version: 66.14
glider: 194
mission: 12
dive: 169
start: 2 7 118 9 37 4
data:
$ID,194
$MISSION,12
$DIVE,169
$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,72
$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
$GPS1,070218,092632,4738.5005,-12253.6162,10,0.9,24,16.4,0.2,0.0,9,4.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,5.68
$_SM_ANGLEo,-73.9
$GPS2,070218,093554,4738.5171,-12253.5479,5,0.7,18,16.4,0.0,0.0,11,4.9
$SPEED_LIMITS,0.173,0.325
$TGT_NAME,NW1
$TGT_LATLONG,4738.657,-12253.412
$TGT_RADIUS,250.000
$KALMAN_CONTROL,-0.167628,0.043598
$KALMAN_X,22550.296875,372.103210,-53.123367,-24157.298828,363.193237
$KALMAN_Y,9212.740234,122.501328,-52.179924,-10451.794922,206.934067
$MHEAD_RNG_PITCHd_Wd,268.2,310,-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,6,begin dive
$GC,9,-1.25,-63.1,214,2066,360,382,0.0,0.0,0,17,0.00,0.00,-5.82,0.000,16386,0.000,0.000,214,2067,540,526,555,0,0,0,0,0,0,26.34,28.83,26.34,8.07,39.25
$GC,20,-1.25,-63.1,214,2067,526,556,5.7,0.0,1,101,10.48,2.17,-64.25,0.000,18948,0.249,0.051,2748,687,2324,2352,2297,0,0,0,0,0,0,25.66,24.70,25.95,8.09,39.68
$GC,286,-1.12,-63.1,2747,687,2352,2293,37.4,-14.6,40,295,0.12,2.05,0.00,0.000,3078,0.194,0.026,2783,2066,2322,2352,2293,0,0,0,0,0,0,25.89,26.17,26.02,8.24,39.72
$GC,415,-1.12,-63.1,2783,2066,2351,2292,54.5,-13.7,53,424,0.00,2.20,0.00,0.000,260,0.000,0.042,2783,3485,2321,2351,2292,0,0,0,0,0,0,26.51,26.17,26.51,8.24,39.48
$GC,580,-1.12,-63.1,2783,3485,2352,2292,77.0,-13.5,69,587,0.00,2.08,0.00,0.000,1030,0.000,0.023,2783,2070,2321,2352,2291,0,0,0,0,0,0,26.36,26.29,26.37,8.25,40.39
$GC,707,-1.12,-63.1,2783,2069,2352,2290,94.5,-13.0,82,716,0.00,2.12,0.00,0.000,516,0.000,0.039,2783,689,2321,2352,2290,0,0,0,0,0,0,26.59,26.28,26.60,8.26,40.03
$GC,729,-1.12,-63.1,2783,689,2352,2290,97.5,-13.1,84,738,0.00,2.08,0.00,0.000,1030,0.000,0.025,2784,2090,2320,2351,2290,0,0,0,0,0,0,26.39,26.31,26.40,8.25,40.19
$GC,861,-1.12,-63.1,2783,2090,2352,2289,114.5,-13.1,97,872,0.00,2.15,0.00,0.000,516,0.000,0.039,2784,688,2320,2352,2289,0,0,0,0,0,0,26.63,26.31,26.64,8.26,40.35
$GC,905,-1.12,-63.1,2783,688,2352,2289,120.9,-13.9,101,914,0.00,2.08,0.00,0.000,1030,0.000,0.025,2783,2090,2320,2352,2289,0,0,0,0,0,0,26.42,26.34,26.44,8.26,40.19
$GC,1095,-1.12,-63.1,2783,2090,2352,2289,145.7,-12.7,120,1104,0.00,2.17,0.00,0.000,516,0.000,0.039,2784,683,2320,2352,2289,0,0,0,0,0,0,26.67,26.35,26.68,8.27,40.23
$GC,1170,-1.12,-63.1,2783,683,2352,2289,155.5,-13.8,127,1177,0.00,2.05,0.00,0.000,1030,0.000,0.025,2783,2080,2320,2352,2289,0,0,0,0,0,0,26.47,26.39,26.48,8.27,40.07
$STATE,1225,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1225,begin apogee
$GC,1231,-0.22,0.0,2783,2080,2352,2289,163.4,-13.1,133,1288,0.88,0.00,52.95,0.754,10246,0.130,0.000,3076,2080,2064,2099,2030,0,0,0,0,0,0,26.19,25.52,24.92,8.27,40.39
$STATE,1289,end apogee,CONTROL_FINISHED_OK
$STATE,1289,begin climb
$GC,1292,1.25,63.1,3076,2080,2099,2029,164.2,0.0,139,1357,1.38,0.00,56.90,0.742,10246,0.118,0.000,3526,2080,1807,1849,1766,0,0,0,0,0,0,25.49,24.84,24.46,8.25,39.68
$GC,1537,1.25,63.1,3526,2080,1849,1770,150.9,8.7,164,1546,0.00,2.20,0.00,0.000,516,0.000,0.040,3537,691,1810,1849,1771,0,0,0,0,0,0,26.02,25.72,26.03,8.23,39.84
$GC,1589,1.25,63.1,3536,691,1849,1771,145.7,10.1,169,1593,0.00,2.10,0.00,0.000,1030,0.000,0.024,3537,2098,1809,1849,1770,0,0,0,0,0,0,25.90,25.84,25.92,8.23,39.64
$GC,1781,1.25,63.1,3536,2099,1849,1771,126.1,10.3,188,1785,0.00,2.20,0.00,0.000,516,0.000,0.040,3548,687,1810,1849,1771,0,0,0,0,0,0,26.29,25.98,26.29,8.23,40.23
