version: 66.14
glider: 194
mission: 12
dive: 551
start: 2 26 118 2 11 10
data:
$ID,194
$MISSION,12
$DIVE,551
$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,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,90
$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,46
$R_STBD_OVSHOOT,75
$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
$GPS1,260218,020611,4739.1089,-12253.8184,5,0.8,24,16.4,0.0,0.0,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,15.59
$_SM_ANGLEo,-70.2
$GPS2,260218,021033,4739.1299,-12253.7969,7,0.7,29,16.4,0.2,349.2,11,4.9
$SPEED_LIMITS,0.173,0.325
$TGT_NAME,HEADING
$TGT_LATLONG,4739.130,-12237.766
$TGT_RADIUS,1852.000
$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,73.6,20000,-13.0,-10.000,-17.11,3689
$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,-0.81,-244.4,206,2080,370,369,0.0,0.0,0,17,0.00,0.00,-6.07,0.000,16386,0.000,0.000,205,2080,529,523,536,0,0,0,0,0,0,26.39,28.83,26.40,8.05,41.25
$GC,20,-0.81,-244.4,205,2080,524,536,15.7,0.0,1,152,10.73,2.17,-110.68,0.000,18692,0.226,0.054,2888,3448,3064,3142,2987,0,0,0,0,0,0,25.53,24.13,25.81,8.06,41.37
$GC,275,-0.64,-244.4,2887,3449,3142,2988,44.9,-21.2,36,283,0.17,2.05,0.00,0.000,3078,0.142,0.023,2944,2067,3065,3142,2988,0,0,0,0,0,0,25.79,26.15,25.98,8.28,40.90
$GC,402,-0.53,-244.4,2944,2067,3142,2988,66.5,-15.9,49,411,0.10,2.10,0.00,0.000,2564,0.168,0.037,2979,695,3065,3142,2988,0,0,0,0,0,0,26.01,26.10,26.07,8.28,41.84
$GC,465,-0.53,-244.4,2978,695,3141,2988,75.4,-13.4,55,474,0.00,2.05,0.00,0.000,1030,0.000,0.026,2979,2054,3065,3143,2988,0,0,0,0,0,0,26.26,26.17,26.29,8.29,41.88
$GC,595,-0.53,-244.4,2978,2054,3142,2988,91.9,-12.5,68,604,0.00,2.20,0.00,0.000,260,0.000,0.042,2979,3486,3065,3142,2988,0,0,0,0,0,0,26.59,26.10,26.60,8.30,42.55
$GC,627,-0.53,-244.4,2977,3486,3142,2988,95.7,-12.1,71,636,0.00,2.08,0.00,0.000,1030,0.000,0.023,2978,2077,3065,3142,2988,0,0,0,0,0,0,26.32,26.25,26.34,8.30,42.28
$GC,757,-0.53,-244.4,2978,2076,3141,2988,110.7,-11.6,84,766,0.00,2.15,0.00,0.000,516,0.000,0.039,2979,668,3065,3142,2988,0,0,0,0,0,0,26.63,26.17,26.63,8.30,42.16
$GC,819,-0.53,-244.4,2978,668,3142,2988,118.0,-12.0,90,828,0.00,2.12,0.00,0.000,1030,0.000,0.025,2978,2090,3065,3142,2988,0,0,0,0,0,0,26.34,26.25,26.36,8.31,42.87
$STATE,926,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,926,begin apogee
$GC,933,-0.22,0.0,2978,2090,3142,2988,131.2,-12.2,101,1138,0.28,0.00,199.23,0.739,10246,0.124,0.000,3079,2090,2063,2114,2013,0,0,0,0,0,0,25.96,24.68,24.02,8.31,42.91
$STATE,1139,end apogee,CONTROL_FINISHED_OK
