version: 66.14
glider: 194
mission: 12
dive: 150
start: 2 6 118 12 6 42
data:
$ID,194
$MISSION,12
$DIVE,150
$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,48
$R_STBD_OVSHOOT,63
$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
$GPS1,060218,120023,4738.5161,-12253.5293,5,0.9,30,16.4,0.2,235.4,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,5.56
$_SM_ANGLEo,-75.7
$GPS2,060218,120532,4738.4878,-12253.5703,5,0.9,37,16.4,0.3,267.0,9,4.5
$SPEED_LIMITS,0.173,0.325
$TGT_NAME,NW1
$TGT_LATLONG,4738.657,-12253.412
$TGT_RADIUS,250.000
$KALMAN_CONTROL,0.154067,0.181555
$KALMAN_X,18406.535156,-37.815441,431.483826,-20112.841797,-360.757690
$KALMAN_Y,10114.578125,-99.474762,219.066498,-11454.261719,-344.866974
$MHEAD_RNG_PITCHd_Wd,23.9,370,-19.4,-10.000,-22.78,1836
$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,-0.96,-120.8,209,2082,369,372,0.0,0.0,0,17,0.00,0.00,-5.55,0.000,16386,0.000,0.000,209,2082,537,528,546,0,0,0,0,0,0,26.25,28.83,26.27,8.07,39.13
$GC,20,-0.96,-120.8,209,2082,528,547,5.6,0.0,1,106,11.23,2.20,-64.68,0.000,18948,0.259,0.052,2834,686,2559,2611,2508,0,0,0,0,0,0,25.56,24.66,25.87,8.09,39.36
$GC,299,-0.84,-120.8,2833,686,2611,2508,41.1,-13.5,39,307,0.15,2.08,0.00,0.000,3078,0.174,0.026,2878,2081,2559,2611,2508,0,0,0,0,0,0,25.90,26.13,26.08,8.26,38.73
$GC,426,-0.84,-120.8,2877,2081,2611,2508,56.0,-11.2,52,435,0.00,2.15,0.00,0.000,516,0.000,0.040,2878,687,2558,2610,2507,0,0,0,0,0,0,26.46,26.15,26.47,8.26,40.03
$GC,471,-0.84,-120.8,2877,687,2611,2507,61.0,-11.9,56,477,0.00,2.08,0.00,0.000,1030,0.000,0.026,2878,2086,2559,2611,2507,0,0,0,0,0,0,26.27,26.20,26.29,8.26,39.95
$GC,598,-0.84,-120.8,2877,2086,2611,2507,76.0,-11.8,69,607,0.00,2.15,0.00,0.000,260,0.000,0.042,2878,3473,2559,2611,2507,0,0,0,0,0,0,26.53,26.20,26.53,8.26,39.76
$GC,650,-0.84,-120.8,2877,3473,2611,2507,81.8,-11.4,74,654,0.00,2.05,0.00,0.000,1030,0.000,0.024,2878,2075,2559,2611,2507,0,0,0,0,0,0,26.34,26.27,26.35,8.26,39.72
$GC,782,-0.84,-120.8,2877,2074,2611,2507,96.5,-10.8,87,786,0.00,2.12,0.00,0.000,516,0.000,0.041,2878,689,2559,2611,2507,0,0,0,0,0,0,26.58,26.26,26.58,8.26,40.27
$GC,826,-0.84,-120.8,2877,689,2611,2507,101.3,-11.4,91,830,0.00,2.08,0.00,0.000,1030,0.000,0.026,2878,2072,2559,2611,2507,0,0,0,0,0,0,26.34,26.30,26.36,8.27,40.31
$GC,1018,-0.84,-120.8,2877,2072,2611,2507,123.2,-11.3,110,1027,0.00,2.17,0.00,0.000,260,0.000,0.042,2878,3484,2559,2612,2507,0,0,0,0,0,0,26.63,26.29,26.64,8.26,40.19
$GC,1088,-0.84,-120.8,2877,3483,2611,2507,130.3,-11.1,116,1094,0.00,2.05,0.00,0.000,1030,0.000,0.024,2878,2080,2559,2611,2507,0,0,0,0,0,0,26.44,26.37,26.45,8.27,40.70
$GC,1275,-0.84,-120.8,2877,2080,2611,2507,152.0,-11.1,135,1284,0.00,2.15,0.00,0.000,516,0.000,0.041,2878,684,2558,2611,2506,0,0,0,0,0,0,26.67,26.35,26.68,8.27,40.62
$GC,1330,-0.84,-120.8,2877,685,2611,2507,158.1,-12.0,140,1337,0.00,2.08,0.00,0.000,1030,0.000,0.026,2878,2093,2558,2611,2506,0,0,0,0,0,0,26.46,26.39,26.48,8.28,39.99
$STATE,1345,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1345,begin apogee
$GC,1351,-0.22,0.0,2878,2093,2611,2506,160.4,-11.5,142,1457,0.57,0.00,99.95,0.754,10246,0.132,0.000,3074,2093,2064,2113,2016,0,0,0,0,0,0,26.20,25.06,24.50,8.28,39.84
$STATE,1458,end apogee,CONTROL_FINISHED_OK
$STATE,1458,begin climb
$GC,1461,0.96,120.8,3074,2093,2112,2016,164.3,0.0,153,1571,1.02,2.33,103.20,0.736,10756,0.078,0.040,3442,692,1571,1626,1516,0,0,0,0,0,0,25.14,24.63,24.25,8.24,39.32
