version: 66.14
glider: 194
mission: 12
dive: 491
start: 2 23 118 7 31 4
data:
$ID,194
$MISSION,12
$DIVE,491
$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,43
$R_STBD_OVSHOOT,55
$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
$GPS1,230218,072508,4738.1904,-12254.0674,7,0.9,36,16.4,0.2,0.0,9,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,14.92
$_SM_ANGLEo,-69.1
$GPS2,230218,073018,4738.1787,-12254.0215,8,0.9,14,16.4,0.0,0.0,9,4.8
$SPEED_LIMITS,0.173,0.325
$TGT_NAME,NW1
$TGT_LATLONG,4738.657,-12253.412
$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,18.2,1168,-13.9,-10.000,-17.85,3326
$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,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,9,-0.82,-220.0,212,2088,359,374,0.0,0.0,0,17,0.00,0.00,-5.65,0.000,16386,0.000,0.000,212,2088,519,511,528,0,0,0,0,0,0,26.37,28.83,26.38,8.04,40.62
$GC,20,-0.82,-220.0,212,2088,511,528,15.0,0.0,1,152,10.77,2.25,-110.28,0.000,18948,0.230,0.053,2885,678,2963,3031,2895,0,0,0,0,0,0,25.51,24.08,25.79,8.06,40.51
$GC,250,-0.68,-220.0,2884,679,3031,2896,35.5,-20.9,34,257,0.15,2.10,0.00,0.000,3078,0.156,0.027,2931,2073,2963,3031,2896,0,0,0,0,0,0,25.73,26.08,25.92,8.26,40.15
$GC,376,-0.61,-220.0,2931,2073,3031,2896,56.9,-15.5,47,385,0.00,2.17,0.00,0.000,260,0.000,0.043,2931,3482,2963,3031,2896,0,0,0,0,0,0,26.52,26.03,26.53,8.27,40.94
$GC,461,-0.61,-220.0,2931,3482,3031,2896,68.4,-13.7,55,468,0.00,2.10,0.00,0.000,1030,0.000,0.023,2931,2065,2963,3031,2896,0,0,0,0,0,0,26.27,26.20,26.29,8.28,41.29
$GC,589,-0.55,-220.0,2931,2064,3031,2896,87.6,-14.8,68,594,0.10,2.12,0.00,0.000,2564,0.164,0.037,2967,684,2963,3031,2896,0,0,0,0,0,0,26.07,26.14,26.10,8.29,41.29
$GC,605,-0.50,-220.0,2967,684,3031,2895,89.5,-14.6,69,612,0.00,2.10,0.00,0.000,1030,0.000,0.026,2967,2091,2963,3031,2895,0,0,0,0,0,0,26.27,26.18,26.31,8.29,42.16
$GC,732,-0.50,-220.0,2967,2091,3030,2895,104.8,-11.7,82,736,0.00,2.17,0.00,0.000,260,0.000,0.044,2967,3480,2963,3031,2895,0,0,0,0,0,0,26.62,26.11,26.63,8.29,41.57
$GC,837,-0.50,-220.0,2967,3480,3031,2895,115.9,-10.4,92,844,0.00,2.08,0.00,0.000,1030,0.000,0.023,2967,2069,2963,3031,2895,0,0,0,0,0,0,26.36,26.29,26.37,8.30,42.55
$GC,1025,-0.50,-220.0,2967,2068,3031,2895,137.1,-10.9,111,1029,0.00,2.20,0.00,0.000,260,0.000,0.042,2967,3473,2962,3031,2894,0,0,0,0,0,0,26.67,26.16,26.67,8.31,42.36
$GC,1051,-0.50,-220.0,2967,3473,3031,2895,139.3,-10.3,113,1057,0.00,2.05,0.00,0.000,1030,0.000,0.023,2967,2075,2963,3031,2895,0,0,0,0,0,0,26.39,26.32,26.41,8.31,41.57
$GC,1237,-0.50,-220.0,2967,2074,3031,2895,159.9,-11.1,132,1242,0.00,2.20,0.00,0.000,260,0.000,0.043,2967,3483,2963,3031,2895,0,0,0,0,0,0,26.70,26.18,26.71,8.32,42.08
$GC,1304,-0.50,-220.0,2966,3483,3031,2895,166.9,-10.8,138,1310,0.00,2.05,0.00,0.000,1030,0.000,0.022,2967,2082,2963,3031,2895,0,0,0,0,0,0,26.42,26.36,26.44,8.32,41.84
$STATE,1408,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1408,begin apogee
$GC,1414,-0.22,0.0,2967,2081,3031,2894,178.8,-10.6,149,1600,0.30,0.00,180.07,0.761,10246,0.115,0.000,3078,2081,2064,2112,2016,0,0,0,0,0,0,26.01,24.75,24.12,8.32,41.45
$STATE,1601,end apogee,CONTROL_FINISHED_OK
$STATE,1601,begin climb
$GC,1604,0.82,220.0,3078,2080,2112,2015,180.0,0.0,168,1796,0.95,2.33,181.35,0.729,11012,0.097,0.038,3393,698,1166,1234,1099,0,0,0,0,0,0,24.83,24.46,23.84,8.26,40.15
