version: 66.14
glider: 194
mission: 12
dive: 177
start: 2 7 118 18 48 25
data:
$ID,194
$MISSION,12
$DIVE,177
$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,58
$R_STBD_OVSHOOT,53
$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
$GPS1,070218,184259,4738.6768,-12253.5439,5,0.9,33,16.4,0.3,0.0,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,6.11
$_SM_ANGLEo,-72.6
$GPS2,070218,184713,4738.6948,-12253.5166,9,0.8,16,16.4,0.0,0.0,10,4.9
$SPEED_LIMITS,0.173,0.325
$TGT_NAME,NW1
$TGT_LATLONG,4738.657,-12253.412
$TGT_RADIUS,250.000
$KALMAN_CONTROL,-0.131665,-0.112537
$KALMAN_X,25212.189453,-161.274094,-282.753571,-26020.779297,517.732056
$KALMAN_Y,9680.442383,-241.091370,-369.029816,-9914.742188,261.160126
$MHEAD_RNG_PITCHd_Wd,213.1,148,-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,-63.1,199,2071,382,370,0.0,0.0,0,17,0.00,0.00,-6.43,0.000,16386,0.000,0.000,199,2071,568,567,570,0,0,0,0,0,0,26.39,28.83,26.39,8.09,39.64
$GC,20,-1.25,-63.1,199,2071,567,571,6.2,0.0,1,95,10.57,0.00,-61.30,0.000,18694,0.252,0.000,2742,2068,2324,2357,2291,0,0,0,0,0,0,25.70,24.90,26.01,8.11,39.36
$GC,160,-1.11,-63.1,2742,2068,2358,2291,22.8,-21.6,25,169,0.15,2.15,0.00,0.000,2308,0.197,0.041,2787,3467,2324,2358,2291,0,0,0,0,0,0,25.89,26.09,26.01,8.25,39.21
$GC,195,-1.00,-63.1,2787,3467,2358,2291,29.7,-20.6,28,203,0.15,2.05,0.00,0.000,3078,0.181,0.023,2831,2075,2324,2358,2290,0,0,0,0,0,0,25.91,26.17,26.10,8.26,39.88
$GC,323,-1.00,-63.1,2830,2075,2358,2289,50.1,-14.8,41,327,0.00,2.15,0.00,0.000,516,0.000,0.039,2831,694,2323,2358,2289,0,0,0,0,0,0,26.49,26.19,26.50,8.25,39.36
$GC,345,-1.00,-63.1,2830,694,2358,2287,53.5,-14.8,43,354,0.00,2.08,0.00,0.000,1030,0.000,0.026,2831,2086,2322,2358,2287,0,0,0,0,0,0,26.29,26.22,26.31,8.25,39.28
$GC,475,-1.00,-63.1,2830,2087,2358,2287,71.7,-13.8,56,484,0.00,2.15,0.00,0.000,260,0.000,0.042,2831,3474,2322,2358,2287,0,0,0,0,0,0,26.54,26.22,26.55,8.25,39.60
$GC,540,-1.00,-63.1,2830,3474,2358,2287,80.2,-13.7,62,546,0.00,2.05,0.00,0.000,1030,0.000,0.023,2831,2075,2322,2358,2287,0,0,0,0,0,0,26.36,26.29,26.38,8.25,39.99
$GC,667,-1.00,-63.1,2830,2075,2358,2285,97.6,-12.5,75,668,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2075,2322,2358,2286,0,0,0,0,0,0,26.60,26.60,26.60,8.26,39.60
$GC,787,-1.00,-63.1,2830,2075,2357,2285,113.3,-13.5,87,788,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2074,2321,2358,2285,0,0,0,0,0,0,26.63,26.63,26.63,8.25,40.19
$GC,967,-1.00,-63.1,2830,2074,2358,2285,136.1,-12.3,105,968,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2074,2321,2358,2285,0,0,0,0,0,0,26.66,26.67,26.67,8.26,40.19
$STATE,1124,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1125,begin apogee