$GC,1967,1.19,63.1,3547,687,1849,1771,106.8,10.0,206,1974,0.00,2.08,0.00,0.000,1030,0.000,0.025,3548,2090,1810,1849,1771,0,0,0,0,0,0,26.21,26.15,26.22,8.23,40.23
$GC,2154,1.19,63.1,3547,2090,1849,1771,87.2,10.3,225,2163,0.00,2.17,0.00,0.000,516,0.000,0.040,3559,691,1809,1849,1770,0,0,0,0,0,0,26.49,26.17,26.50,8.23,39.88
$GC,2227,1.12,63.1,3558,691,1849,1771,79.8,10.2,232,2236,0.15,2.03,0.00,0.000,5126,0.161,0.025,3514,2084,1809,1849,1770,0,0,0,0,0,0,26.01,26.25,26.13,8.23,39.64
$GC,2356,1.12,63.1,3514,2084,1849,1770,68.2,8.4,245,2365,0.00,2.17,0.00,0.000,516,0.000,0.040,3522,685,1809,1849,1770,0,0,0,0,0,0,26.56,26.25,26.57,8.23,39.95
$GC,2460,1.12,63.1,3522,685,1849,1770,59.0,8.6,255,2468,0.00,2.03,0.00,0.000,1030,0.000,0.025,3523,2075,1809,1849,1770,0,0,0,0,0,0,26.35,26.32,26.36,8.23,39.88
$GC,2589,1.14,83.6,3522,2075,1849,1770,48.6,7.8,268,2617,0.00,2.15,18.77,0.662,8452,0.000,0.036,3523,3469,1722,1761,1683,0,0,0,0,0,0,26.62,25.78,25.37,8.23,40.43
$GC,2713,1.14,83.6,3522,3469,1762,1686,37.3,10.3,280,2722,0.00,2.03,0.00,0.000,1030,0.000,0.023,3533,2086,1724,1762,1687,0,0,0,0,0,0,26.20,26.17,26.21,8.23,39.76
$GC,2841,1.14,83.6,3533,2087,1762,1687,24.8,8.5,293,2849,0.00,2.12,0.00,0.000,260,0.000,0.037,3533,3469,1724,1762,1687,0,0,0,0,0,0,26.48,26.18,26.49,8.22,39.52
$GC,2950,1.17,114.3,3533,3470,1762,1688,16.9,6.7,307,2974,0.00,2.05,16.80,0.568,9222,0.000,0.023,3544,2069,1597,1638,1556,0,0,0,0,0,0,26.33,26.27,25.39,8.22,39.68
$GC,3038,1.23,176.4,3544,2069,1638,1558,12.9,3.4,323,3079,0.00,2.20,32.22,0.558,8708,0.000,0.041,3554,690,1342,1386,1299,0,0,0,0,0,0,26.38,25.68,25.15,8.20,39.21
$GC,3375,1.32,269.3,3554,690,1386,1300,8.0,0.1,388,3427,0.00,2.05,45.88,0.537,9222,0.000,0.024,3554,2090,964,1006,923,0,0,0,0,0,0,26.17,26.11,25.03,8.18,39.36
$GC,3493,1.59,372.7,3553,2090,1006,925,5.7,-1.0,409,3552,0.22,2.30,51.40,0.519,10756,0.045,0.041,3701,692,542,544,541,0,0,0,0,0,0,25.84,25.29,24.82,8.14,39.13
$GC,3612,1.80,463.8,3700,692,545,541,4.5,0.3,430,3642,0.00,2.08,20.77,0.493,9222,0.000,0.024,3701,2081,371,347,396,0,0,0,0,0,0,25.68,25.63,24.90,8.10,39.28
$GC,3708,2.08,557.8,3700,2081,348,396,4.5,0.0,447,3715,0.22,2.15,0.00,0.000,2308,0.044,0.035,3835,3460,372,348,396,0,0,0,0,0,0,25.72,25.63,25.73,8.09,38.69
$STATE,3720,end climb,NO_VERTICAL_VELOCITY
$STATE,3720,begin surface
$SM_CCo,4052,0.00,0.000,0,0,372,415.29
$SM_GC,5.60,10.25,2.12,0.00,0.072,0.024,0.000,214,2078,372,-9.14,1.47,415.29,0,0,0,0,0,0,25.92,26.01,26.01
$IRIDIUM_FIX,4739.67,-12257.95,070218,093024
$TT8_MAMPS,0.026215,0.279377
$HUMID,39.72
$INTERNAL_PRESSURE,8.03967
$TCM_TEMP,10.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,14.6
$ALTIM_BOTTOM_PING,115.7,57.0
$24V_AH,24.46,11.739
$10V_AH,10.28,4.733
$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,23.700,59.375,295.700,0.000,0.000,0.000,0.000,265.918,1.500,0.000,20.082,1062.466,1831.320,409.957,1179.246,151.121,33.458,1257.087,0.000,826.567,0.000,13.825,0.000
$DEVICE_MAMPS,248.625,51.255,753.525,0.000,0.000,0.000,0.000,223.000,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,69.640,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,305.842,594.238,600.013,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312680
$DATA_FILE_SIZE,31517,449
$CAP_FILE_SIZE,68712,0
$CFSIZE,2097872896,2077884416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,070218,104550,4738.638,-12253.692,5,0.9,33,16.4,0.0,0.0,9,5.0