version: 66.14
glider: 194
mission: 12
dive: 561
start: 2 26 118 13 17 22
data:
$ID,194
$MISSION,12
$DIVE,561
$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,45
$R_STBD_OVSHOOT,60
$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
$GPS1,260218,131134,4738.5679,-12254.2305,5,0.9,13,16.4,0.0,0.0,8,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,15.92
$_SM_ANGLEo,-70.9
$GPS2,260218,131644,4738.5737,-12254.1758,7,0.9,15,16.4,0.0,0.0,8,4.9
$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,211.7,1149,-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,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,8,-0.81,-244.4,206,2087,378,361,0.0,0.0,0,17,0.00,0.00,-6.43,0.000,16386,0.000,0.000,205,2087,538,535,541,0,0,0,0,0,0,26.43,28.83,26.44,8.05,41.02
$GC,20,-0.81,-244.4,206,2087,535,542,15.9,0.0,1,152,10.90,2.25,-113.25,0.000,18948,0.230,0.052,2888,683,3064,3141,2987,0,0,0,0,0,0,25.48,24.04,25.78,8.07,41.06
$GC,166,-0.59,-244.4,2887,682,3142,2988,21.6,-16.5,25,171,0.25,2.10,0.00,0.000,3078,0.161,0.025,2962,2076,3065,3142,2988,0,0,0,0,0,0,25.57,26.08,25.80,8.28,40.70
$GC,300,-0.48,-244.4,2961,2076,3142,2988,43.9,-17.5,38,309,0.10,2.17,0.00,0.000,2308,0.164,0.042,2997,3472,3065,3142,2988,0,0,0,0,0,0,25.99,26.01,26.03,8.28,41.14
$GC,414,-0.48,-244.4,2997,3472,3142,2988,58.4,-10.9,49,418,0.00,2.08,0.00,0.000,1030,0.000,0.024,2997,2079,3065,3142,2988,0,0,0,0,0,0,26.28,26.21,26.30,8.28,41.57
$GC,547,-0.48,-244.4,2997,2078,3142,2988,73.7,-11.4,62,548,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2078,3065,3142,2988,0,0,0,0,0,0,26.60,26.62,26.61,8.30,41.69
$GC,667,-0.48,-244.4,2997,2078,3142,2988,87.0,-10.9,74,668,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2078,3065,3142,2988,0,0,0,0,0,0,26.63,26.65,26.64,8.31,41.96
$GC,787,-0.48,-244.4,2997,2078,3142,2987,99.8,-11.2,86,800,0.00,2.15,0.00,0.000,516,0.000,0.041,2997,686,3064,3142,2987,0,0,0,0,0,0,26.66,26.17,26.67,8.31,41.80
$GC,828,-0.48,-244.4,2996,686,3142,2987,104.1,-11.3,89,834,0.00,2.08,0.00,0.000,1030,0.000,0.025,2997,2084,3064,3142,2987,0,0,0,0,0,0,26.34,26.27,26.37,8.31,42.24
$GC,1014,-0.48,-244.4,2996,2085,3142,2987,123.9,-10.0,108,1019,0.00,2.15,0.00,0.000,260,0.000,0.041,2997,3480,3065,3142,2988,0,0,0,0,0,0,26.70,26.16,26.70,8.32,42.75
$GC,1077,-0.48,-244.4,2997,3480,3142,2987,130.6,-10.9,114,1082,0.00,2.05,0.00,0.000,1030,0.000,0.023,2997,2079,3064,3142,2987,0,0,0,0,0,0,26.40,26.33,26.42,8.32,42.55
$STATE,1127,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1128,begin apogee
$GC,1134,-0.22,0.0,2997,2079,3142,2987,136.5,-11.4,119,1339,0.20,0.00,197.70,0.744,10246,0.125,0.000,3075,2078,2066,2116,2017,0,0,0,0,0,0,26.02,24.49,24.03,8.32,42.40
$STATE,1340,end apogee,CONTROL_FINISHED_OK
$STATE,1340,begin climb
