version: 66.14
glider: 194
mission: 12
dive: 142
start: 2 6 118 2 52 52
data:
$ID,194
$MISSION,12
$DIVE,142
$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,52
$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
$GPS1,060218,024658,4738.9849,-12253.0273,4,0.9,36,16.4,0.0,0.0,9,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,5.24
$_SM_ANGLEo,-74.6
$GPS2,060218,025141,4738.9731,-12253.0439,6,0.9,17,16.4,0.0,301.2,9,4.9
$SPEED_LIMITS,0.173,0.325
$TGT_NAME,NW1
$TGT_LATLONG,4738.657,-12253.412
$TGT_RADIUS,250.000
$KALMAN_CONTROL,-0.128017,-0.153523
$KALMAN_X,18976.187500,-102.714256,-300.272705,-19239.119141,8.024536
$KALMAN_Y,12567.632812,-572.867920,-91.912674,-12238.007812,-23.523499
$MHEAD_RNG_PITCHd_Wd,203.4,744,-23.6,-10.000,-26.58,1274
$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,-1.11,-83.6,211,2084,365,371,0.0,0.0,0,16,0.00,0.00,-6.38,0.000,16386,0.000,0.000,211,2084,559,551,567,0,0,0,0,0,0,26.37,28.83,26.38,8.08,39.52
$GC,20,-1.11,-83.6,211,2084,552,567,5.3,0.0,1,100,10.80,2.20,-60.22,0.000,18948,0.256,0.051,2791,684,2408,2446,2370,0,0,0,0,0,0,25.69,24.77,25.99,8.09,39.40
$GC,314,-0.99,-83.6,2790,684,2446,2367,42.0,-12.6,42,324,0.12,2.08,0.00,0.000,3078,0.187,0.026,2827,2083,2406,2446,2367,0,0,0,0,0,0,25.97,26.20,26.16,8.24,39.21
$GC,444,-0.99,-83.6,2826,2083,2445,2366,58.3,-12.2,55,453,0.00,2.15,0.00,0.000,260,0.000,0.043,2827,3472,2405,2445,2366,0,0,0,0,0,0,26.53,26.20,26.53,8.24,40.31
$GC,546,-0.99,-83.6,2827,3472,2446,2366,71.5,-13.1,65,555,0.00,2.05,0.00,0.000,1030,0.000,0.024,2827,2080,2405,2445,2366,0,0,0,0,0,0,26.36,26.29,26.38,8.25,39.76
$GC,676,-0.99,-83.6,2827,2080,2446,2365,87.3,-11.7,78,685,0.00,2.15,0.00,0.000,516,0.000,0.041,2827,689,2405,2446,2365,0,0,0,0,0,0,26.60,26.28,26.60,8.26,39.84
$GC,698,-0.99,-83.6,2826,689,2445,2364,89.9,-11.6,80,707,0.00,2.08,0.00,0.000,1030,0.000,0.026,2827,2085,2405,2445,2365,0,0,0,0,0,0,26.39,26.32,26.41,8.26,40.51
$GC,828,-0.99,-83.6,2827,2085,2445,2365,105.4,-11.6,93,837,0.00,2.15,0.00,0.000,260,0.000,0.042,2827,3478,2405,2446,2365,0,0,0,0,0,0,26.63,26.30,26.63,8.26,39.88
$GC,870,-0.99,-83.6,2827,3478,2445,2365,110.3,-11.5,97,879,0.00,2.05,0.00,0.000,1030,0.000,0.023,2827,2080,2404,2445,2364,0,0,0,0,0,0,26.43,26.37,26.45,8.26,39.76
$GC,1060,-0.99,-83.6,2826,2080,2445,2364,130.6,-10.5,116,1061,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2079,2405,2446,2364,0,0,0,0,0,0,26.67,26.68,26.67,8.27,40.23
$GC,1240,-0.99,-83.6,2827,2080,2445,2364,150.5,-11.0,134,1249,0.00,2.12,0.00,0.000,516,0.000,0.041,2827,685,2404,2446,2363,0,0,0,0,0,0,26.70,26.39,26.71,8.27,40.74
$STATE,1252,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1252,begin apogee
$GC,1260,-0.22,0.0,2827,2083,2446,2363,151.4,-11.0,135,1337,0.75,0.00,71.25,0.757,10246,0.135,0.000,3078,2083,2063,2109,2018,0,0,0,0,0,0,26.21,25.31,24.73,8.27,40.27
$STATE,1338,end apogee,CONTROL_FINISHED_OK
$STATE,1338,begin climb
$GC,1340,1.11,83.6,3078,2083,2109,2018,155.3,0.0,143,1417,1.12,0.00,72.22,0.734,10502,0.070,0.000,3483,2083,1723,1770,1676,0,0,0,0,0,0,25.38,24.87,24.35,8.25,40.11
$GC,1597,1.02,83.6,3482,2083,1770,1676,128.2,13.9,169,1606,0.00,2.20,0.00,0.000,516,0.000,0.041,3491,691,1722,1769,1675,0,0,0,0,0,0,25.96,25.67,25.97,8.23,39.72
