version: 66.14
glider: 194
mission: 12
dive: 168
start: 2 7 118 8 22 4
data:
$ID,194
$MISSION,12
$DIVE,168
$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,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
$GPS1,070218,081526,4738.6108,-12253.5703,5,0.9,24,16.4,0.3,120.4,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,5.74
$_SM_ANGLEo,-73.4
$GPS2,070218,082055,4738.6216,-12253.5117,6,0.9,28,16.4,0.3,98.2,9,4.9
$SPEED_LIMITS,0.173,0.325
$TGT_NAME,NW1
$TGT_LATLONG,4738.657,-12253.412
$TGT_RADIUS,250.000
$KALMAN_CONTROL,-0.142657,-0.098229
$KALMAN_X,22277.890625,430.961151,-306.384460,-23644.349609,453.112091
$KALMAN_Y,9286.097656,184.009796,-354.605042,-10092.525391,292.878754
$MHEAD_RNG_PITCHd_Wd,219.0,140,-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,-63.1,215,2097,337,401,0.0,0.0,0,16,0.00,0.00,-6.15,0.000,16386,0.000,0.000,215,2097,553,529,577,0,0,0,0,0,0,26.25,28.83,26.26,8.08,39.80
$GC,20,-1.25,-63.1,215,2097,529,577,5.8,0.0,1,101,10.50,2.12,-63.05,0.000,18692,0.249,0.054,2747,3462,2323,2349,2298,0,0,0,0,0,0,25.59,25.39,25.88,8.10,39.60
$GC,116,-1.09,-63.1,2747,3463,2349,2298,11.7,-15.9,17,124,0.17,2.05,0.00,0.000,3078,0.189,0.023,2796,2075,2323,2349,2298,0,0,0,0,0,0,25.74,26.03,25.95,8.24,38.97
$GC,192,-1.04,-63.1,2795,2075,2349,2297,23.6,-14.5,29,194,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2074,2323,2349,2297,0,0,0,0,0,0,26.34,26.35,26.34,8.24,38.89
$GC,312,-1.04,-63.1,2796,2074,2349,2295,40.0,-12.4,41,321,0.00,2.17,0.00,0.000,260,0.000,0.041,2796,3467,2322,2349,2295,0,0,0,0,0,0,26.41,26.09,26.42,8.24,39.36
$GC,417,-1.04,-63.1,2796,3466,2349,2295,53.3,-13.6,51,424,0.00,2.03,0.00,0.000,1030,0.000,0.023,2796,2088,2322,2349,2295,0,0,0,0,0,0,26.26,26.20,26.27,8.24,39.48
$GC,544,-1.04,-63.1,2796,2087,2349,2293,70.4,-13.5,64,553,0.00,2.15,0.00,0.000,260,0.000,0.041,2796,3467,2321,2349,2293,0,0,0,0,0,0,26.51,26.19,26.52,8.25,40.19
$GC,618,-1.04,-63.1,2796,3467,2349,2293,79.7,-13.1,71,625,0.00,2.05,0.00,0.000,1030,0.000,0.024,2796,2070,2321,2349,2293,0,0,0,0,0,0,26.33,26.27,26.34,8.24,39.48
$GC,746,-1.04,-63.1,2795,2069,2349,2292,96.0,-12.4,84,754,0.00,2.12,0.00,0.000,516,0.000,0.039,2796,688,2320,2349,2292,0,0,0,0,0,0,26.58,26.26,26.58,8.25,40.03
$GC,770,-1.04,-63.1,2796,689,2349,2292,98.9,-13.1,86,782,0.00,2.03,0.00,0.000,1030,0.000,0.025,2796,2065,2320,2349,2292,0,0,0,0,0,0,26.36,26.29,26.39,8.25,39.76
$GC,901,-1.04,-63.1,2796,2065,2349,2292,116.0,-12.7,99,902,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2065,2320,2349,2292,0,0,0,0,0,0,26.59,26.60,26.60,8.25,39.91
$GC,1080,-1.04,-63.1,2796,2065,2349,2291,139.3,-12.9,117,1082,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2065,2320,2349,2291,0,0,0,0,0,0,26.65,26.66,26.65,8.25,40.19
$STATE,1228,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1228,begin apogee
$GC,1234,-0.22,0.0,2796,2066,2350,2291,158.9,-13.1,132,1293,0.88,0.00,54.88,0.753,10246,0.151,0.000,3076,2066,2064,2099,2030,0,0,0,0,0,0,26.13,25.48,24.89,8.26,40.70
$STATE,1294,end apogee,CONTROL_FINISHED_OK
$STATE,1294,begin climb
$GC,1297,1.25,63.1,3075,2066,2099,2030,162.1,0.0,138,1361,1.30,2.30,56.62,0.737,10500,0.085,0.037,3531,3475,1806,1844,1769,0,0,0,0,0,0,25.52,25.02,24.45,8.24,39.91
$GC,1406,1.19,63.1,3531,3475,1844,1770,154.2,10.2,149,1410,0.00,2.15,0.00,0.000,1030,0.000,0.023,3542,2074,1806,1844,1769,0,0,0,0,0,0,25.48,25.42,25.50,8.23,38.65
$GC,1599,1.12,63.1,3542,2074,1844,1769,130.6,13.0,168,1602,0.00,2.17,0.00,0.000,516,0.000,0.041,3553,686,1806,1844,1769,0,0,0,0,0,0,26.10,25.80,26.11,8.22,39.84
