version: 66.14
glider: 194
mission: 12
dive: 171
start: 2 7 118 12 6 11
data:
$ID,194
$MISSION,12
$DIVE,171
$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,67
$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
$GPS1,070218,115924,4738.4028,-12253.4482,12,0.9,52,16.4,0.3,74.8,9,14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,5.99
$_SM_ANGLEo,-74.7
$GPS2,070218,120502,4738.4204,-12253.3740,13,0.9,31,16.4,0.3,60.6,9,4.4
$SPEED_LIMITS,0.173,0.325
$TGT_NAME,NW1
$TGT_LATLONG,4738.657,-12253.412
$TGT_RADIUS,250.000
$KALMAN_CONTROL,-0.050141,0.165789
$KALMAN_X,22998.845703,169.090057,384.542816,-24622.152344,99.496368
$KALMAN_Y,9208.614258,-66.799881,410.806519,-10904.267578,-50.983414
$MHEAD_RNG_PITCHd_Wd,326.8,441,-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,-63.1,210,2074,356,384,0.0,0.0,0,16,0.00,0.00,-6.20,0.000,16386,0.000,0.000,209,2074,554,539,570,0,0,0,0,0,0,26.29,28.83,26.30,8.08,39.52
$GC,20,-1.25,-63.1,210,2074,539,571,6.0,0.0,1,100,10.75,2.17,-60.22,0.000,18948,0.257,0.054,2744,692,2325,2355,2295,0,0,0,0,0,0,25.60,24.67,25.91,8.09,39.76
$GC,347,-1.11,-63.1,2743,692,2355,2290,49.1,-13.4,44,356,0.15,2.05,0.00,0.000,3078,0.192,0.025,2786,2075,2322,2355,2290,0,0,0,0,0,0,25.89,26.17,26.02,8.24,39.44
$GC,475,-1.11,-63.1,2785,2075,2355,2289,65.2,-12.5,57,483,0.00,2.17,0.00,0.000,260,0.000,0.042,2786,3478,2322,2355,2290,0,0,0,0,0,0,26.51,26.17,26.51,8.25,39.32
$GC,556,-1.11,-63.1,2786,3478,2355,2290,75.8,-13.1,65,565,0.00,2.08,0.00,0.000,1030,0.000,0.023,2786,2069,2322,2355,2289,0,0,0,0,0,0,26.33,26.27,26.34,8.25,39.48
$GC,686,-1.11,-63.1,2786,2069,2355,2289,94.0,-14.8,78,695,0.00,2.12,0.00,0.000,516,0.000,0.039,2786,688,2321,2355,2288,0,0,0,0,0,0,26.58,26.26,26.58,8.24,39.76
$GC,718,-1.11,-63.1,2786,689,2355,2288,98.4,-14.0,81,727,0.00,2.08,0.00,0.000,1030,0.000,0.025,2786,2087,2321,2355,2288,0,0,0,0,0,0,26.36,26.29,26.39,8.25,39.40
$GC,849,-1.11,-63.1,2786,2087,2355,2288,116.2,-13.4,94,858,0.00,2.12,0.00,0.000,516,0.000,0.038,2786,696,2321,2355,2287,0,0,0,0,0,0,26.59,26.29,26.60,8.25,39.80
$GC,902,-1.11,-63.1,2786,697,2355,2287,123.5,-14.0,99,911,0.00,2.03,0.00,0.000,1030,0.000,0.026,2786,2082,2321,2355,2287,0,0,0,0,0,0,26.37,26.34,26.39,8.25,39.72
$GC,1094,-1.11,-63.1,2786,2082,2355,2287,149.4,-13.9,118,1100,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2082,2321,2355,2287,0,0,0,0,0,0,26.66,26.67,26.67,8.26,39.64
$STATE,1169,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1169,begin apogee
$GC,1175,-0.22,0.0,2786,2082,2355,2287,160.4,-13.6,126,1232,0.90,0.00,53.62,0.750,10246,0.157,0.000,3071,2082,2064,2103,2026,0,0,0,0,0,0,26.11,25.49,24.91,8.26,39.91
$STATE,1233,end apogee,CONTROL_FINISHED_OK
$STATE,1233,begin climb
$GC,1236,1.25,63.1,3070,2082,2102,2026,164.0,0.0,132,1302,1.33,2.22,56.60,0.740,10500,0.090,0.036,3530,3474,1806,1848,1764,0,0,0,0,0,0,25.52,24.86,24.45,8.24,39.99
$GC,1346,1.19,63.1,3530,3474,1848,1767,155.9,10.2,143,1351,0.00,2.12,0.00,0.000,1030,0.000,0.023,3542,2083,1807,1848,1767,0,0,0,0,0,0,25.49,25.43,25.51,8.23,39.13
$GC,1539,1.13,63.1,3541,2083,1848,1768,133.4,11.4,162,1548,0.00,2.20,0.00,0.000,516,0.000,0.041,3552,677,1808,1848,1769,0,0,0,0,0,0,26.10,25.80,26.11,8.23,39.52
