version: 66.14
glider: 194
mission: 12
dive: 141
start: 2 6 118 1 47 25
data:
$ID,194
$MISSION,12
$DIVE,141
$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,1
$FERRY_MAX,45
$KALMAN_USE,1
$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,51
$R_STBD_OVSHOOT,57
$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
$GPS1,060218,014046,4739.1919,-12252.5117,4,0.8,15,16.4,0.0,0.0,10,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,5.14
$_SM_ANGLEo,-72.9
$GPS2,060218,014616,4739.1821,-12252.5410,5,0.8,16,16.4,0.0,0.0,10,4.7
$SPEED_LIMITS,0.173,0.325
$TGT_NAME,NW1
$TGT_LATLONG,4738.657,-12253.412
$TGT_RADIUS,250.000
$KALMAN_CONTROL,-0.240533,-0.171184
$KALMAN_X,18310.341797,-34.591881,86.613266,-18388.873047,-226.327423
$KALMAN_Y,11768.599609,-393.102509,327.400970,-11641.687500,-356.308472
$MHEAD_RNG_PITCHd_Wd,218.2,1458,-14.9,-10.000,-18.71,2960
$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,-0.84,-195.6,210,2086,359,381,0.0,0.0,0,16,0.00,0.00,-6.38,0.000,16386,0.000,0.000,210,2086,560,549,571,0,0,0,0,0,0,26.30,28.83,26.31,8.07,39.44
$GC,20,-0.84,-195.6,210,2086,549,573,5.2,0.0,1,112,11.18,2.15,-73.40,0.000,19204,0.254,0.054,2873,3468,2863,2921,2806,0,0,0,0,0,0,25.63,25.43,25.93,8.09,39.32
$GC,132,-0.71,-195.6,2872,3468,2922,2807,13.8,-15.5,20,140,0.15,2.05,0.00,0.000,3078,0.151,0.024,2920,2079,2864,2922,2807,0,0,0,0,0,0,25.87,26.07,26.03,8.28,39.60
$GC,208,-0.71,-195.6,2919,2079,2921,2807,23.7,-11.4,31,217,0.00,2.17,0.00,0.000,516,0.000,0.041,2920,685,2864,2922,2807,0,0,0,0,0,0,26.38,26.06,26.39,8.28,39.05
$GC,484,-0.71,-195.6,2919,684,2922,2807,52.5,-9.7,58,491,0.00,2.08,0.00,0.000,1030,0.000,0.027,2920,2075,2864,2922,2807,0,0,0,0,0,0,26.30,26.22,26.32,8.29,39.17
$GC,611,-0.71,-195.6,2920,2075,2922,2807,63.6,-8.3,71,620,0.00,2.17,0.00,0.000,260,0.000,0.043,2920,3478,2864,2922,2807,0,0,0,0,0,0,26.55,26.22,26.55,8.29,40.35
$GC,677,-0.83,-244.4,2919,3478,2922,2807,68.6,-7.7,77,684,0.00,2.05,0.00,0.000,5126,0.000,0.024,2920,2083,2864,2922,2807,0,0,0,0,0,0,26.37,26.30,26.39,8.29,39.56
$GC,804,-0.90,-244.4,2919,2083,2922,2807,79.7,-8.2,90,813,0.10,2.12,0.00,0.000,4612,0.090,0.040,2849,687,2864,2922,2807,0,0,0,0,0,0,26.36,26.27,26.39,8.29,39.76
$GC,867,-0.90,-244.4,2848,687,2922,2807,87.2,-12.9,96,876,0.00,2.08,0.00,0.000,1030,0.000,0.027,2849,2089,2864,2922,2807,0,0,0,0,0,0,26.36,26.33,26.39,8.29,39.76
$GC,996,-0.90,-244.4,2849,2090,2922,2807,103.3,-12.5,109,1005,0.00,2.15,0.00,0.000,260,0.000,0.043,2849,3481,2864,2922,2807,0,0,0,0,0,0,26.64,26.31,26.65,8.29,40.19
$GC,1051,-0.90,-244.4,2848,3481,2922,2807,109.6,-12.1,114,1058,0.00,2.05,0.00,0.000,1030,0.000,0.024,2849,2078,2864,2922,2807,0,0,0,0,0,0,26.44,26.39,26.46,8.30,39.72
$GC,1238,-0.90,-244.4,2848,2078,2922,2807,132.5,-12.2,133,1239,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,2078,2864,2922,2807,0,0,0,0,0,0,26.68,26.70,26.69,8.30,40.19
$STATE,1286,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1286,begin apogee
$GC,1292,-0.22,0.0,2849,2078,2922,2807,138.6,-12.2,138,1458,0.65,0.00,158.27,0.739,10246,0.116,0.000,3075,2078,2064,2113,2016,0,0,0,0,0,0,26.23,24.84,24.31,8.30,40.19
