version: 66.14
glider: 194
mission: 12
dive: 145
start: 2 6 118 6 15 52
data:
$ID,194
$MISSION,12
$DIVE,145
$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,42
$R_STBD_OVSHOOT,68
$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
$GPS1,060218,060931,4738.4858,-12253.6201,8,1.0,48,16.4,0.0,0.0,9,11.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,5.48
$_SM_ANGLEo,-74.6
$GPS2,060218,061442,4738.4712,-12253.6191,5,1.2,37,16.4,0.0,0.0,8,5.0
$SPEED_LIMITS,0.173,0.325
$TGT_NAME,NW1
$TGT_LATLONG,4738.657,-12253.412
$TGT_RADIUS,250.000
$KALMAN_CONTROL,0.035227,0.169585
$KALMAN_X,18988.384766,28.960606,-431.487152,-19956.808594,189.679718
$KALMAN_Y,12134.546875,-331.949554,-433.356934,-12615.717773,34.165710
$MHEAD_RNG_PITCHd_Wd,355.3,431,-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,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,9,-1.25,-63.1,215,2090,355,386,0.0,0.0,0,16,0.00,0.00,-5.70,0.000,16386,0.000,0.000,214,2090,545,528,562,0,0,0,0,0,0,26.26,28.83,26.27,8.07,39.44
$GC,20,-1.25,-63.1,215,2090,528,563,5.6,0.0,1,95,10.68,2.12,-56.45,0.000,18692,0.256,0.054,2745,3460,2319,2352,2287,0,0,0,0,0,0,25.59,25.39,25.89,8.09,39.05
$GC,387,-1.17,-63.1,2744,3459,2352,2283,51.4,-11.9,48,395,0.10,2.05,0.00,0.000,3078,0.194,0.024,2773,2065,2317,2352,2282,0,0,0,0,0,0,25.95,26.19,26.13,8.24,39.52
$GC,515,-1.17,-63.1,2772,2065,2352,2280,65.7,-11.3,61,524,0.00,2.17,0.00,0.000,260,0.000,0.041,2773,3463,2316,2352,2280,0,0,0,0,0,0,26.51,26.18,26.51,8.25,39.40
$GC,680,-1.17,-63.1,2772,3463,2352,2280,85.2,-12.1,77,687,0.00,2.03,0.00,0.000,1030,0.000,0.023,2773,2075,2315,2352,2279,0,0,0,0,0,0,26.36,26.29,26.37,8.24,39.80
$GC,809,-1.17,-63.1,2772,2074,2352,2279,101.2,-12.4,90,813,0.00,2.17,0.00,0.000,260,0.000,0.041,2773,3463,2315,2352,2279,0,0,0,0,0,0,26.57,26.27,26.58,8.24,39.84
$GC,861,-1.17,-63.1,2772,3463,2352,2279,107.8,-12.8,95,870,0.00,2.03,0.00,0.000,1030,0.000,0.023,2773,2084,2315,2352,2279,0,0,0,0,0,0,26.40,26.34,26.41,8.25,39.76
$GC,1057,-1.17,-63.1,2772,2083,2352,2278,131.3,-12.7,114,1066,0.00,2.12,0.00,0.000,516,0.000,0.040,2773,690,2315,2352,2278,0,0,0,0,0,0,26.63,26.32,26.63,8.26,40.70
$GC,1184,-1.17,-63.1,2773,690,2352,2277,148.1,-13.1,126,1191,0.00,2.03,0.00,0.000,1030,0.000,0.025,2773,2068,2314,2352,2277,0,0,0,0,0,0,26.45,26.38,26.47,8.26,40.51
$STATE,1320,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1320,begin apogee
$GC,1326,-0.22,0.0,2773,2068,2352,2278,165.4,-12.6,140,1383,0.95,0.00,53.08,0.753,10246,0.148,0.000,3077,2068,2064,2103,2025,0,0,0,0,0,0,26.16,25.52,24.93,8.26,40.43
$STATE,1384,end apogee,CONTROL_FINISHED_OK
$STATE,1384,begin climb
$GC,1387,1.25,63.1,3077,2068,2103,2025,165.8,0.0,146,1452,1.42,2.25,55.78,0.737,10756,0.139,0.039,3523,686,1806,1854,1758,0,0,0,0,0,0,25.48,24.94,24.45,8.24,39.68
$GC,1598,1.28,97.3,3523,686,1854,1764,160.9,6.4,167,1636,0.05,2.12,30.75,0.727,11270,0.138,0.025,3583,2099,1666,1713,1620,0,0,0,0,0,0,25.65,25.71,24.67,8.23,39.40
$GC,1816,1.20,97.3,3582,2098,1713,1621,129.4,16.2,189,1825,0.12,2.10,0.00,0.000,4356,0.178,0.036,3546,3465,1667,1713,1622,0,0,0,0,0,0,25.60,25.77,25.70,8.21,39.36
$GC,1871,1.14,97.3,3545,3465,1713,1622,121.3,15.3,194,1879,0.12,2.08,0.00,0.000,5126,0.174,0.023,3519,2075,1667,1713,1622,0,0,0,0,0,0,25.66,25.88,25.84,8.21,39.95
