version: 66.14
glider: 194
mission: 12
dive: 555
start: 2 26 118 6 27 27
data:
$ID,194
$MISSION,12
$DIVE,555
$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,49
$R_STBD_OVSHOOT,51
$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
$GPS1,260218,062159,4739.2466,-12252.2539,5,1.2,46,16.4,0.3,23.5,7,3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,15.75
$_SM_ANGLEo,-71.3
$GPS2,260218,062651,4739.2905,-12252.2324,6,0.9,14,16.4,0.0,0.0,8,4.5
$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,219.5,3872,-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,-244.4,205,2084,369,364,0.0,0.0,0,17,0.00,0.00,-5.70,0.000,16386,0.000,0.000,205,2084,518,514,522,0,0,0,0,0,0,26.41,28.83,26.42,8.06,40.86
$GC,20,-0.81,-244.4,205,2084,514,523,15.8,0.0,1,152,10.85,2.25,-113.72,0.000,18948,0.228,0.052,2889,684,3064,3142,2986,0,0,0,0,0,0,25.47,24.04,25.77,8.07,40.86
$GC,200,-0.58,-244.4,2889,684,3142,2987,27.9,-19.0,27,210,0.22,2.12,0.00,0.000,3078,0.164,0.026,2956,2092,3064,3142,2987,0,0,0,0,0,0,25.59,26.08,25.82,8.28,40.35
$GC,331,-0.48,-244.4,2956,2091,3142,2987,49.7,-15.9,40,336,0.10,2.17,0.00,0.000,2308,0.168,0.041,2991,3480,3064,3142,2987,0,0,0,0,0,0,25.98,26.03,26.03,8.29,41.49
$GC,384,-0.48,-244.4,2990,3480,3142,2987,56.5,-12.2,45,388,0.00,2.08,0.00,0.000,1030,0.000,0.023,2991,2081,3064,3142,2987,0,0,0,0,0,0,26.26,26.19,26.28,8.29,41.33
$GC,516,-0.48,-244.4,2990,2080,3142,2987,72.1,-11.6,58,521,0.00,2.15,0.00,0.000,516,0.000,0.040,2991,689,3064,3142,2986,0,0,0,0,0,0,26.58,26.12,26.59,8.29,41.49
$GC,589,-0.48,-244.4,2990,689,3142,2987,80.8,-11.7,65,598,0.00,2.10,0.00,0.000,1030,0.000,0.025,2991,2089,3064,3142,2987,0,0,0,0,0,0,26.29,26.22,26.32,8.29,41.88
$GC,719,-0.48,-244.4,2990,2089,3142,2987,94.8,-11.1,78,721,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2089,3064,3142,2987,0,0,0,0,0,0,26.63,26.65,26.64,8.31,42.40
$GC,839,-0.48,-244.4,2990,2089,3142,2987,107.6,-10.5,90,844,0.00,2.15,0.00,0.000,260,0.000,0.042,2991,3475,3064,3142,2987,0,0,0,0,0,0,26.65,26.13,26.66,8.32,41.92
$GC,902,-0.48,-244.4,2990,3474,3142,2987,114.0,-9.9,96,907,0.00,2.08,0.00,0.000,1030,0.000,0.023,2991,2076,3064,3142,2986,0,0,0,0,0,0,26.37,26.30,26.39,8.31,42.40
$GC,1095,-0.48,-244.4,2990,2075,3142,2987,135.3,-11.0,115,1100,0.00,2.15,0.00,0.000,516,0.000,0.039,2991,689,3064,3142,2987,0,0,0,0,0,0,26.70,26.21,26.70,8.32,42.67
$GC,1171,-0.48,-244.4,2990,688,3142,2987,143.1,-10.5,122,1178,0.00,2.08,0.00,0.000,1030,0.000,0.024,2991,2087,3064,3142,2987,0,0,0,0,0,0,26.39,26.30,26.41,8.31,42.79
$STATE,1226,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1226,begin apogee
$GC,1233,-0.22,0.0,2990,2087,3142,2987,148.9,-9.7,128,1438,0.22,0.00,199.57,0.749,10246,0.123,0.000,3076,2087,2063,2115,2012,0,0,0,0,0,0,26.01,24.69,24.03,8.33,42.32
$STATE,1439,end apogee,CONTROL_FINISHED_OK
$STATE,1439,begin climb
