version: 66.14
glider: 194
mission: 12
dive: 146
start: 2 6 118 7 26 26
data:
$ID,194
$MISSION,12
$DIVE,146
$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,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
$GPS1,060218,072004,4738.6631,-12253.3936,8,0.9,18,16.4,0.0,0.0,9,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,5.40
$_SM_ANGLEo,-74.6
$GPS2,060218,072517,4738.6587,-12253.3760,5,0.9,19,16.4,0.0,0.0,9,5.0
$SPEED_LIMITS,0.173,0.325
$TGT_NAME,NW1
$TGT_LATLONG,4738.657,-12253.412
$TGT_RADIUS,250.000
$KALMAN_CONTROL,-0.173173,-0.003351
$KALMAN_X,19000.701172,9.832199,-253.561035,-19830.326172,234.339844
$KALMAN_Y,11718.489258,-239.068909,-373.076782,-12010.591797,-1.700348
$MHEAD_RNG_PITCHd_Wd,252.5,45,-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,-63.1,216,2085,357,386,0.0,0.0,0,16,0.00,0.00,-6.38,0.000,16386,0.000,0.000,216,2085,561,547,576,0,0,0,0,0,0,26.32,28.83,26.32,8.07,39.99
$GC,20,-1.25,-63.1,216,2085,547,577,5.4,0.0,1,100,10.70,2.17,-60.62,0.000,18948,0.258,0.052,2742,679,2324,2357,2292,0,0,0,0,0,0,25.63,24.70,25.94,8.09,39.25
$GC,177,-1.11,-63.1,2741,679,2357,2290,23.3,-14.9,27,185,0.17,2.08,0.00,0.000,3078,0.194,0.026,2791,2073,2324,2357,2291,0,0,0,0,0,0,25.83,26.09,26.04,8.24,39.17
$GC,304,-1.11,-63.1,2790,2073,2357,2289,35.0,-8.8,40,308,0.00,2.15,0.00,0.000,260,0.000,0.042,2791,3470,2322,2356,2289,0,0,0,0,0,0,26.44,26.12,26.45,8.24,40.07
$GC,600,-1.11,-63.1,2790,3471,2357,2287,66.2,-11.5,69,607,0.00,2.05,0.00,0.000,1030,0.000,0.024,2791,2066,2321,2357,2286,0,0,0,0,0,0,26.35,26.29,26.37,8.24,39.88
$GC,727,-1.11,-63.1,2790,2066,2357,2285,81.6,-11.9,82,736,0.00,2.17,0.00,0.000,260,0.000,0.041,2791,3471,2321,2357,2286,0,0,0,0,0,0,26.59,26.27,26.60,8.25,40.19
$GC,859,-1.11,-63.1,2790,3471,2357,2286,97.3,-12.6,95,868,0.00,2.05,0.00,0.000,1030,0.000,0.023,2791,2077,2321,2357,2285,0,0,0,0,0,0,26.41,26.36,26.44,8.24,39.56
$GC,989,-1.11,-63.1,2790,2077,2357,2285,113.5,-11.7,108,991,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2078,2320,2356,2284,0,0,0,0,0,0,26.65,26.65,26.65,8.25,40.31
$GC,1169,-1.11,-63.1,2790,2077,2357,2284,135.4,-12.1,126,1178,0.00,2.12,0.00,0.000,516,0.000,0.040,2791,691,2320,2357,2284,0,0,0,0,0,0,26.67,26.36,26.68,8.25,40.54
$GC,1211,-1.11,-63.1,2790,691,2357,2283,140.7,-12.5,130,1215,0.00,2.05,0.00,0.000,1030,0.000,0.026,2791,2087,2320,2357,2283,0,0,0,0,0,0,26.46,26.39,26.49,8.25,40.23
$STATE,1321,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1321,begin apogee
$GC,1327,-0.22,0.0,2791,2087,2357,2284,154.9,-12.8,141,1385,0.90,0.00,54.53,0.763,10246,0.152,0.000,3077,2087,2064,2106,2022,0,0,0,0,0,0,26.15,25.50,24.91,8.26,40.11
$STATE,1386,end apogee,CONTROL_FINISHED_OK
$STATE,1386,begin climb
$GC,1389,1.25,63.1,3077,2087,2106,2022,158.0,0.0,147,1454,1.30,2.22,55.47,0.746,10500,0.085,0.037,3533,3473,1806,1851,1762,0,0,0,0,0,0,25.53,24.85,24.45,8.24,39.64
$GC,1489,1.18,63.1,3533,3473,1851,1764,150.5,10.2,157,1497,0.00,2.10,0.00,0.000,1030,0.000,0.022,3544,2092,1808,1852,1764,0,0,0,0,0,0,25.41,25.39,25.44,8.23,39.60
$GC,1679,1.10,63.1,3544,2092,1852,1764,126.4,13.1,176,1688,0.10,2.20,0.00,0.000,4612,0.189,0.038,3524,681,1808,1852,1764,0,0,0,0,0,0,25.65,25.79,25.73,8.23,39.80
$GC,1776,1.03,63.1,3523,681,1851,1764,114.4,13.0,185,1783,0.12,2.10,0.00,0.000,5126,0.174,0.025,3489,2088,1808,1852,1764,0,0,0,0,0,0,25.71,25.93,25.89,8.23,39.88