$GC,1653,1.04,63.1,3552,684,1843,1769,123.9,13.2,173,1661,0.22,2.10,0.00,0.000,5126,0.167,0.025,3489,2096,1806,1844,1769,0,0,0,0,0,0,25.67,25.91,25.86,8.23,39.95
$GC,1841,1.04,63.1,3488,2096,1844,1768,102.9,10.5,192,1849,0.00,2.22,0.00,0.000,516,0.000,0.041,3497,681,1806,1844,1768,0,0,0,0,0,0,26.33,26.02,26.34,8.23,39.64
$GC,1903,1.04,63.1,3496,681,1844,1768,96.1,11.1,198,1906,0.00,2.08,0.00,0.000,1030,0.000,0.025,3497,2081,1806,1844,1768,0,0,0,0,0,0,26.17,26.10,26.18,8.23,40.31
$GC,2035,1.04,63.1,3496,2080,1844,1767,82.0,10.7,211,2038,0.00,2.12,0.00,0.000,260,0.000,0.037,3497,3475,1806,1844,1768,0,0,0,0,0,0,26.44,26.13,26.44,8.23,39.72
$GC,2057,1.04,63.1,3496,3475,1843,1767,79.7,10.4,213,2065,0.00,2.08,0.00,0.000,1030,0.000,0.023,3508,2074,1805,1844,1767,0,0,0,0,0,0,26.25,26.18,26.26,8.23,40.35
$GC,2187,1.04,63.1,3507,2075,1844,1767,66.0,10.4,226,2195,0.00,2.15,0.00,0.000,516,0.000,0.041,3518,690,1805,1844,1767,0,0,0,0,0,0,26.50,26.18,26.51,8.22,40.15
$GC,2221,1.04,63.1,3518,690,1844,1767,62.7,10.3,229,2228,0.10,2.05,0.00,0.000,5126,0.182,0.025,3491,2088,1805,1844,1767,0,0,0,0,0,0,26.03,26.25,26.20,8.23,40.35
$GC,2349,1.04,63.1,3490,2088,1844,1767,51.4,8.4,242,2357,0.00,2.10,0.00,0.000,260,0.000,0.037,3491,3464,1805,1844,1767,0,0,0,0,0,0,26.55,26.24,26.56,8.23,40.43
$GC,2410,1.04,63.1,3490,3464,1844,1767,45.6,9.3,248,2419,0.00,2.05,0.00,0.000,1030,0.000,0.023,3499,2073,1805,1844,1766,0,0,0,0,0,0,26.36,26.31,26.38,8.23,40.47
$GC,2541,1.06,85.1,3498,2073,1844,1767,35.4,7.7,261,2562,0.00,0.00,19.70,0.656,8198,0.000,0.000,3499,2073,1716,1756,1677,0,0,0,0,0,0,26.60,25.92,25.35,8.22,40.07
$GC,2681,1.08,107.9,3498,2073,1755,1678,23.9,7.6,275,2700,0.00,2.15,12.70,0.581,8452,0.000,0.035,3499,3463,1623,1665,1581,0,0,0,0,0,0,26.41,25.70,25.31,8.21,39.95
$GC,2714,1.08,107.9,3498,3464,1665,1582,21.0,8.3,278,2723,0.00,2.08,0.00,0.000,1030,0.000,0.023,3509,2077,1623,1665,1582,0,0,0,0,0,0,26.08,26.02,26.10,8.21,40.47
$GC,2848,1.20,166.3,3509,2077,1665,1583,10.6,3.8,302,2884,0.00,2.25,29.83,0.550,8708,0.000,0.041,3517,680,1384,1428,1340,0,0,0,0,0,0,26.38,25.70,25.17,8.20,39.95
$GC,3114,1.34,251.2,3517,680,1428,1340,8.6,1.0,353,3167,0.12,2.08,42.08,0.538,11270,0.067,0.024,3622,2092,1037,1075,999,0,0,0,0,0,0,26.07,26.07,25.03,8.17,39.52
$GC,3232,1.52,371.8,3622,2091,1075,999,5.8,-2.8,374,3301,0.00,2.20,59.38,0.519,8452,0.000,0.037,3623,3460,545,548,543,0,0,0,0,0,0,26.05,25.25,24.78,8.15,39.28
$STATE,3448,end climb,NO_VERTICAL_VELOCITY
$STATE,3448,begin surface
$SM_CCo,3451,21.35,0.500,0,0,373,414.56
$SM_GC,5.70,9.32,2.15,0.00,0.054,0.024,0.000,215,2067,371,-9.13,1.13,415.54,0,0,0,0,0,0,25.91,25.97,25.99
$IRIDIUM_FIX,4739.20,-12253.53,070218,070804
$TT8_MAMPS,0.026215,0.280875
$HUMID,39.64
$INTERNAL_PRESSURE,8.03967
$TCM_TEMP,10.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.2,14.4
$ALTIM_BOTTOM_PING,125.0,43.7
$24V_AH,24.45,11.681
$10V_AH,10.29,4.698
$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,22.625,55.200,275.175,21.350,0.000,0.000,0.000,221.100,2.500,0.000,29.368,995.569,1663.502,391.817,957.642,143.877,33.456,1065.844,0.000,714.907,0.000,21.000,0.000
$DEVICE_MAMPS,248.625,53.550,752.760,500.310,0.000,0.000,0.000,74.970,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,69.640,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,283.002,549.369,554.701,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312688
$DATA_FILE_SIZE,28115,415
$CAP_FILE_SIZE,65662,0
$CFSIZE,2097872896,2077982720
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,3164.39,0x2139aa,1,24
$GPS,070218,092632,4738.500,-12253.616,10,0.9,24,16.4,0.2,0.0,9,4.6