$GC,1443,0.81,244.4,3076,2087,2115,2011,154.9,0.0,149,1659,0.90,2.40,200.65,0.717,10756,0.067,0.038,3396,685,1066,1132,1001,0,0,0,0,0,0,24.87,24.39,23.74,8.25,40.23
$GC,1758,1.00,339.7,3395,685,1129,1001,136.5,7.4,180,1845,0.15,2.15,78.72,0.698,11270,0.062,0.024,3486,2094,678,730,626,0,0,0,0,0,0,25.32,25.33,23.99,8.18,39.95
$GC,2024,1.00,339.7,3485,2094,730,624,104.2,13.2,207,2034,0.00,2.22,0.00,0.000,516,0.000,0.041,3486,690,677,730,625,0,0,0,0,0,0,26.01,25.63,26.01,8.15,40.47
$GC,2170,1.00,339.7,3485,690,729,625,84.9,13.1,221,2178,0.00,2.08,0.00,0.000,1030,0.000,0.024,3486,2076,676,729,624,0,0,0,0,0,0,25.99,25.92,26.01,8.14,40.54
$GC,2298,1.00,339.7,3486,2076,729,625,68.2,13.3,234,2306,0.00,2.17,0.00,0.000,516,0.000,0.042,3486,697,677,729,625,0,0,0,0,0,0,26.35,25.92,26.36,8.14,41.41
$GC,2369,1.00,339.7,3486,697,729,625,59.1,12.3,241,2379,0.00,2.08,0.00,0.000,1030,0.000,0.024,3486,2087,677,730,625,0,0,0,0,0,0,26.14,26.07,26.16,8.13,40.82
$GC,2500,1.00,339.7,3486,2086,729,625,43.0,12.5,254,2509,0.00,2.20,0.00,0.000,516,0.000,0.042,3486,688,677,729,625,0,0,0,0,0,0,26.46,26.06,26.48,8.13,40.66
$GC,2542,1.00,339.7,3486,689,729,625,38.1,11.5,258,2551,0.00,2.05,0.00,0.000,1030,0.000,0.024,3486,2080,677,729,625,0,0,0,0,0,0,26.19,26.15,26.21,8.12,41.53
$GC,2672,1.00,339.7,3486,2080,729,625,25.5,9.4,271,2682,0.00,2.20,0.00,0.000,516,0.000,0.041,3486,684,677,729,625,0,0,0,0,0,0,26.53,26.10,26.54,8.12,40.94
$GC,2756,1.00,339.7,3485,684,729,625,18.6,8.1,280,2763,0.00,2.08,0.00,0.000,1030,0.000,0.024,3486,2091,676,729,624,0,0,0,0,0,0,26.28,26.22,26.31,8.11,40.35
$GC,2827,1.57,678.3,3486,2093,729,625,14.8,0.6,293,2875,0.38,2.15,38.70,0.526,10500,0.056,0.036,3647,3460,372,374,371,0,0,0,0,0,0,26.20,25.65,24.97,8.11,40.51
$STATE,2943,end climb,NO_VERTICAL_VELOCITY
$STATE,2944,begin surface
$SM_CCo,3274,0.00,0.000,0,0,369,416.03
$SM_GC,15.90,9.20,2.12,0.00,0.042,0.024,0.000,207,2086,369,-9.13,1.53,416.03,0,0,0,0,0,0,26.03,26.12,26.11
$IRIDIUM_FIX,4739.20,-12253.53,260218,051513
$TT8_MAMPS,0.026215,0.275632
$HUMID,41.92
$INTERNAL_PRESSURE,8.0299
$TCM_TEMP,9.70
$XPDR_PINGS,6
$ALTIM_TOP_PING,19.5,999.0
$ALTIM_BOTTOM_PING,100.2,58.4
$24V_AH,23.74,46.513
$10V_AH,10.12,17.093
$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,22.025,47.225,517.650,0.000,0.000,0.000,0.000,192.275,2.250,0.000,16.082,736.755,1307.518,577.439,824.454,138.873,0.000,1219.246,0.000,628.636,0.000,10.431,0.000
$DEVICE_MAMPS,227.970,52.020,748.935,0.000,0.000,0.000,0.000,80.325,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,210.181,414.085,418.213,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312204
$DATA_FILE_SIZE,21080,314
$CAP_FILE_SIZE,54373,0
$CFSIZE,2097872896,2036137984
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,63.49,0x2367ba,0,24
$INTR,1,1590.19,0x2367ba,1,24
$CURRENT,0.036,176.33,1
$GPS,260218,072253,4739.116,-12252.745,5,0.9,12,16.4,0.0,0.0,9,4.9