$GC,1676,1.05,63.1,3552,677,1848,1769,116.6,12.3,175,1684,0.20,2.10,0.00,0.000,5126,0.168,0.024,3495,2092,1808,1848,1769,0,0,0,0,0,0,25.75,25.99,25.94,8.22,40.07
$GC,1864,1.05,63.1,3494,2092,1848,1768,97.1,9.8,194,1872,0.00,2.17,0.00,0.000,516,0.000,0.041,3503,690,1808,1848,1768,0,0,0,0,0,0,26.38,26.07,26.39,8.22,40.62
$GC,1935,1.05,63.1,3502,690,1848,1768,89.6,10.3,201,1944,0.00,2.08,0.00,0.000,1030,0.000,0.025,3503,2087,1808,1848,1768,0,0,0,0,0,0,26.22,26.15,26.23,8.23,39.80
$GC,2066,1.05,63.1,3502,2087,1848,1768,76.7,9.5,214,2074,0.00,2.17,0.00,0.000,516,0.000,0.040,3514,681,1808,1848,1768,0,0,0,0,0,0,26.48,26.16,26.48,8.23,40.27
$GC,2127,1.05,63.1,3513,680,1848,1768,70.7,10.1,220,2136,0.00,2.08,0.00,0.000,1030,0.000,0.024,3514,2084,1808,1848,1768,0,0,0,0,0,0,26.29,26.24,26.32,8.22,40.43
$GC,2258,1.05,63.1,3513,2084,1848,1768,58.2,9.2,233,2266,0.00,2.12,0.00,0.000,260,0.000,0.037,3513,3480,1808,1848,1768,0,0,0,0,0,0,26.54,26.24,26.55,8.22,39.99
$GC,2372,1.05,63.1,3513,3480,1848,1768,47.0,9.6,244,2379,0.10,2.05,0.00,0.000,5126,0.181,0.023,3497,2075,1808,1848,1768,0,0,0,0,0,0,26.08,26.32,26.25,8.22,39.88
$GC,2500,1.05,63.1,3496,2075,1848,1767,35.8,8.0,257,2508,0.00,2.15,0.00,0.000,260,0.000,0.037,3498,3475,1807,1848,1767,0,0,0,0,0,0,26.61,26.30,26.62,8.22,40.58
$GC,2804,1.13,141.0,3496,3475,1848,1768,19.6,1.7,289,2851,0.00,2.03,42.42,0.597,9222,0.000,0.023,3505,2080,1489,1538,1440,0,0,0,0,0,0,26.47,26.41,25.25,8.22,39.80
$GC,2917,1.22,180.0,3505,2079,1535,1439,15.6,5.8,309,2947,0.05,2.22,20.20,0.549,10756,0.142,0.041,3582,692,1327,1374,1281,0,0,0,0,0,0,26.03,25.67,25.15,8.19,39.28
$GC,3244,1.31,265.9,3581,693,1374,1282,8.4,0.9,372,3296,0.00,2.05,42.58,0.535,9222,0.000,0.024,3582,2089,977,1020,935,0,0,0,0,0,0,26.17,26.10,25.06,8.17,39.72
$GC,3362,1.52,361.9,3582,2089,1020,934,5.5,-0.2,393,3420,0.10,2.28,47.58,0.516,10756,0.078,0.041,3675,695,586,598,575,0,0,0,0,0,0,25.87,25.34,24.87,8.14,39.05
$STATE,3552,end climb,NO_VERTICAL_VELOCITY
$STATE,3552,begin surface
$SM_CCo,3555,26.33,0.503,0,0,372,414.56
$SM_GC,5.63,9.52,2.12,0.00,0.056,0.024,0.000,208,2088,372,-9.15,-1.89,415.29,0,0,0,0,0,0,25.90,25.98,25.98
$IRIDIUM_FIX,4737.86,-12251.79,070218,104722
$TT8_MAMPS,0.025466,0.280126
$HUMID,39.64
$INTERNAL_PRESSURE,8.04943
$TCM_TEMP,10.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,15.8
$ALTIM_BOTTOM_PING,130.2,40.1
$24V_AH,24.45,11.856
$10V_AH,10.28,4.798
$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,23.100,51.000,263.000,26.325,0.000,0.000,0.000,225.425,2.750,0.000,33.123,1022.753,1642.887,391.672,1067.462,145.920,33.458,1104.396,0.000,812.976,0.000,22.610,0.000
$DEVICE_MAMPS,257.040,53.550,750.465,503.370,0.000,0.000,0.000,78.030,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,69.640,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,292.461,567.862,573.371,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312692
$DATA_FILE_SIZE,27996,429
$CAP_FILE_SIZE,64067,0
$CFSIZE,2097872896,2077720576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,070218,131232,4738.645,-12253.374,5,0.9,27,16.4,0.3,0.0,8,4.2