version: 66.14
glider: 194
mission: 12
dive: 152
start: 2 6 118 14 39 5
data:
$ID,194
$MISSION,12
$DIVE,152
$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,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
$GPS1,060218,143206,4738.6040,-12253.3271,28,0.9,33,16.4,0.2,0.0,8,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,5.52
$_SM_ANGLEo,-74.6
$GPS2,060218,143755,4738.5811,-12253.3574,8,0.9,15,16.4,0.0,0.0,9,4.5
$SPEED_LIMITS,0.173,0.325
$TGT_NAME,NW1
$TGT_LATLONG,4738.657,-12253.412
$TGT_RADIUS,250.000
$KALMAN_CONTROL,0.079633,0.170957
$KALMAN_X,18242.878906,-198.914093,2.778328,-19098.025391,-354.151489
$KALMAN_Y,9168.281250,-208.185730,100.899300,-10111.334961,-476.466309
$MHEAD_RNG_PITCHd_Wd,8.6,157,-25.0,-10.000,-27.93,1134
$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,-1.16,-74.4,217,2083,356,383,0.0,0.0,0,17,0.00,0.00,-6.30,0.000,16386,0.000,0.000,216,2083,555,539,571,0,0,0,0,0,0,26.31,28.83,26.32,8.06,39.52
$GC,20,-1.16,-74.4,217,2083,539,572,5.6,0.0,1,101,10.77,2.15,-62.22,0.000,18692,0.256,0.053,2770,3464,2370,2405,2335,0,0,0,0,0,0,25.60,25.44,25.92,8.08,39.21
$GC,395,-1.05,-74.4,2769,3464,2405,2332,45.9,-11.7,50,405,0.12,2.05,0.00,0.000,3078,0.172,0.024,2807,2075,2367,2405,2330,0,0,0,0,0,0,25.97,26.22,26.08,8.24,40.23
$GC,525,-1.05,-74.4,2807,2075,2405,2329,60.2,-11.6,63,526,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2075,2367,2405,2329,0,0,0,0,0,0,26.53,26.54,26.54,8.24,39.68
$GC,645,-1.05,-74.4,2807,2075,2405,2329,74.2,-12.0,75,646,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2075,2366,2405,2328,0,0,0,0,0,0,26.57,26.58,26.58,8.24,39.56
$GC,765,-1.05,-74.4,2807,2074,2405,2328,88.3,-11.7,87,766,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2074,2366,2405,2328,0,0,0,0,0,0,26.60,26.61,26.61,8.25,40.23
$GC,885,-1.05,-74.4,2807,2074,2405,2328,103.5,-12.5,99,886,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2075,2366,2405,2328,0,0,0,0,0,0,26.63,26.64,26.64,8.25,40.03
$GC,1065,-1.05,-74.4,2806,2074,2405,2327,126.7,-13.7,117,1066,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2074,2366,2405,2327,0,0,0,0,0,0,26.67,26.67,26.67,8.25,40.03
$GC,1245,-1.05,-74.4,2807,2074,2405,2326,150.4,-12.8,135,1254,0.00,2.12,0.00,0.000,516,0.000,0.041,2807,693,2365,2405,2326,0,0,0,0,0,0,26.70,26.37,26.70,8.26,40.15
$GC,1310,-1.05,-74.4,2807,693,2405,2325,158.6,-13.4,141,1317,0.00,2.03,0.00,0.000,1030,0.000,0.025,2807,2066,2365,2405,2325,0,0,0,0,0,0,26.49,26.42,26.51,8.26,40.39
$STATE,1325,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1325,begin apogee
$GC,1331,-0.22,0.0,2806,2067,2405,2325,161.1,-13.6,143,1399,0.82,0.00,64.18,0.765,10246,0.144,0.000,3076,2068,2064,2109,2019,0,0,0,0,0,0,26.17,25.38,24.80,8.26,40.86
$STATE,1400,end apogee,CONTROL_FINISHED_OK
$STATE,1400,begin climb
$GC,1402,1.16,74.4,3076,2068,2109,2018,164.1,0.0,150,1477,1.17,2.25,65.35,0.745,10756,0.069,0.039,3513,692,1759,1806,1713,0,0,0,0,0,0,25.44,24.77,24.37,8.23,39.48
$GC,1493,1.14,117.6,3513,692,1806,1713,160.0,6.1,159,1540,0.00,2.15,37.65,0.724,9222,0.000,0.025,3513,2088,1584,1636,1532,0,0,0,0,0,0,25.25,25.23,24.35,8.22,38.89
