version: 66.14
glider: 194
mission: 12
dive: 143
start: 2 6 118 4 0 11
data:
$ID,194
$MISSION,12
$DIVE,143
$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,56
$R_STBD_OVSHOOT,69
$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
$GPS1,060218,035318,4738.6431,-12253.4004,21,0.9,61,16.4,0.0,208.2,9,6.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,5.34
$_SM_ANGLEo,-74.2
$GPS2,060218,035902,4738.6377,-12253.4102,6,0.8,41,16.4,0.0,0.0,9,5.0
$SPEED_LIMITS,0.173,0.325
$TGT_NAME,NW1
$TGT_LATLONG,4738.657,-12253.412
$TGT_RADIUS,250.000
$KALMAN_CONTROL,-0.141296,-0.100177
$KALMAN_X,19232.021484,-107.990334,-540.102905,-19699.871094,162.788391
$KALMAN_Y,12804.093750,-594.799011,-364.078369,-12792.071289,152.902283
$MHEAD_RNG_PITCHd_Wd,218.3,36,-27.2,-10.000,-30.00,962
$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,-1.25,-63.1,213,2094,360,377,0.0,0.0,0,16,0.00,0.00,-6.35,0.000,16386,0.000,0.000,213,2094,559,548,570,0,0,0,0,0,0,26.35,28.83,26.36,8.07,40.03
$GC,20,-1.25,-63.1,213,2094,548,571,5.3,0.0,1,95,10.73,2.22,-59.12,0.000,18948,0.259,0.050,2745,688,2324,2360,2289,0,0,0,0,0,0,25.67,24.73,25.96,8.09,39.25
$GC,258,-1.12,-63.1,2744,688,2360,2285,34.6,-13.5,35,266,0.15,2.05,0.00,0.000,3078,0.197,0.026,2786,2064,2323,2360,2286,0,0,0,0,0,0,25.89,26.16,26.10,8.23,38.73
$GC,385,-1.12,-63.1,2786,2064,2360,2285,49.5,-11.6,48,394,0.00,2.20,0.00,0.000,260,0.000,0.043,2786,3480,2322,2360,2285,0,0,0,0,0,0,26.49,26.17,26.50,8.24,39.36
$GC,467,-1.12,-63.1,2785,3481,2360,2285,60.2,-13.1,56,471,0.00,2.05,0.00,0.000,1030,0.000,0.023,2786,2088,2322,2360,2285,0,0,0,0,0,0,26.32,26.26,26.34,8.24,39.68
$GC,600,-1.12,-63.1,2785,2086,2360,2284,76.6,-12.4,69,603,0.00,2.15,0.00,0.000,516,0.000,0.040,2786,683,2321,2360,2283,0,0,0,0,0,0,26.56,26.25,26.57,8.24,39.56
$GC,634,-1.12,-63.1,2786,683,2360,2282,80.9,-13.0,72,641,0.00,2.08,0.00,0.000,1030,0.000,0.026,2786,2087,2321,2360,2282,0,0,0,0,0,0,26.36,26.29,26.38,8.24,40.27
$GC,762,-1.12,-63.1,2786,2087,2360,2282,96.6,-12.0,85,765,0.00,2.12,0.00,0.000,260,0.000,0.042,2786,3473,2321,2360,2282,0,0,0,0,0,0,26.60,26.27,26.61,8.25,39.76
$GC,827,-1.12,-63.1,2786,3473,2360,2282,104.3,-11.6,91,837,0.00,2.05,0.00,0.000,1030,0.000,0.024,2786,2070,2321,2360,2282,0,0,0,0,0,0,26.41,26.35,26.43,8.25,40.51
$GC,1019,-1.12,-63.1,2785,2071,2360,2281,125.8,-11.3,110,1028,0.00,2.10,0.00,0.000,516,0.000,0.040,2786,694,2320,2360,2280,0,0,0,0,0,0,26.64,26.34,26.64,8.26,40.54
$GC,1044,-1.12,-63.1,2786,694,2360,2280,129.0,-11.5,112,1054,0.00,2.05,0.00,0.000,1030,0.000,0.026,2786,2086,2320,2360,2280,0,0,0,0,0,0,26.44,26.37,26.46,8.26,40.23
$GC,1234,-1.12,-63.1,2786,2086,2360,2280,150.4,-11.5,131,1240,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2086,2320,2360,2280,0,0,0,0,0,0,26.69,26.70,26.70,8.26,40.07
$STATE,1340,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1340,begin apogee
$GC,1346,-0.22,0.0,2786,2087,2360,2280,163.5,-11.7,142,1404,0.88,0.00,54.40,0.760,10246,0.145,0.000,3072,2087,2065,2108,2022,0,0,0,0,0,0,26.17,25.51,24.91,8.26,40.19
$STATE,1405,end apogee,CONTROL_FINISHED_OK
$STATE,1405,begin climb
$GC,1408,1.25,63.1,3072,2087,2107,2021,166.0,0.0,148,1471,1.27,0.00,55.90,0.743,10246,0.071,0.000,3533,2087,1806,1851,1762,0,0,0,0,0,0,25.56,24.84,24.46,8.25,39.99
$GC,1652,1.17,63.1,3532,2087,1851,1762,140.1,13.2,173,1653,0.00,0.00,0.00,0.000,6,0.000,0.000,3533,2086,1806,1850,1762,0,0,0,0,0,0,26.01,26.02,26.02,8.23,39.28