$GC,1619,0.90,120.8,3440,692,1625,1518,153.1,11.3,168,1626,0.00,2.15,0.00,0.000,1030,0.000,0.024,3442,2089,1571,1625,1518,0,0,0,0,0,0,25.35,25.29,25.36,8.22,38.81
$GC,1807,0.85,120.8,3441,2090,1625,1518,129.7,12.7,187,1811,0.00,2.22,0.00,0.000,516,0.000,0.042,3450,693,1572,1625,1519,0,0,0,0,0,0,26.01,25.72,26.02,8.22,39.80
$GC,1863,0.77,120.8,3449,693,1625,1519,122.9,13.1,192,1870,0.15,2.10,0.00,0.000,5126,0.146,0.025,3405,2090,1572,1626,1519,0,0,0,0,0,0,25.67,25.84,25.82,8.21,39.68
$GC,2049,0.77,120.8,3405,2090,1625,1519,102.5,10.3,211,2058,0.00,2.15,0.00,0.000,260,0.000,0.039,3405,3475,1572,1625,1519,0,0,0,0,0,0,26.28,25.98,26.29,8.20,39.99
$GC,2074,0.77,120.8,3405,3475,1625,1519,100.0,10.7,213,2081,0.00,2.08,0.00,0.000,1030,0.000,0.023,3405,2083,1572,1625,1519,0,0,0,0,0,0,26.10,26.05,26.12,8.21,40.43
$GC,2261,0.77,120.8,3405,2083,1625,1518,80.4,10.4,232,2265,0.00,2.17,0.00,0.000,516,0.000,0.043,3406,685,1572,1625,1519,0,0,0,0,0,0,26.41,26.09,26.42,8.20,40.03
$GC,2346,0.77,120.8,3405,685,1625,1518,71.5,10.9,240,2353,0.00,2.08,0.00,0.000,1030,0.000,0.026,3406,2086,1571,1625,1518,0,0,0,0,0,0,26.25,26.18,26.27,8.20,39.60
$GC,2473,0.77,120.8,3405,2086,1625,1518,58.1,10.2,253,2477,0.00,2.12,0.00,0.000,260,0.000,0.038,3405,3477,1571,1625,1518,0,0,0,0,0,0,26.50,26.20,26.51,8.21,40.31
$GC,2508,0.77,120.8,3405,3477,1625,1519,54.7,10.7,256,2515,0.00,2.08,0.00,0.000,1030,0.000,0.023,3405,2078,1572,1625,1519,0,0,0,0,0,0,26.32,26.25,26.32,8.21,39.80
$GC,2635,0.77,120.8,3405,2077,1625,1518,41.5,9.6,269,2639,0.00,2.17,0.00,0.000,516,0.000,0.043,3405,674,1571,1625,1518,0,0,0,0,0,0,26.55,26.23,26.55,8.21,40.11
$GC,2792,0.77,120.8,3405,674,1625,1518,27.0,8.8,284,2799,0.00,2.08,0.00,0.000,1030,0.000,0.025,3405,2086,1571,1625,1518,0,0,0,0,0,0,26.39,26.33,26.41,8.20,40.07
$GC,2921,0.83,175.3,3405,2086,1625,1519,15.9,7.0,302,2957,0.00,2.22,28.77,0.580,8964,0.000,0.041,3405,679,1349,1409,1290,0,0,0,0,0,0,26.63,25.73,25.37,8.20,40.07
$GC,3254,1.09,356.7,3405,679,1409,1291,9.5,-0.1,366,3352,0.20,2.08,91.07,0.550,11270,0.052,0.025,3525,2096,608,636,581,0,0,0,0,0,0,26.23,26.22,24.80,8.17,39.60
$GC,3417,1.33,524.8,3524,2096,635,579,4.3,0.6,395,3453,0.10,2.20,28.95,0.505,11012,0.083,0.037,3601,3459,371,364,378,0,0,0,0,0,0,25.66,25.32,24.85,8.11,39.25
$STATE,3625,end climb,NO_VERTICAL_VELOCITY
$STATE,3625,begin surface
$SM_CCo,3955,0.00,0.000,0,0,370,415.78
$SM_GC,5.47,9.30,2.12,0.00,0.059,0.024,0.000,217,2072,370,-9.12,1.39,415.78,0,0,0,0,0,0,25.98,26.07,26.07
$IRIDIUM_FIX,4738.33,-12256.21,060218,105721
$TT8_MAMPS,0.026215,0.280126
$HUMID,39.40
$INTERNAL_PRESSURE,8.0299
$TCM_TEMP,10.40
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.7,15.5
$ALTIM_BOTTOM_PING,130.3,37.8
$24V_AH,24.25,10.570
$10V_AH,10.29,4.165
$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,22.725,59.700,351.950,0.000,0.000,0.000,0.000,195.925,2.750,0.000,39.099,1023.801,1677.812,426.729,1018.477,139.987,33.458,1107.182,0.000,787.559,0.000,21.420,0.000
$DEVICE_MAMPS,259.335,52.020,754.290,0.000,0.000,0.000,0.000,75.735,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,69.640,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,296.487,575.659,581.265,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312676
$DATA_FILE_SIZE,31387,435
$CAP_FILE_SIZE,64033,0
$CFSIZE,2097872896,2079784960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,060218,131339,4738.560,-12253.389,4,0.9,21,16.4,0.3,256.0,9,4.8