version: 66.14
glider: 194
mission: 12
dive: 149
start: 2 6 118 11 2 18
data:
$ID,194
$MISSION,12
$DIVE,149
$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,53
$R_STBD_OVSHOOT,71
$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
$GPS1,060218,105554,4738.4785,-12253.5957,8,0.9,26,16.4,0.2,257.8,9,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,5.42
$_SM_ANGLEo,-75.3
$GPS2,060218,110109,4738.4482,-12253.6260,5,0.8,24,16.4,0.2,105.4,10,4.9
$SPEED_LIMITS,0.173,0.325
$TGT_NAME,NW1
$TGT_LATLONG,4738.657,-12253.412
$TGT_RADIUS,250.000
$KALMAN_CONTROL,0.104665,0.138005
$KALMAN_X,18701.310547,-18.044323,419.952881,-20483.425781,-102.144608
$KALMAN_Y,10671.943359,-122.521881,99.605301,-11941.300781,-98.505051
$MHEAD_RNG_PITCHd_Wd,20.8,470,-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,-63.1,210,2075,359,380,0.0,0.0,0,16,0.00,0.00,-6.53,0.000,16386,0.000,0.000,210,2075,564,550,578,0,0,0,0,0,0,26.31,28.83,26.32,8.07,39.32
$GC,20,-1.25,-63.1,210,2075,550,578,5.5,0.0,1,95,10.85,2.20,-58.67,0.000,18948,0.261,0.051,2743,684,2325,2361,2290,0,0,0,0,0,0,25.61,24.68,25.92,8.09,39.36
$GC,389,-1.12,-63.1,2743,684,2362,2284,46.1,-10.6,48,396,0.15,2.05,0.00,0.000,3078,0.200,0.025,2784,2062,2322,2361,2284,0,0,0,0,0,0,25.91,26.20,26.13,8.23,39.99
$GC,515,-1.12,-63.1,2784,2062,2361,2284,59.8,-11.0,61,524,0.00,2.12,0.00,0.000,516,0.000,0.039,2784,690,2322,2361,2283,0,0,0,0,0,0,26.52,26.21,26.53,8.24,39.56
$GC,588,-1.07,-63.1,2784,690,2362,2283,68.2,-11.7,68,596,0.00,2.05,0.00,0.000,1030,0.000,0.026,2785,2081,2322,2361,2283,0,0,0,0,0,0,26.29,26.27,26.32,8.24,39.68
$GC,717,-1.07,-63.1,2784,2081,2361,2282,83.7,-12.4,81,718,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,2081,2321,2361,2282,0,0,0,0,0,0,26.58,26.59,26.59,8.24,39.60
$GC,837,-1.07,-63.1,2784,2081,2361,2282,99.2,-12.8,93,838,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2081,2321,2361,2282,0,0,0,0,0,0,26.61,26.62,26.62,8.24,39.88
$GC,957,-1.07,-63.1,2784,2081,2361,2282,114.5,-12.4,105,967,0.00,2.15,0.00,0.000,516,0.000,0.040,2785,690,2321,2361,2281,0,0,0,0,0,0,26.64,26.32,26.65,8.25,40.03
$GC,1013,-1.07,-63.1,2784,690,2361,2281,121.7,-13.6,110,1020,0.00,2.08,0.00,0.000,1030,0.000,0.026,2785,2097,2321,2361,2281,0,0,0,0,0,0,26.43,26.35,26.45,8.25,39.72
$GC,1200,-1.07,-63.1,2784,2097,2361,2280,145.4,-12.9,129,1201,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2097,2320,2361,2280,0,0,0,0,0,0,26.68,26.69,26.68,8.25,40.15
$STATE,1288,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1288,begin apogee
$GC,1294,-0.22,0.0,2785,2098,2361,2280,157.2,-13.1,138,1353,0.90,0.00,54.67,0.754,10246,0.154,0.000,3072,2097,2065,2108,2022,0,0,0,0,0,0,26.13,25.49,24.91,8.25,40.86
$STATE,1354,end apogee,CONTROL_FINISHED_OK
$STATE,1354,begin climb
$GC,1357,1.25,63.1,3072,2097,2107,2022,160.3,0.0,144,1420,1.30,0.00,56.28,0.738,10502,0.087,0.000,3528,2097,1805,1850,1761,0,0,0,0,0,0,25.53,24.98,24.45,8.23,39.99
