version: 66.14
glider: 194
mission: 12
dive: 277
start: 2 12 118 21 3 38
data:
$ID,194
$MISSION,12
$DIVE,277
$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,50
$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
$GPS1,120218,205805,4738.4507,-12254.3076,8,0.9,16,16.4,0.0,0.0,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,9.76
$_SM_ANGLEo,-71.7
$GPS2,120218,210248,4738.4541,-12254.3301,7,1.0,20,16.4,0.0,0.0,9,4.8
$SPEED_LIMITS,0.173,0.325
$TGT_NAME,NW2S
$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,200.8,856,-26.5,-10.000,-29.34,1013
$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,-1.22,-66.4,213,2082,360,373,0.0,0.0,0,17,0.00,0.00,-6.45,0.000,16386,0.000,0.000,213,2082,544,534,555,0,0,0,0,0,0,26.35,28.83,26.36,8.06,39.64
$GC,20,-1.22,-66.4,213,2082,533,556,9.8,0.0,1,121,10.15,2.20,-81.75,0.000,18948,0.233,0.054,2758,678,2335,2381,2289,0,0,0,0,0,0,25.68,25.44,25.94,8.08,39.13
$GC,391,-1.14,-66.4,2758,679,2381,2282,54.6,-15.4,53,399,0.00,2.08,0.00,0.000,1030,0.000,0.027,2759,2074,2331,2381,2282,0,0,0,0,0,0,26.25,26.21,26.26,8.23,40.03
$GC,521,-1.09,-66.4,2758,2074,2381,2281,71.5,-12.2,66,526,0.12,2.17,0.00,0.000,2308,0.189,0.041,2798,3478,2331,2381,2281,0,0,0,0,0,0,25.99,26.19,26.10,8.24,40.66
$GC,548,-1.09,-66.4,2796,3479,2381,2281,74.9,-13.5,68,554,0.00,2.05,0.00,0.000,1030,0.000,0.023,2798,2075,2331,2381,2281,0,0,0,0,0,0,26.34,26.29,26.36,8.25,40.78
$GC,674,-1.09,-66.4,2797,2075,2381,2280,92.2,-12.5,81,675,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2075,2330,2381,2280,0,0,0,0,0,0,26.60,26.61,26.60,8.25,41.17
$GC,794,-1.09,-66.4,2797,2075,2381,2279,107.2,-12.8,93,798,0.00,2.17,0.00,0.000,260,0.000,0.041,2797,3482,2330,2381,2279,0,0,0,0,0,0,26.63,26.26,26.63,8.25,40.74
$GC,822,-1.09,-66.4,2797,3483,2381,2279,110.1,-12.9,95,829,0.00,2.05,0.00,0.000,1030,0.000,0.022,2798,2078,2330,2381,2279,0,0,0,0,0,0,26.41,26.34,26.43,8.25,41.02
$GC,1010,-1.09,-66.4,2797,2078,2381,2278,134.7,-12.2,114,1011,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2078,2329,2381,2278,0,0,0,0,0,0,26.67,26.67,26.67,8.26,41.33
$GC,1190,-1.09,-66.4,2797,2077,2381,2278,156.9,-12.0,132,1191,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2078,2329,2381,2278,0,0,0,0,0,0,26.70,26.71,26.71,8.26,40.74
$STATE,1238,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1238,begin apogee
$GC,1244,-0.22,0.0,2797,2078,2381,2278,163.0,-12.2,137,1309,0.85,0.00,56.53,0.764,10246,0.143,0.000,3074,2078,2064,2112,2017,0,0,0,0,0,0,26.08,25.48,24.89,8.26,41.41
$STATE,1310,end apogee,CONTROL_FINISHED_OK
$STATE,1310,begin climb
$GC,1313,1.22,66.4,3074,2078,2112,2017,165.9,0.0,144,1380,1.25,0.00,58.25,0.745,10502,0.085,0.000,3521,2078,1793,1842,1744,0,0,0,0,0,0,25.54,24.85,24.45,8.25,40.47
$GC,1560,1.17,66.4,3521,2078,1841,1743,145.4,11.7,169,1561,0.00,0.00,0.00,0.000,6,0.000,0.000,3521,2077,1792,1842,1743,0,0,0,0,0,0,26.04,26.05,26.05,8.23,40.07
$GC,1741,1.11,66.4,3521,2078,1842,1742,124.1,11.7,187,1749,0.00,2.15,0.00,0.000,516,0.000,0.039,3532,691,1792,1842,1742,0,0,0,0,0,0,26.27,25.94,26.27,8.23,40.82