$GC,1721,1.09,117.6,3513,2088,1635,1532,126.1,15.8,182,1730,0.00,2.20,0.00,0.000,516,0.000,0.041,3524,701,1584,1636,1532,0,0,0,0,0,0,25.96,25.66,25.96,8.20,39.84
$GC,1765,1.03,117.6,3523,701,1636,1532,119.4,16.1,186,1773,0.15,2.08,0.00,0.000,5126,0.164,0.025,3482,2085,1584,1636,1532,0,0,0,0,0,0,25.58,25.78,25.75,8.21,39.84
$GC,1955,1.03,117.6,3481,2085,1635,1531,91.2,14.4,205,1963,0.00,2.17,0.00,0.000,516,0.000,0.041,3490,694,1583,1636,1531,0,0,0,0,0,0,26.25,25.94,26.25,8.21,40.07
$GC,2006,1.03,117.6,3489,694,1636,1531,83.6,14.6,210,2010,0.00,2.08,0.00,0.000,1030,0.000,0.026,3490,2079,1583,1636,1531,0,0,0,0,0,0,26.09,26.03,26.10,8.21,39.68
$GC,2139,1.03,117.6,3489,2079,1636,1531,64.1,14.3,223,2140,0.00,0.00,0.00,0.000,6,0.000,0.000,3489,2079,1583,1636,1531,0,0,0,0,0,0,26.37,26.39,26.39,8.20,40.19
$GC,2259,1.03,117.6,3489,2079,1636,1531,46.9,14.8,235,2260,0.00,0.00,0.00,0.000,6,0.000,0.000,3490,2079,1583,1636,1531,0,0,0,0,0,0,26.44,26.45,26.45,8.21,39.95
$GC,2379,1.03,117.6,3489,2078,1636,1531,29.6,13.5,247,2387,0.00,2.17,0.00,0.000,516,0.000,0.042,3500,690,1583,1636,1530,0,0,0,0,0,0,26.49,26.17,26.50,8.21,40.47
$GC,2440,1.03,117.6,3500,689,1636,1531,21.0,13.9,253,2450,0.00,2.05,0.00,0.000,1030,0.000,0.025,3500,2086,1583,1636,1531,0,0,0,0,0,0,26.31,26.25,26.32,8.20,39.84
$GC,2576,1.13,227.2,3500,2086,1636,1530,10.0,0.1,278,2639,0.00,2.17,55.67,0.565,8452,0.000,0.036,3500,3479,1135,1187,1084,0,0,0,0,0,0,26.55,25.45,25.08,8.19,40.62
$GC,2729,1.30,329.4,3500,3479,1187,1083,6.9,0.8,306,2787,0.10,2.08,50.88,0.530,11270,0.074,0.023,3593,2082,718,755,682,0,0,0,0,0,0,25.86,25.86,24.85,8.16,39.40
$GC,2853,1.47,435.8,3593,2081,755,681,5.7,0.4,328,2899,0.00,0.00,42.88,0.518,8710,0.000,0.000,3593,2081,371,359,384,0,0,0,0,0,0,25.89,25.22,24.77,8.12,39.40
$GC,2963,1.76,548.9,3593,2081,358,383,4.1,-0.2,348,2969,0.25,0.00,0.00,0.000,2054,0.042,0.000,3737,2081,371,359,383,0,0,0,0,0,0,25.63,25.65,25.64,8.09,38.93
$GC,3033,1.93,650.6,3736,2081,358,384,3.9,0.8,361,3039,0.00,0.00,0.00,0.000,2054,0.000,0.000,3737,2081,371,359,384,0,0,0,0,0,0,25.99,25.99,25.99,8.09,38.81
$STATE,3059,end climb,NO_VERTICAL_VELOCITY
$STATE,3059,begin surface
$SM_CCo,3388,0.00,0.000,0,0,369,416.03
$SM_GC,5.37,9.82,0.00,0.00,0.066,0.000,0.000,215,2081,369,-9.13,-0.03,416.03,0,0,0,0,0,0,25.96,26.32,26.04
$IRIDIUM_FIX,4739.20,-12253.53,060218,131508
$TT8_MAMPS,0.026215,0.279377
$HUMID,39.84
$INTERNAL_PRESSURE,8.03967
$TCM_TEMP,10.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,15.4
$ALTIM_BOTTOM_PING,106.0,63.7
$24V_AH,24.35,10.704
$10V_AH,10.29,4.228
$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,23.225,29.750,316.600,0.000,0.000,0.000,0.000,252.200,1.250,0.000,17.171,854.821,1501.410,370.528,889.791,139.060,33.459,1031.276,0.000,639.994,0.000,11.761,0.000
$DEVICE_MAMPS,256.275,52.785,765.000,0.000,0.000,0.000,0.000,81.090,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,69.640,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,248.834,484.157,488.879,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312644
$DATA_FILE_SIZE,24538,366
$CAP_FILE_SIZE,55854,0
$CFSIZE,2097872896,2079588352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,060218,153629,4738.690,-12253.252,4,0.8,15,16.4,0.0,0.0,10,4.9