$GC,1601,1.19,63.1,3528,2097,1851,1761,135.9,12.6,169,1602,0.00,0.00,0.00,0.000,6,0.000,0.000,3528,2097,1806,1851,1761,0,0,0,0,0,0,26.01,26.01,26.01,8.22,39.99
$GC,1781,1.14,63.1,3528,2097,1851,1761,113.1,12.9,187,1782,0.00,0.00,0.00,0.000,6,0.000,0.000,3528,2097,1806,1851,1761,0,0,0,0,0,0,26.22,26.24,26.23,8.23,39.88
$GC,1961,1.09,63.1,3528,2097,1851,1761,90.9,12.2,205,1969,0.00,2.15,0.00,0.000,516,0.000,0.040,3538,693,1805,1851,1760,0,0,0,0,0,0,26.36,26.06,26.37,8.22,39.72
$GC,2015,1.02,63.1,3538,693,1851,1760,84.6,12.0,210,2023,0.20,2.08,0.00,0.000,5126,0.164,0.025,3481,2096,1806,1851,1761,0,0,0,0,0,0,25.89,26.13,26.07,8.23,39.91
$GC,2143,1.02,63.1,3480,2096,1851,1760,70.9,10.1,223,2144,0.00,0.00,0.00,0.000,6,0.000,0.000,3481,2097,1805,1851,1760,0,0,0,0,0,0,26.45,26.46,26.46,8.22,40.58
$GC,2263,1.02,63.1,3480,2097,1850,1759,58.8,10.3,235,2264,0.00,0.00,0.00,0.000,6,0.000,0.000,3481,2096,1805,1851,1759,0,0,0,0,0,0,26.50,26.51,26.51,8.22,39.95
$GC,2383,1.02,63.1,3480,2096,1851,1759,47.1,9.7,247,2391,0.00,2.20,0.00,0.000,516,0.000,0.040,3489,684,1805,1851,1759,0,0,0,0,0,0,26.54,26.22,26.55,8.23,40.35
$GC,2687,1.04,86.7,3488,684,1851,1759,19.1,7.5,278,2706,0.00,2.05,13.12,0.575,9222,0.000,0.026,3489,2085,1709,1757,1662,0,0,0,0,0,0,26.42,26.36,25.49,8.22,40.23
$GC,2769,1.10,148.3,3488,2084,1757,1662,14.4,3.5,293,2810,0.00,2.17,32.30,0.576,8964,0.000,0.037,3488,3470,1457,1512,1403,0,0,0,0,0,0,26.49,25.77,25.24,8.21,39.88
$GC,2829,1.22,209.4,3488,3470,1512,1403,13.1,3.5,303,2865,0.08,2.08,30.80,0.549,11270,0.096,0.023,3571,2077,1210,1261,1160,0,0,0,0,0,0,25.87,25.90,25.01,8.19,39.44
$GC,2931,1.40,305.4,3570,2077,1259,1158,8.2,-0.2,321,2989,0.00,2.25,47.92,0.539,8964,0.000,0.036,3571,3476,817,858,776,0,0,0,0,0,0,26.01,25.29,24.81,8.17,39.72
$STATE,3171,end climb,NO_VERTICAL_VELOCITY
$STATE,3171,begin surface
$SM_CCo,3174,55.75,0.531,0,0,374,414.56
$SM_GC,6.25,9.40,2.17,0.00,0.060,0.023,0.000,209,2083,370,-9.15,1.50,415.78,0,0,0,0,0,0,25.63,25.70,25.72
$IRIDIUM_FIX,4739.27,-12305.05,060218,094638
$TT8_MAMPS,0.026964,0.273385
$HUMID,39.91
$INTERNAL_PRESSURE,8.03967
$TCM_TEMP,10.20
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.9,15.6
$ALTIM_BOTTOM_PING,140.3,26.6
$24V_AH,24.45,10.499
$10V_AH,10.29,4.133
$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,22.875,29.800,235.100,55.750,0.000,0.000,0.000,210.400,3.500,0.000,25.834,886.903,1484.267,358.475,887.705,131.430,33.447,964.182,0.000,666.050,0.000,19.949,0.000
$DEVICE_MAMPS,260.865,51.255,753.525,530.910,0.000,0.000,0.000,81.855,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,69.640,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,250.846,485.997,490.707,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,24601,367
$CAP_FILE_SIZE,55420,0
$CFSIZE,2097872896,2079883264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,060218,120023,4738.516,-12253.529,5,0.9,30,16.4,0.2,235.4,9,5.0