$STATE,1459,end apogee,CONTROL_FINISHED_OK
$STATE,1459,begin climb
$GC,1461,0.89,244.4,3075,2078,2113,2016,143.3,0.0,155,1668,0.95,0.00,200.15,0.711,10246,0.069,0.000,3414,2077,1067,1122,1012,0,0,0,0,0,0,24.98,24.66,24.17,8.25,39.09
$GC,1849,0.81,244.4,3414,2077,1122,1012,98.4,14.2,194,1857,0.00,2.20,0.00,0.000,516,0.000,0.044,3415,700,1066,1121,1012,0,0,0,0,0,0,25.84,25.55,25.84,8.17,38.81
$GC,2004,0.74,244.4,3414,700,1122,1012,75.2,15.5,209,2011,0.00,2.10,0.00,0.000,1030,0.000,0.026,3414,2094,1067,1122,1012,0,0,0,0,0,0,25.89,25.84,25.91,8.17,39.17
$GC,2132,0.67,244.4,3414,2095,1122,1012,56.1,14.7,222,2141,0.12,2.20,0.00,0.000,4612,0.146,0.041,3375,698,1067,1122,1012,0,0,0,0,0,0,25.82,25.91,25.91,8.17,39.28
$GC,2187,0.67,244.4,3374,698,1122,1011,49.4,12.4,227,2194,0.00,2.08,0.00,0.000,1030,0.000,0.025,3375,2090,1067,1122,1012,0,0,0,0,0,0,26.07,26.01,26.08,8.16,39.56
$GC,2315,0.67,244.4,3374,2090,1122,1012,34.6,11.5,240,2318,0.00,2.20,0.00,0.000,516,0.000,0.043,3375,694,1067,1122,1012,0,0,0,0,0,0,26.35,26.04,26.36,8.16,39.21
$GC,2356,0.67,244.4,3374,694,1122,1012,29.7,11.6,244,2360,0.00,2.05,0.00,0.000,1030,0.000,0.026,3375,2080,1067,1122,1012,0,0,0,0,0,0,26.17,26.12,26.20,8.16,39.25
$GC,2484,0.67,244.4,3374,2082,1122,1012,16.7,8.6,260,2490,0.00,0.00,0.00,0.000,6,0.000,0.000,3375,2081,1067,1122,1012,0,0,0,0,0,0,26.44,26.45,26.45,8.15,39.48
$GC,2553,0.76,336.0,3374,2081,1122,1012,11.6,6.8,273,2606,0.00,2.28,46.85,0.553,8708,0.000,0.042,3375,686,692,740,645,0,0,0,0,0,0,26.47,25.61,25.10,8.15,39.21
$GC,2903,1.24,655.0,3374,685,738,644,7.5,-1.0,340,2950,0.40,2.08,39.67,0.540,11270,0.038,0.024,3567,2096,372,370,374,0,0,0,0,0,0,26.10,26.08,25.05,8.11,39.21
$GC,3016,1.35,854.0,3567,2096,369,374,4.0,3.1,360,3023,0.00,2.25,0.00,0.000,516,0.000,0.043,3567,692,371,369,374,0,0,0,0,0,0,26.06,25.75,26.06,8.09,39.25
$STATE,3165,end climb,NO_VERTICAL_VELOCITY
$STATE,3165,begin surface
$SM_CCo,3496,0.00,0.000,0,0,370,416.03
$SM_GC,5.42,9.02,2.12,0.00,0.049,0.024,0.000,211,2082,370,-9.14,-1.81,416.03,0,0,0,0,0,0,26.08,26.15,26.17
$IRIDIUM_FIX,4737.86,-12251.79,060218,003715
$TT8_MAMPS,0.025466,0.274134
$HUMID,39.52
$INTERNAL_PRESSURE,8.04943
$TCM_TEMP,10.20
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.9,17.1
$ALTIM_BOTTOM_PING,100.8,47.2
$24V_AH,24.17,10.033
$10V_AH,10.30,3.887
$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,22.575,42.625,444.950,0.000,0.000,0.000,0.000,235.150,1.250,0.000,17.851,884.735,1379.406,525.589,922.035,134.068,33.448,1190.352,0.000,690.477,0.000,7.190,0.000
$DEVICE_MAMPS,253.980,54.315,738.990,0.000,0.000,0.000,0.000,78.795,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,69.640,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,263.582,514.153,519.188,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312416
$DATA_FILE_SIZE,27829,389
$CAP_FILE_SIZE,56410,0
$CFSIZE,2097872896,2080669696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,060218,024658,4738.985,-12253.027,4,0.9,36,16.4,0.0,0.0,9,4.9