$GC,2060,1.14,97.3,3519,2075,1713,1621,96.1,12.5,213,2064,0.00,2.15,0.00,0.000,516,0.000,0.041,3528,690,1667,1713,1621,0,0,0,0,0,0,26.31,26.00,26.31,8.21,40.11
$GC,2135,1.14,97.3,3527,690,1713,1621,86.1,13.6,220,2142,0.00,2.08,0.00,0.000,1030,0.000,0.025,3528,2087,1667,1713,1621,0,0,0,0,0,0,26.15,26.09,26.17,8.21,40.19
$GC,2262,1.14,97.3,3527,2087,1713,1621,69.1,12.9,233,2271,0.00,2.20,0.00,0.000,516,0.000,0.041,3539,684,1667,1713,1621,0,0,0,0,0,0,26.42,26.11,26.43,8.21,39.88
$GC,2304,1.14,97.3,3538,684,1713,1621,63.3,13.9,237,2313,0.00,2.08,0.00,0.000,1030,0.000,0.025,3539,2083,1667,1713,1621,0,0,0,0,0,0,26.24,26.17,26.26,8.21,40.27
$GC,2434,1.14,97.3,3538,2083,1713,1621,46.1,13.4,250,2443,0.00,2.12,0.00,0.000,260,0.000,0.037,3539,3472,1667,1713,1621,0,0,0,0,0,0,26.50,26.19,26.51,8.21,40.07
$GC,2486,1.14,97.3,3538,3472,1713,1621,38.9,14.4,255,2496,0.10,2.05,0.00,0.000,5126,0.180,0.023,3522,2076,1667,1713,1621,0,0,0,0,0,0,26.03,26.26,26.20,8.21,39.84
$GC,2616,1.14,97.3,3521,2076,1713,1621,23.2,12.0,268,2625,0.00,2.15,0.00,0.000,260,0.000,0.037,3522,3474,1667,1713,1621,0,0,0,0,0,0,26.55,26.25,26.56,8.21,39.52
$GC,2711,1.16,121.4,3521,3474,1713,1621,13.5,7.4,283,2729,0.00,2.05,12.93,0.548,9222,0.000,0.022,3530,2074,1568,1619,1517,0,0,0,0,0,0,26.39,26.32,25.47,8.20,39.80
$GC,2793,1.26,222.8,3529,2074,1619,1518,12.6,-0.8,298,2851,0.00,2.25,51.80,0.572,8708,0.000,0.041,3540,687,1152,1202,1103,0,0,0,0,0,0,26.46,25.56,25.03,8.20,39.91
$GC,3113,1.42,304.7,3539,687,1201,1103,7.6,1.3,359,3160,0.12,2.08,40.55,0.543,11270,0.067,0.024,3635,2094,819,858,781,0,0,0,0,0,0,26.03,26.03,25.02,8.15,39.99
$GC,3226,1.59,409.7,3634,2094,857,781,6.0,-1.2,379,3284,0.00,2.33,52.58,0.529,8708,0.000,0.041,3644,687,391,382,400,0,0,0,0,0,0,26.02,25.27,24.79,8.13,39.25
$GC,3298,1.74,480.3,3643,687,382,400,4.6,2.5,391,3307,0.12,2.10,2.33,0.187,11270,0.064,0.024,3732,2082,372,358,387,0,0,0,0,0,0,25.44,25.44,24.82,8.09,38.97
$GC,3371,1.90,575.9,3732,2082,358,388,3.8,-0.2,404,3377,0.00,2.22,0.00,0.000,516,0.000,0.042,3742,687,373,358,388,0,0,0,0,0,0,25.89,25.60,25.90,8.09,39.17
$STATE,3462,end climb,NO_VERTICAL_VELOCITY
$STATE,3463,begin surface
$SM_CCo,3793,0.00,0.000,0,0,371,415.54
$SM_GC,5.32,9.88,2.12,0.00,0.069,0.024,0.000,216,2082,371,-9.13,-2.09,415.54,0,0,0,0,0,0,25.97,26.07,26.06
$IRIDIUM_FIX,4738.33,-12256.21,060218,050522
$TT8_MAMPS,0.026215,0.282373
$HUMID,39.56
$INTERNAL_PRESSURE,8.03967
$TCM_TEMP,10.60
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.6,15.3
$ALTIM_BOTTOM_PING,135.9,38.5
$24V_AH,24.45,10.272
$10V_AH,10.29,4.010
$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,23.675,55.250,299.775,0.000,0.000,0.000,0.000,197.700,3.500,0.000,39.133,1005.759,1574.624,378.724,1027.001,140.404,33.449,1055.090,0.000,792.718,0.000,24.083,0.000
$DEVICE_MAMPS,255.510,53.550,752.760,0.000,0.000,0.000,0.000,80.325,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,69.640,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,287.477,558.539,563.985,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312652
$DATA_FILE_SIZE,31289,422
$CAP_FILE_SIZE,64315,0
$CFSIZE,2097872896,2080276480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,060218,072004,4738.663,-12253.394,8,0.9,18,16.4,0.0,0.0,9,4.9