$GC,1964,1.03,63.1,3489,2089,1851,1763,92.0,10.7,204,1969,0.00,0.00,0.00,0.000,6,0.000,0.000,3489,2089,1807,1852,1763,0,0,0,0,0,0,26.34,26.36,26.35,8.22,40.66
$GC,2092,1.03,63.1,3489,2089,1851,1762,78.0,11.0,217,2100,0.00,2.20,0.00,0.000,516,0.000,0.041,3498,678,1807,1852,1762,0,0,0,0,0,0,26.42,26.10,26.43,8.23,40.15
$GC,2156,1.03,63.1,3498,678,1851,1762,71.6,10.3,223,2163,0.00,2.08,0.00,0.000,1030,0.000,0.025,3497,2082,1806,1851,1762,0,0,0,0,0,0,26.25,26.18,26.26,8.22,39.91
$GC,2284,1.03,63.1,3497,2082,1851,1762,59.8,9.6,236,2292,0.00,2.12,0.00,0.000,260,0.000,0.037,3497,3471,1806,1851,1762,0,0,0,0,0,0,26.50,26.19,26.51,8.22,40.15
$GC,2335,1.03,63.1,3497,3471,1851,1762,54.5,10.2,241,2344,0.00,2.08,0.00,0.000,1030,0.000,0.023,3508,2068,1806,1851,1762,0,0,0,0,0,0,26.32,26.25,26.33,8.22,40.27
$GC,2466,1.03,63.1,3508,2068,1851,1762,43.0,8.2,254,2474,0.00,2.17,0.00,0.000,260,0.000,0.037,3508,3481,1806,1851,1762,0,0,0,0,0,0,26.55,26.25,26.56,8.22,39.56
$GC,2577,1.03,63.1,3507,3481,1851,1762,32.8,9.1,265,2587,0.10,2.08,0.00,0.000,5126,0.186,0.023,3492,2071,1806,1851,1762,0,0,0,0,0,0,26.09,26.33,26.27,8.22,40.62
$GC,2708,1.07,97.0,3491,2071,1851,1762,22.5,6.4,278,2737,0.00,2.20,19.15,0.606,8452,0.000,0.037,3492,3471,1668,1716,1620,0,0,0,0,0,0,26.62,26.01,25.41,8.21,40.19
$GC,2836,1.09,116.2,3491,3471,1716,1620,13.5,8.0,298,2855,0.00,2.05,10.12,0.526,9222,0.000,0.023,3499,2080,1589,1639,1539,0,0,0,0,0,0,26.24,26.19,25.38,8.20,39.84
$GC,2921,1.28,223.2,3498,2079,1639,1540,11.3,-1.4,313,2985,0.10,2.20,54.55,0.565,10756,0.078,0.040,3601,689,1152,1199,1105,0,0,0,0,0,0,26.17,25.47,24.96,8.19,39.13
$GC,3149,1.37,310.0,3600,689,1197,1105,7.6,0.8,356,3201,0.00,2.08,43.20,0.539,9222,0.000,0.024,3601,2089,798,836,761,0,0,0,0,0,0,25.95,25.89,24.92,8.15,39.84
$GC,3267,1.54,408.7,3600,2089,836,761,5.6,-0.5,377,3325,0.08,2.17,49.85,0.523,10500,0.100,0.035,3667,3463,394,383,405,0,0,0,0,0,0,25.73,25.09,24.77,8.12,39.09
$GC,3400,1.77,505.3,3666,3463,383,404,3.9,-0.3,401,3408,0.08,2.10,2.78,0.253,11270,0.094,0.023,3741,2068,371,359,384,0,0,0,0,0,0,25.59,25.61,24.97,8.08,38.81
$GC,3474,1.97,591.7,3740,2068,359,384,3.8,0.8,414,3481,0.05,2.17,0.00,0.000,2564,0.140,0.040,3809,692,372,359,385,0,0,0,0,0,0,25.80,25.70,25.83,8.08,38.89
$STATE,3486,end climb,NO_VERTICAL_VELOCITY
$STATE,3486,begin surface
$SM_CCo,3818,0.00,0.000,0,0,372,415.29
$SM_GC,4.66,10.12,2.12,0.00,0.072,0.024,0.000,214,2086,372,-9.13,-2.01,415.29,0,0,0,0,0,0,25.96,26.05,26.03
$IRIDIUM_FIX,4737.86,-12251.79,060218,061055
$TT8_MAMPS,0.026215,0.279377
$HUMID,39.36
$INTERNAL_PRESSURE,8.03967
$TCM_TEMP,10.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.2,15.2
$ALTIM_BOTTOM_PING,120.9,43.7
$24V_AH,24.45,10.328
$10V_AH,10.30,4.041
$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,23.825,55.300,289.650,0.000,0.000,0.000,0.000,212.850,2.000,0.000,20.903,990.360,1632.579,386.934,995.054,145.505,33.447,1075.766,0.000,769.709,0.000,16.473,0.000
$DEVICE_MAMPS,257.805,52.020,762.705,0.000,0.000,0.000,0.000,80.325,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,69.640,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,283.010,550.317,555.679,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312696
$DATA_FILE_SIZE,27974,416
$CAP_FILE_SIZE,65694,0
$CFSIZE,2097872896,2080145408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,060218,083115,4738.673,-12253.585,8,0.8,30,16.4,0.2,0.0,10,5.0