version: 66.14
glider: 194
mission: 12
dive: 165
start: 2 7 118 5 4 58
data:
$ID,194
$MISSION,12
$DIVE,165
$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,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
$GPS1,070218,045828,4738.9746,-12253.2646,8,0.9,14,16.4,0.0,71.8,9,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,5.49
$_SM_ANGLEo,-73.2
$GPS2,070218,050347,4738.9858,-12253.2217,6,0.9,17,16.4,0.0,0.0,9,4.9
$SPEED_LIMITS,0.173,0.325
$TGT_NAME,NW1
$TGT_LATLONG,4738.657,-12253.412
$TGT_RADIUS,250.000
$KALMAN_CONTROL,-0.112452,-0.131737
$KALMAN_X,21030.279297,506.174225,-299.838165,-22121.578125,50.974396
$KALMAN_Y,8750.984375,408.656372,-362.819275,-9101.997070,-272.581543
$MHEAD_RNG_PITCHd_Wd,204.1,653,-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,-63.1,215,2092,349,390,0.0,0.0,0,16,0.00,0.00,-6.38,0.000,16386,0.000,0.000,214,2092,553,534,573,0,0,0,0,0,0,26.28,28.83,26.29,8.07,40.07
$GC,20,-1.25,-63.1,215,2092,535,573,5.5,0.0,1,106,10.52,2.15,-65.20,0.000,18692,0.250,0.055,2746,3457,2324,2354,2295,0,0,0,0,0,0,25.61,24.68,25.91,8.08,39.44
$GC,186,-1.15,-63.1,2746,3457,2354,2295,22.0,-16.2,30,195,0.12,2.05,0.00,0.000,3078,0.194,0.024,2781,2067,2324,2354,2294,0,0,0,0,0,0,25.82,26.09,26.03,8.24,39.05
$GC,316,-1.08,-63.1,2780,2067,2354,2292,39.9,-14.1,43,325,0.00,2.15,0.00,0.000,260,0.000,0.041,2781,3454,2323,2355,2292,0,0,0,0,0,0,26.43,26.10,26.44,8.24,39.48
$GC,519,-1.08,-63.1,2780,3454,2353,2291,68.6,-15.6,63,527,0.00,2.03,0.00,0.000,1030,0.000,0.023,2781,2075,2322,2354,2290,0,0,0,0,0,0,26.27,26.25,26.32,8.24,39.40
$GC,648,-1.08,-63.1,2780,2075,2354,2289,88.2,-14.5,76,657,0.00,2.12,0.00,0.000,516,0.000,0.040,2781,686,2321,2354,2289,0,0,0,0,0,0,26.55,26.24,26.56,8.25,39.99
$GC,700,-1.03,-63.1,2780,686,2354,2289,96.1,-15.5,81,709,0.12,2.05,0.00,0.000,3078,0.185,0.025,2817,2074,2321,2354,2289,0,0,0,0,0,0,26.03,26.29,26.15,8.25,40.27
$GC,832,-1.03,-63.1,2816,2075,2354,2289,112.8,-12.4,94,840,0.00,2.15,0.00,0.000,260,0.000,0.042,2817,3479,2321,2354,2288,0,0,0,0,0,0,26.60,26.27,26.61,8.25,40.39
$GC,886,-1.03,-63.1,2817,3479,2354,2288,119.7,-12.8,99,893,0.00,2.05,0.00,0.000,1030,0.000,0.023,2817,2076,2321,2354,2288,0,0,0,0,0,0,26.40,26.34,26.42,8.26,39.91
$GC,1073,-1.03,-63.1,2816,2075,2354,2287,142.6,-12.8,118,1074,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2075,2320,2354,2287,0,0,0,0,0,0,26.65,26.66,26.66,8.26,40.27
$STATE,1141,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1141,begin apogee
$GC,1147,-0.22,0.0,2817,2075,2354,2287,151.4,-12.8,125,1206,0.80,0.00,54.92,0.749,10246,0.147,0.000,3076,2075,2063,2102,2025,0,0,0,0,0,0,26.14,25.48,24.89,8.26,40.47
$STATE,1207,end apogee,CONTROL_FINISHED_OK
$STATE,1207,begin climb
$GC,1210,1.25,63.1,3076,2075,2102,2025,154.6,0.0,131,1274,1.30,2.30,56.45,0.733,10500,0.084,0.036,3532,3475,1805,1847,1764,0,0,0,0,0,0,25.51,25.01,24.44,8.25,39.52
$GC,1292,1.28,93.8,3532,3475,1847,1766,150.3,6.7,139,1327,0.00,2.12,27.83,0.708,9222,0.000,0.022,3544,2083,1680,1723,1638,0,0,0,0,0,0,25.34,25.29,24.44,8.23,39.09
$GC,1507,1.28,93.8,3543,2083,1723,1638,121.2,15.0,161,1516,0.00,2.20,0.00,0.000,516,0.000,0.040,3554,688,1680,1723,1638,0,0,0,0,0,0,25.99,25.70,25.99,8.22,39.36
