0,0,0,26.31,26.25,26.33,8.23,40.54
$GC,2290,1.00,63.1,3484,2083,1852,1756,72.5,8.8,231,2293,0.00,2.15,0.00,0.000,516,0.000,0.040,3495,686,1804,1852,1756,0,0,0,0,0,0,26.56,26.22,26.57,8.23,40.19
$GC,2384,1.00,63.1,3495,684,1852,1756,64.6,8.9,240,2391,0.00,2.05,0.00,0.000,1030,0.000,0.024,3495,2083,1804,1852,1756,0,0,0,0,0,0,26.37,26.31,26.39,8.23,40.19
$GC,2511,1.00,63.1,3495,2083,1852,1756,53.3,9.4,253,2521,0.00,2.12,0.00,0.000,260,0.000,0.037,3495,3477,1803,1851,1756,0,0,0,0,0,0,26.62,26.29,26.63,8.23,39.56
$GC,2816,1.04,106.1,3495,3477,1852,1756,29.8,5.4,283,2846,0.00,2.05,24.15,0.625,9222,0.000,0.023,3506,2074,1630,1682,1578,0,0,0,0,0,0,26.46,26.40,25.40,8.22,39.48
$GC,2966,1.08,141.7,3505,2074,1682,1578,20.5,6.2,298,2992,0.00,2.20,18.52,0.569,8452,0.000,0.036,3506,3467,1484,1541,1428,0,0,0,0,0,0,26.45,25.86,25.28,8.19,40.03
$GC,3005,1.13,194.6,3505,3467,1541,1428,18.6,4.4,303,3043,0.00,2.05,27.40,0.562,9222,0.000,0.022,3516,2081,1268,1325,1212,0,0,0,0,0,0,26.04,25.98,25.08,8.19,40.07
$GC,3109,1.30,276.8,3516,2081,1323,1211,15.2,1.3,321,3160,0.10,2.20,42.00,0.554,10500,0.080,0.034,3607,3471,934,982,886,0,0,0,0,0,0,25.89,25.22,24.89,8.17,39.84
$GC,3458,1.39,367.7,3606,3471,982,883,8.9,0.3,387,3466,0.00,2.05,3.47,0.329,9218,0.000,0.022,3617,2081,903,952,855,0,0,0,0,0,0,26.07,26.01,26.09,8.13,39.25
$STATE,3467,end climb,NO_VERTICAL_VELOCITY
$STATE,3467,begin surface
$SM_CCo,3471,66.62,0.526,0,0,373,414.56
$SM_GC,9.24,9.15,0.00,0.00,0.043,0.000,0.000,216,2081,370,-9.12,-0.03,415.78,0,0,0,0,0,0,25.86,26.21,25.94
$IRIDIUM_FIX,4739.20,-12253.53,110218,155152
$TT8_MAMPS,0.026215,0.280875
$HUMID,39.99
$INTERNAL_PRESSURE,8.0299
$TCM_TEMP,9.70
$XPDR_PINGS,6
$ALTIM_TOP_PING,19.9,11.8
$ALTIM_BOTTOM_PING,135.1,42.2
$24V_AH,24.46,18.754
$10V_AH,10.28,7.923
$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,22.225,50.850,226.475,66.625,0.000,0.000,0.000,224.150,4.000,0.000,25.439,1018.636,1704.913,397.975,954.574,142.731,0.000,1057.078,0.000,715.395,0.000,18.374,0.000
$DEVICE_MAMPS,242.505,50.490,764.235,525.555,0.000,0.000,0.000,80.325,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,265.878,514.098,519.058,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312176
$DATA_FILE_SIZE,28054,388
$CAP_FILE_SIZE,63350,0
$CFSIZE,2097872896,2065727488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.041,260.24,1
$GPS,110218,182305,4738.096,-12254.808,4,0.8,35,16.4,0.0,0.0,11,4.8