$STATE,1140,begin climb
$GC,1142,0.81,244.4,3079,2090,2114,2012,143.2,0.0,122,1352,0.95,2.38,201.02,0.709,10756,0.104,0.040,3386,684,1066,1132,1001,0,0,0,0,0,0,24.77,24.37,23.72,8.24,40.90
$GC,1428,1.04,375.6,3386,684,1129,1001,130.6,6.4,150,1546,0.20,2.17,108.65,0.691,11270,0.041,0.024,3497,2099,531,571,492,0,0,0,0,0,0,25.18,25.17,23.89,8.17,40.27
$GC,1726,1.04,375.6,3496,2099,570,489,92.3,13.3,180,1735,0.00,2.25,0.00,0.000,516,0.000,0.041,3497,693,530,571,489,0,0,0,0,0,0,25.94,25.58,25.95,8.12,40.31
$GC,1880,1.04,375.6,3496,693,569,489,72.1,13.1,195,1889,0.00,2.08,0.00,0.000,1030,0.000,0.024,3496,2081,529,569,489,0,0,0,0,0,0,25.93,25.90,25.95,8.12,40.31
$GC,2008,1.04,375.6,3496,2081,570,489,55.7,12.4,208,2017,0.00,2.22,0.00,0.000,516,0.000,0.041,3497,683,529,570,489,0,0,0,0,0,0,26.32,25.92,26.33,8.11,41.17
$GC,2123,1.04,375.6,3496,683,570,489,42.5,11.7,219,2130,0.00,2.10,0.00,0.000,1030,0.000,0.024,3497,2093,529,570,489,0,0,0,0,0,0,26.15,26.08,26.17,8.11,40.94
$GC,2250,1.04,375.6,3496,2093,570,489,28.8,10.1,232,2259,0.00,2.22,0.00,0.000,516,0.000,0.041,3497,680,529,569,489,0,0,0,0,0,0,26.47,26.05,26.48,8.10,41.10
$GC,2292,1.04,375.6,3497,680,569,489,24.7,9.7,236,2301,0.00,2.10,0.00,0.000,1030,0.000,0.024,3497,2089,529,569,489,0,0,0,0,0,0,26.23,26.16,26.25,8.10,40.66
$GC,2425,1.47,656.9,3496,2090,569,489,14.7,2.2,256,2456,0.25,2.17,19.88,0.512,10500,0.066,0.037,3609,3464,373,381,365,0,0,0,0,0,0,26.16,25.74,25.02,8.09,41.21
$STATE,2552,end climb,NO_VERTICAL_VELOCITY
$STATE,2552,begin surface
$SM_CCo,2883,0.00,0.000,0,0,371,415.54
$SM_GC,15.81,9.10,2.15,0.00,0.044,0.026,0.000,213,2087,371,-9.12,1.24,415.54,0,0,0,0,0,0,26.08,26.17,26.16
$IRIDIUM_FIX,4738.33,-12256.21,260218,013201
$TT8_MAMPS,0.026215,0.274883
$HUMID,41.61
$INTERNAL_PRESSURE,8.0299
$TCM_TEMP,9.30
$XPDR_PINGS,11
$ALTIM_TOP_PING,19.4,999.0
$ALTIM_BOTTOM_PING,100.3,40.5
$24V_AH,23.72,46.068
$10V_AH,10.11,16.974
$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,21.775,38.775,528.775,0.000,0.000,0.000,0.000,158.925,3.500,0.000,30.774,595.502,1131.884,576.577,751.128,117.871,0.000,1154.464,0.000,571.458,0.000,10.362,0.000
$DEVICE_MAMPS,226.440,54.315,738.990,0.000,0.000,0.000,0.000,74.970,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,186.148,368.651,372.351,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312188
$DATA_FILE_SIZE,21179,280
$CAP_FILE_SIZE,47285,0
$CFSIZE,2097872896,2036531200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,260218,030007,4739.093,-12253.216,5,0.8,14,16.4,0.0,58.3,9,4.8