$GC,1345,0.81,244.4,3075,2078,2115,2017,149.1,0.0,140,1556,0.95,2.33,200.48,0.713,11012,0.103,0.040,3386,690,1066,1132,1001,0,0,0,0,0,0,24.84,24.20,23.76,8.25,40.23
$GC,1595,1.07,404.5,3386,690,1130,1001,139.4,5.6,165,1737,0.22,2.20,131.98,0.692,11270,0.048,0.024,3502,2099,415,432,399,0,0,0,0,0,0,25.02,25.00,23.84,8.18,40.23
$GC,1916,1.07,404.5,3501,2099,431,396,97.0,14.4,197,1924,0.00,2.25,0.00,0.000,772,0.000,0.042,3502,694,413,431,396,0,0,0,0,0,0,25.92,25.56,25.93,8.12,40.43
$GC,1937,1.07,404.5,3502,694,431,396,93.9,13.9,199,1946,0.00,2.10,0.00,0.000,1030,0.000,0.024,3502,2079,413,431,396,0,0,0,0,0,0,25.75,25.69,25.77,8.13,40.51
$GC,2067,1.07,404.5,3502,2078,431,396,76.6,13.5,212,2072,0.00,2.17,0.00,0.000,260,0.000,0.036,3502,3473,412,430,395,0,0,0,0,0,0,26.20,25.82,26.21,8.12,40.74
$GC,2134,1.07,404.5,3502,3473,431,395,68.1,13.0,218,2141,0.00,2.10,0.00,0.000,1030,0.000,0.024,3509,2066,413,431,395,0,0,0,0,0,0,26.01,25.92,26.03,8.11,40.39
$GC,2260,1.07,404.5,3508,2066,431,395,51.2,13.1,231,2269,0.00,2.15,0.00,0.000,516,0.000,0.043,3509,697,413,431,395,0,0,0,0,0,0,26.38,25.96,26.39,8.11,40.98
$GC,2384,1.07,404.5,3508,697,431,395,37.0,10.3,243,2392,0.00,2.05,0.00,0.000,1030,0.000,0.024,3510,2085,413,431,395,0,0,0,0,0,0,26.15,26.13,26.17,8.10,40.66
$GC,2512,1.07,404.5,3508,2085,430,395,23.0,10.2,256,2517,0.00,2.15,0.00,0.000,260,0.000,0.036,3509,3478,413,431,395,0,0,0,0,0,0,26.51,26.09,26.51,8.09,41.33
$GC,2538,1.07,404.5,3508,3478,431,395,20.5,10.7,258,2546,0.00,2.08,0.00,0.000,1030,0.000,0.024,3509,2076,413,431,395,0,0,0,0,0,0,26.24,26.16,26.27,8.10,41.10
$GC,2671,1.63,758.5,3509,2076,430,395,15.0,0.2,283,2679,0.35,0.00,5.00,0.402,10758,0.052,0.000,3664,2075,374,383,365,0,0,0,0,0,0,26.21,25.60,24.84,8.08,41.14
$STATE,2734,end climb,NO_VERTICAL_VELOCITY
$STATE,2734,begin surface
$SM_CCo,3063,0.00,0.000,0,0,371,415.29
$SM_GC,16.09,9.20,0.00,0.00,0.043,0.000,0.000,209,2075,371,-9.13,-0.20,415.29,0,0,0,0,0,0,26.16,26.62,26.24
$IRIDIUM_FIX,4735.45,-12242.96,260218,120529
$TT8_MAMPS,0.026215,0.274883
$HUMID,40.98
$INTERNAL_PRESSURE,8.01037
$TCM_TEMP,9.70
$XPDR_PINGS,7
$ALTIM_TOP_PING,19.6,999.0
$ALTIM_BOTTOM_PING,100.8,45.2
$24V_AH,23.76,47.182
$10V_AH,10.11,17.274
$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,22.175,38.600,535.150,0.000,0.000,0.000,0.000,209.450,2.500,0.000,16.652,684.891,1220.071,585.193,773.153,130.877,0.000,1206.809,0.000,562.419,0.000,10.367,0.000
$DEVICE_MAMPS,230.265,52.020,743.580,0.000,0.000,0.000,0.000,78.795,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,197.478,388.954,392.820,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312104
$DATA_FILE_SIZE,21072,295
$CAP_FILE_SIZE,50183,0
$CFSIZE,2097872896,2035548160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.104,68.13,1
$GPS,260218,140931,4738.541,-12254.297,5,0.8,25,16.4,0.3,55.5,10,4.1