$GC,1832,1.08,63.1,3532,2087,1850,1762,115.3,13.4,191,1842,0.10,2.17,0.00,0.000,4612,0.184,0.039,3512,694,1805,1850,1761,0,0,0,0,0,0,25.78,25.93,25.87,8.23,39.68
$GC,2008,1.02,63.1,3511,693,1850,1761,91.7,12.9,208,2016,0.10,2.08,0.00,0.000,5126,0.181,0.026,3485,2094,1805,1850,1761,0,0,0,0,0,0,25.89,26.10,26.06,8.23,39.80
$GC,2135,1.02,63.1,3485,2094,1850,1760,76.2,11.7,221,2144,0.00,2.12,0.00,0.000,260,0.000,0.038,3485,3473,1805,1850,1761,0,0,0,0,0,0,26.43,26.12,26.44,8.23,39.95
$GC,2239,1.02,63.1,3485,3473,1850,1760,63.9,12.0,231,2246,0.00,2.05,0.00,0.000,1030,0.000,0.024,3493,2080,1805,1850,1760,0,0,0,0,0,0,26.28,26.22,26.29,8.23,39.76
$GC,2367,1.02,63.1,3493,2080,1850,1760,49.9,10.7,244,2371,0.00,2.17,0.00,0.000,516,0.000,0.041,3504,691,1805,1850,1760,0,0,0,0,0,0,26.52,26.21,26.53,8.22,39.95
$GC,2422,1.02,63.1,3504,691,1850,1760,44.5,10.2,249,2429,0.00,2.05,0.00,0.000,1030,0.000,0.025,3504,2086,1805,1850,1760,0,0,0,0,0,0,26.34,26.27,26.35,8.22,39.88
$GC,2549,1.02,63.1,3504,2086,1850,1760,31.2,10.1,262,2550,0.00,0.00,0.00,0.000,6,0.000,0.000,3504,2086,1805,1850,1760,0,0,0,0,0,0,26.58,26.59,26.58,8.22,39.88
$GC,2669,1.04,88.5,3504,2086,1850,1760,22.1,7.3,274,2689,0.00,2.17,14.15,0.591,8452,0.000,0.037,3504,3479,1702,1750,1655,0,0,0,0,0,0,26.60,26.06,25.46,8.22,40.31
$GC,2769,1.09,132.1,3504,3479,1750,1655,16.4,5.4,290,2799,0.00,2.05,23.30,0.577,9222,0.000,0.023,3514,2083,1524,1576,1472,0,0,0,0,0,0,26.27,26.22,25.30,8.21,39.13
$GC,2862,1.13,174.4,3514,2083,1577,1472,11.4,5.5,307,2892,0.00,2.17,21.45,0.545,8708,0.000,0.041,3524,690,1351,1403,1299,0,0,0,0,0,0,26.27,25.70,25.18,8.19,39.25
$GC,2946,1.30,284.3,3523,690,1403,1299,8.2,-1.7,322,3010,0.08,2.08,54.65,0.544,11270,0.099,0.024,3602,2089,903,945,861,0,0,0,0,0,0,25.85,25.89,24.84,8.17,38.93
$GC,3074,1.39,379.0,3601,2089,945,861,7.2,-0.1,345,3132,0.00,2.22,47.97,0.530,8452,0.000,0.036,3602,3463,515,530,500,0,0,0,0,0,0,25.89,25.22,24.75,8.13,38.42
$GC,3188,1.57,450.9,3601,3463,530,499,3.7,2.4,365,3213,0.08,2.10,17.50,0.493,11270,0.094,0.023,3684,2075,372,369,376,0,0,0,0,0,0,25.53,25.56,24.88,8.10,38.02
$GC,3279,1.85,543.9,3684,2075,368,375,3.6,0.1,381,3286,0.10,2.20,0.00,0.000,2564,0.078,0.041,3772,692,371,368,375,0,0,0,0,0,0,25.69,25.59,25.70,8.08,39.05
$STATE,3322,end climb,NO_VERTICAL_VELOCITY
$STATE,3322,begin surface
$SM_CCo,3652,0.00,0.000,0,0,371,415.54
$SM_GC,6.00,9.95,2.12,0.00,0.067,0.024,0.000,217,2085,371,-9.13,-1.98,415.54,0,0,0,0,0,0,25.94,26.03,26.02
$IRIDIUM_FIX,4735.54,-12254.47,060218,024828
$TT8_MAMPS,0.026964,0.281624
$HUMID,39.36
$INTERNAL_PRESSURE,8.03967
$TCM_TEMP,10.10
$XPDR_PINGS,1
$ALTIM_TOP_PING,20.0,16.1
$ALTIM_BOTTOM_PING,140.4,32.8
$24V_AH,24.46,10.151
$10V_AH,10.30,3.947
$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,23.425,50.850,289.325,0.000,0.000,0.000,0.000,223.900,3.500,0.000,42.239,929.108,1614.949,383.908,946.286,142.365,33.446,1036.756,0.000,686.688,0.000,25.725,0.000
$DEVICE_MAMPS,258.570,50.490,759.645,0.000,0.000,0.000,0.000,77.265,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,69.640,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,264.527,514.646,519.664,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312716
$DATA_FILE_SIZE,28011,389
$CAP_FILE_SIZE,62587,0
$CFSIZE,2097872896,2080473088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,060218,050201,4738.403,-12253.789,6,0.9,18,16.4,0.0,0.0,9,4.9