$GC,1795,1.04,66.4,3531,691,1839,1742,117.6,12.2,192,1804,0.15,2.10,0.00,0.000,5126,0.168,0.025,3490,2107,1791,1840,1742,0,0,0,0,0,0,25.75,26.03,25.94,8.23,40.86
$GC,1986,1.04,66.4,3489,2107,1840,1741,96.6,10.4,211,1995,0.00,2.20,0.00,0.000,516,0.000,0.040,3498,687,1790,1840,1741,0,0,0,0,0,0,26.43,26.10,26.44,8.23,39.95
$GC,2048,1.04,66.4,3497,688,1840,1741,88.8,11.8,217,2058,0.00,2.08,0.00,0.000,1030,0.000,0.025,3498,2081,1790,1840,1741,0,0,0,0,0,0,26.24,26.17,26.26,8.23,40.19
$GC,2179,1.04,66.4,3498,2081,1840,1741,74.1,11.0,230,2183,0.00,2.12,0.00,0.000,260,0.000,0.037,3499,3474,1790,1840,1741,0,0,0,0,0,0,26.51,26.17,26.51,8.23,40.54
$GC,2274,1.04,66.4,3498,3474,1840,1741,63.0,11.6,239,2282,0.00,2.05,0.00,0.000,1030,0.000,0.022,3509,2077,1790,1840,1741,0,0,0,0,0,0,26.33,26.27,26.34,8.23,41.02
$GC,2402,1.04,66.4,3508,2077,1840,1741,49.0,10.4,252,2406,0.00,2.17,0.00,0.000,260,0.000,0.037,3509,3474,1790,1840,1741,0,0,0,0,0,0,26.58,26.24,26.59,8.22,40.98
$GC,2495,0.99,66.4,3509,3474,1840,1741,39.6,10.1,261,2505,0.15,2.03,0.00,0.000,5126,0.162,0.022,3475,2080,1790,1840,1741,0,0,0,0,0,0,26.01,26.34,26.16,8.22,40.15
$GC,2625,1.03,111.6,3474,2081,1840,1740,31.2,5.4,274,2656,0.00,2.17,25.25,0.629,8708,0.000,0.040,3482,697,1608,1663,1554,0,0,0,0,0,0,26.63,25.93,25.33,8.22,39.76
$GC,2918,1.10,180.7,3482,697,1662,1553,22.9,3.0,303,2966,0.00,2.05,36.83,0.595,9222,0.000,0.024,3482,2095,1326,1386,1266,0,0,0,0,0,0,26.27,26.20,25.13,8.19,39.48
$GC,3088,1.25,239.1,3481,2095,1385,1264,19.0,4.1,322,3127,0.12,2.15,29.88,0.562,10500,0.068,0.035,3582,3471,1088,1141,1036,0,0,0,0,0,0,26.02,25.37,25.01,8.17,39.32
$GC,3180,1.25,239.1,3582,3471,1140,1035,11.9,10.6,338,3188,0.12,2.08,0.00,0.000,5126,0.166,0.022,3558,2086,1087,1140,1035,0,0,0,0,0,0,25.57,25.80,25.75,8.15,38.81
$GC,3252,1.79,341.9,3557,2086,1141,1032,8.9,-0.4,351,3312,0.38,2.25,51.58,0.519,10756,0.041,0.040,3742,684,668,713,624,0,0,0,0,0,0,25.92,25.32,24.87,8.14,39.40
$STATE,3360,end climb,NO_VERTICAL_VELOCITY
$STATE,3360,begin surface
$SM_CCo,3364,37.03,0.508,0,0,373,414.56
$SM_GC,10.04,9.52,2.15,0.00,0.044,0.025,0.000,208,2069,369,-9.15,-2.04,416.03,0,0,0,0,0,0,25.85,25.91,25.94
$IRIDIUM_FIX,4738.72,-12249.11,120218,194927
$TT8_MAMPS,0.026215,0.274134
$HUMID,39.99
$INTERNAL_PRESSURE,8.0299
$TCM_TEMP,9.90
$XPDR_PINGS,9
$ALTIM_TOP_PING,19.9,10.7
$ALTIM_BOTTOM_PING,110.1,61.8
$24V_AH,24.45,20.927
$10V_AH,10.27,8.745
$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,22.825,42.475,258.300,37.025,0.000,0.000,0.000,184.475,3.750,0.000,21.348,965.977,1658.987,398.637,891.807,133.351,0.000,1011.590,0.000,694.509,0.000,13.321,0.000
$DEVICE_MAMPS,233.325,53.550,764.235,507.960,0.000,0.000,0.000,80.325,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,252.817,489.842,494.587,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312208
$DATA_FILE_SIZE,24518,370
$CAP_FILE_SIZE,59401,0
$CFSIZE,2097872896,2063466496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.031,264.96,1
$GPS,120218,220703,4738.241,-12254.635,14,0.9,33,16.4,0.0,0.0,9,4.6