$GC,1632,0.93,83.6,3490,691,1770,1676,123.8,14.0,172,1640,0.12,2.10,0.00,0.000,5126,0.168,0.025,3456,2091,1722,1770,1675,0,0,0,0,0,0,25.58,25.77,25.74,8.23,39.32
$GC,1819,0.93,83.6,3455,2092,1769,1675,99.4,12.5,191,1823,0.00,2.20,0.00,0.000,516,0.000,0.041,3464,693,1721,1769,1674,0,0,0,0,0,0,26.24,25.94,26.25,8.23,39.40
$GC,1912,0.87,83.6,3464,693,1770,1674,87.9,12.4,200,1921,0.08,2.05,0.00,0.000,5126,0.163,0.025,3442,2083,1721,1769,1673,0,0,0,0,0,0,25.86,26.05,25.96,8.23,39.68
$GC,2041,0.87,83.6,3441,2083,1769,1673,73.0,11.3,213,2045,0.00,2.12,0.00,0.000,260,0.000,0.038,3442,3468,1721,1769,1673,0,0,0,0,0,0,26.39,26.08,26.40,8.22,39.84
$GC,2083,0.87,83.6,3441,3469,1769,1673,67.8,12.3,217,2087,0.00,2.05,0.00,0.000,1030,0.000,0.023,3449,2076,1721,1769,1673,0,0,0,0,0,0,26.22,26.16,26.23,8.22,40.07
$GC,2215,0.87,83.6,3449,2076,1769,1673,53.4,10.5,230,2219,0.00,2.15,0.00,0.000,516,0.000,0.041,3460,687,1721,1769,1673,0,0,0,0,0,0,26.47,26.16,26.48,8.22,39.99
$GC,2260,0.87,83.6,3460,687,1770,1673,48.5,11.8,234,2267,0.00,2.05,0.00,0.000,1030,0.000,0.025,3460,2081,1721,1769,1673,0,0,0,0,0,0,26.29,26.22,26.30,8.22,39.56
$GC,2388,0.87,83.6,3460,2081,1770,1673,34.8,11.4,247,2389,0.00,0.00,0.00,0.000,6,0.000,0.000,3460,2080,1721,1769,1673,0,0,0,0,0,0,26.53,26.54,26.54,8.21,39.72
$GC,2508,0.87,83.6,3460,2081,1769,1673,22.9,9.9,259,2511,0.00,2.12,0.00,0.000,260,0.000,0.038,3460,3481,1721,1769,1673,0,0,0,0,0,0,26.57,26.26,26.58,8.21,40.07
$GC,2557,0.84,109.8,3460,3481,1770,1673,19.0,7.9,264,2576,0.15,2.05,14.30,0.575,13318,0.161,0.022,3426,2076,1616,1668,1565,0,0,0,0,0,0,26.10,26.32,25.44,8.21,39.60
$GC,2642,0.90,170.5,3425,2075,1666,1563,14.2,5.1,279,2678,0.00,2.22,31.08,0.570,8708,0.000,0.041,3434,690,1368,1424,1313,0,0,0,0,0,0,26.44,25.75,25.20,8.20,39.52
$GC,2779,1.12,298.0,3433,690,1424,1313,8.2,-0.2,304,2854,0.15,2.08,63.95,0.549,11270,0.057,0.024,3545,2093,846,889,804,0,0,0,0,0,0,25.98,25.98,24.83,8.17,39.48
$GC,2918,1.24,417.9,3545,2093,889,804,7.1,0.4,329,2987,0.00,2.30,59.05,0.531,8964,0.000,0.042,3554,697,372,364,381,0,0,0,0,0,0,25.89,25.16,24.70,8.12,38.97
$STATE,3194,end climb,NO_VERTICAL_VELOCITY
$STATE,3194,begin surface
$SM_CCo,3524,0.00,0.000,0,0,370,416.03
$SM_GC,6.19,9.10,2.12,0.00,0.054,0.024,0.000,213,2092,370,-9.14,-1.78,416.03,0,0,0,0,0,0,25.98,26.08,26.07
$IRIDIUM_FIX,4739.36,-12351.16,060218,014225
$TT8_MAMPS,0.026215,0.280126
$HUMID,39.36
$INTERNAL_PRESSURE,8.03967
$TCM_TEMP,10.20
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.4,15.5
$ALTIM_BOTTOM_PING,100.8,60.4
$24V_AH,24.35,10.095
$10V_AH,10.31,3.916
$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,22.400,50.975,311.850,0.000,0.000,0.000,0.000,190.325,1.000,0.000,20.100,898.055,1546.961,390.211,865.658,128.764,33.447,1005.418,0.000,670.647,0.000,7.222,0.000
$DEVICE_MAMPS,255.510,51.255,756.585,0.000,0.000,0.000,0.000,80.325,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,69.640,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,259.550,505.311,510.237,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312684
$DATA_FILE_SIZE,28040,382
$CAP_FILE_SIZE,58256,0
$CFSIZE,2097872896,2080571392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,060218,035318,4738.643,-12253.400,21,0.9,61,16.4,0.0,208.2,9,6.7