$GC,1590,1.20,93.8,3553,688,1723,1638,108.6,15.5,169,1598,0.00,2.10,0.00,0.000,1030,0.000,0.025,3554,2090,1680,1723,1638,0,0,0,0,0,0,25.89,25.86,25.91,8.22,40.03
$GC,1782,1.15,93.8,3553,2090,1723,1638,79.4,15.1,188,1791,0.10,2.12,0.00,0.000,4356,0.184,0.036,3524,3474,1680,1723,1638,0,0,0,0,0,0,25.84,26.00,25.94,8.22,39.95
$GC,1807,1.10,93.8,3523,3474,1723,1638,75.7,14.9,190,1814,0.00,2.08,0.00,0.000,1030,0.000,0.023,3532,2077,1680,1723,1638,0,0,0,0,0,0,26.12,26.06,26.13,8.22,39.91
$GC,1934,1.10,93.8,3531,2077,1723,1638,58.1,12.8,203,1943,0.00,2.17,0.00,0.000,516,0.000,0.040,3543,681,1680,1723,1638,0,0,0,0,0,0,26.39,26.08,26.40,8.21,39.91
$GC,1979,1.10,93.8,3542,681,1723,1638,52.4,13.6,207,1986,0.12,2.08,0.00,0.000,5126,0.171,0.025,3508,2088,1680,1723,1638,0,0,0,0,0,0,25.93,26.15,26.10,8.21,39.60
$GC,2106,1.10,93.8,3507,2088,1723,1637,37.0,11.4,220,2107,0.00,0.00,0.00,0.000,6,0.000,0.000,3508,2088,1680,1723,1637,0,0,0,0,0,0,26.47,26.48,26.48,8.21,39.25
$GC,2226,1.10,93.8,3507,2088,1723,1637,24.3,9.1,232,2235,0.00,2.12,0.00,0.000,260,0.000,0.038,3508,3474,1680,1723,1637,0,0,0,0,0,0,26.52,26.21,26.53,8.20,39.99
$GC,2258,1.10,93.8,3507,3474,1723,1637,21.6,8.4,235,2267,0.00,2.08,0.00,0.000,1030,0.000,0.023,3515,2073,1680,1723,1637,0,0,0,0,0,0,26.33,26.27,26.34,8.21,39.72
$GC,2390,1.16,162.5,3515,2072,1723,1637,13.9,2.7,259,2431,0.00,2.22,35.53,0.568,8964,0.000,0.036,3515,3474,1399,1448,1350,0,0,0,0,0,0,26.57,25.79,25.25,8.20,39.48
$GC,2455,1.20,202.1,3515,3474,1447,1350,11.5,5.8,270,2480,0.00,2.08,19.62,0.529,9222,0.000,0.023,3526,2081,1239,1288,1190,0,0,0,0,0,0,25.99,25.94,25.11,8.17,39.13
$GC,2544,1.34,265.9,3525,2082,1287,1188,6.8,3.2,286,2585,0.10,2.20,31.17,0.520,10500,0.080,0.035,3620,3464,978,1020,937,0,0,0,0,0,0,25.91,25.49,24.98,8.16,38.62
$GC,2599,1.40,329.5,3620,3463,1020,937,5.4,3.2,295,2639,0.00,2.10,31.15,0.506,9222,0.000,0.022,3631,2070,720,751,690,0,0,0,0,0,0,25.70,25.65,24.84,8.14,39.21
$GC,2705,1.57,419.1,3630,2070,751,690,4.7,0.5,314,2757,0.00,2.25,42.33,0.507,8452,0.000,0.035,3631,3464,372,355,389,0,0,0,0,0,0,25.89,25.27,24.79,8.11,38.89
$STATE,2915,end climb,NO_VERTICAL_VELOCITY
$STATE,2915,begin surface
$SM_CCo,3245,0.00,0.000,0,0,371,415.54
$SM_GC,5.49,9.35,2.12,0.00,0.056,0.024,0.000,217,2081,371,-9.12,1.55,415.54,0,0,0,0,0,0,25.98,26.06,26.06
$IRIDIUM_FIX,4739.20,-12253.53,070218,035829
$TT8_MAMPS,0.026964,0.280126
$HUMID,39.40
$INTERNAL_PRESSURE,8.03967
$TCM_TEMP,10.20
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.8,15.1
$ALTIM_BOTTOM_PING,100.2,60.9
$24V_AH,24.44,11.510
$10V_AH,10.28,4.609
$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,22.550,51.100,299.000,0.000,0.000,0.000,0.000,226.975,1.000,0.000,18.445,824.690,1378.194,391.233,860.539,133.611,33.460,1033.830,0.000,629.411,0.000,7.226,0.000
$DEVICE_MAMPS,250.155,55.080,748.935,0.000,0.000,0.000,0.000,78.030,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,69.640,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,239.345,467.806,472.387,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,24571,354
$CAP_FILE_SIZE,57891,0
$CFSIZE,2097872896,2078310400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,070218,060005,4738.768,-12253.293,8,1.0,21,16.4,0.3,251.1,9,4.9