$GC,2089,1.12,220.0,3392,698,1232,1098,150.8,8.0,216,2097,0.32,2.10,0.00,0.000,3078,0.072,0.024,3518,2099,1165,1232,1098,0,0,0,0,0,0,25.68,25.79,25.78,8.19,40.74
$GC,2279,1.04,220.0,3518,2099,1232,1098,129.6,12.3,235,2287,0.00,2.20,0.00,0.000,516,0.000,0.039,3526,693,1165,1232,1099,0,0,0,0,0,0,26.31,25.91,26.32,8.19,41.02
$GC,2461,0.96,220.0,3526,693,1232,1099,105.9,12.8,253,2471,0.17,2.05,0.00,0.000,5126,0.119,0.025,3468,2075,1165,1232,1099,0,0,0,0,0,0,25.79,26.10,25.89,8.19,40.78
$GC,2653,0.96,220.0,3467,2076,1232,1099,87.5,8.8,272,2657,0.00,2.15,0.00,0.000,260,0.000,0.039,3468,3472,1165,1232,1099,0,0,0,0,0,0,26.51,26.08,26.51,8.19,41.10
$GC,2705,0.96,220.0,3467,3473,1232,1100,82.1,10.0,277,2714,0.00,2.08,0.00,0.000,1030,0.000,0.023,3471,2076,1165,1231,1099,0,0,0,0,0,0,26.27,26.20,26.29,8.18,41.21
$GC,2835,0.96,220.0,3471,2076,1232,1099,69.5,9.8,290,2844,0.00,2.15,0.00,0.000,516,0.000,0.041,3471,690,1166,1232,1100,0,0,0,0,0,0,26.56,26.13,26.58,8.19,41.21
$GC,2897,0.96,220.0,3471,690,1232,1100,63.8,9.1,296,2906,0.00,2.05,0.00,0.000,1030,0.000,0.025,3471,2075,1166,1232,1100,0,0,0,0,0,0,26.27,26.24,26.29,8.19,40.82
$GC,3027,0.96,220.0,3471,2076,1232,1100,51.8,9.5,309,3028,0.00,0.00,0.00,0.000,6,0.000,0.000,3471,2076,1166,1232,1100,0,0,0,0,0,0,26.61,26.62,26.62,8.18,41.45
$GC,3147,0.96,220.0,3470,2076,1232,1101,41.3,8.6,321,3157,0.00,2.17,0.00,0.000,516,0.000,0.040,3471,685,1166,1232,1100,0,0,0,0,0,0,26.64,26.20,26.65,8.18,41.10
$GC,3200,1.07,327.3,3471,685,1232,1100,37.8,6.7,326,3270,0.00,2.05,60.97,0.636,9222,0.000,0.025,3471,2080,728,779,677,0,0,0,0,0,0,26.32,26.29,24.82,8.18,41.21
$GC,3390,1.12,327.3,3471,2079,778,675,24.7,8.5,345,3400,0.05,2.17,0.00,0.000,2308,0.144,0.037,3535,3474,726,778,675,0,0,0,0,0,0,25.95,25.76,25.98,8.13,39.99
$GC,3424,1.12,327.3,3534,3474,778,675,21.0,10.7,348,3434,0.00,2.08,0.00,0.000,1030,0.000,0.022,3540,2088,726,778,675,0,0,0,0,0,0,25.92,25.90,25.95,8.13,40.39
$GC,3560,1.65,643.7,3539,2087,778,674,13.9,0.3,373,3613,0.30,2.25,44.15,0.519,10756,0.053,0.040,3677,687,371,358,384,0,0,0,0,0,0,26.02,25.49,24.90,8.12,40.51
$STATE,3624,end climb,NO_VERTICAL_VELOCITY
$STATE,3624,begin surface
$SM_CCo,3955,0.00,0.000,0,0,368,416.27
$SM_GC,15.22,9.30,2.17,0.00,0.042,0.025,0.000,212,2092,368,-9.13,-1.47,416.27,0,0,0,0,0,0,25.90,26.00,25.98
$IRIDIUM_FIX,4738.72,-12249.11,230218,061630
$TT8_MAMPS,0.026215,0.280126
$HUMID,40.82
$INTERNAL_PRESSURE,8.0299
$TCM_TEMP,9.40
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.8,999.0
$ALTIM_BOTTOM_PING,100.1,87.7
$24V_AH,23.84,40.524
$10V_AH,10.14,15.242
$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,22.425,55.600,466.550,0.000,0.000,0.000,0.000,211.675,1.500,0.000,15.692,948.210,1660.953,574.033,962.267,148.715,0.000,1271.400,0.000,751.872,0.000,10.487,0.000
$DEVICE_MAMPS,229.500,52.785,761.175,0.000,0.000,0.000,0.000,80.325,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,259.320,507.390,512.404,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312168
$DATA_FILE_SIZE,28038,384
$CAP_FILE_SIZE,62743,0
$CFSIZE,2097872896,2042429440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.053,300.19,1
$GPS,230218,083753,4738.454,-12253.443,4,0.8,13,16.4,0.3,0.0,10,5.0