$GC,1131,-0.22,0.0,2831,2074,2358,2284,156.8,-12.5,121,1189,0.75,0.00,54.47,0.757,10246,0.142,0.000,3077,2074,2065,2106,2024,0,0,0,0,0,0,26.17,25.50,24.91,8.26,40.27
$STATE,1190,end apogee,CONTROL_FINISHED_OK
$STATE,1190,begin climb
$GC,1192,1.25,63.1,3076,2074,2106,2024,160.3,0.0,127,1256,1.30,0.00,56.45,0.741,10246,0.086,0.000,3530,2074,1806,1851,1762,0,0,0,0,0,0,25.53,24.85,24.46,8.25,39.48
$GC,1437,1.25,63.1,3530,2074,1850,1763,139.6,9.9,152,1446,0.00,2.17,0.00,0.000,516,0.000,0.041,3540,693,1807,1851,1764,0,0,0,0,0,0,26.03,25.73,26.03,8.23,39.91
$GC,1512,1.19,63.1,3540,693,1851,1764,132.1,10.4,159,1519,0.00,2.10,0.00,0.000,1030,0.000,0.025,3540,2097,1807,1851,1764,0,0,0,0,0,0,25.94,25.88,25.96,8.23,39.95
$GC,1699,1.19,63.1,3540,2097,1851,1763,112.2,10.1,178,1708,0.00,2.12,0.00,0.000,260,0.000,0.037,3540,3472,1806,1850,1763,0,0,0,0,0,0,26.31,26.01,26.32,8.23,39.88
$GC,1764,1.12,63.1,3540,3472,1850,1763,105.6,10.8,184,1771,0.12,2.05,0.00,0.000,5126,0.169,0.023,3516,2080,1806,1850,1763,0,0,0,0,0,0,25.88,26.10,26.05,8.22,39.95
$GC,1953,1.12,63.1,3515,2080,1850,1763,87.7,8.7,203,1961,0.00,2.12,0.00,0.000,516,0.000,0.040,3524,694,1807,1851,1763,0,0,0,0,0,0,26.46,26.15,26.46,8.23,40.39
$GC,2198,1.12,63.1,3523,694,1850,1763,65.2,8.7,227,2205,0.00,2.05,0.00,0.000,1030,0.000,0.025,3524,2090,1806,1850,1762,0,0,0,0,0,0,26.34,26.29,26.36,8.23,39.88
$GC,2326,1.12,63.1,3524,2090,1851,1762,54.6,8.4,240,2334,0.00,2.12,0.00,0.000,260,0.000,0.038,3524,3479,1806,1851,1762,0,0,0,0,0,0,26.58,26.27,26.60,8.23,40.07
$GC,2450,1.13,82.8,3524,3479,1850,1762,44.6,7.9,252,2477,0.00,2.03,17.73,0.659,9222,0.000,0.023,3535,2085,1725,1770,1681,0,0,0,0,0,0,26.39,26.36,25.37,8.23,40.39
$GC,2598,1.13,82.8,3534,2085,1771,1683,32.1,8.7,267,2606,0.00,2.17,0.00,0.000,516,0.000,0.040,3546,684,1727,1771,1683,0,0,0,0,0,0,26.45,26.14,26.46,8.22,40.27
$GC,2650,1.15,101.8,3544,684,1771,1684,27.8,8.0,272,2669,0.00,2.08,11.23,0.594,9222,0.000,0.025,3546,2089,1647,1694,1600,0,0,0,0,0,0,26.27,26.21,25.33,8.22,40.11
$GC,2792,1.18,131.2,3545,2089,1695,1602,16.5,6.9,290,2816,0.00,2.15,15.75,0.557,8452,0.000,0.037,3546,3465,1527,1579,1475,0,0,0,0,0,0,26.41,25.87,25.29,8.21,39.91
$GC,2960,1.30,250.7,3545,3465,1579,1477,12.3,-2.7,322,3029,0.00,2.05,60.62,0.561,9222,0.000,0.022,3555,2073,1040,1085,995,0,0,0,0,0,0,26.17,26.11,24.90,8.19,39.80
$GC,3095,1.44,286.9,3555,2073,1085,995,5.9,6.1,346,3120,0.10,2.25,17.92,0.500,11012,0.078,0.035,3645,3472,891,934,849,0,0,0,0,0,0,25.75,25.47,24.97,8.15,38.54
$STATE,3238,end climb,NO_VERTICAL_VELOCITY
$STATE,3238,begin surface
$SM_CCo,3242,64.50,0.519,0,0,374,414.56
$SM_GC,5.96,9.70,2.15,0.00,0.070,0.023,0.000,219,2079,370,-9.12,1.53,416.03,0,0,0,0,0,0,25.81,25.91,25.91
$IRIDIUM_FIX,4739.67,-12257.95,070218,175355
$TT8_MAMPS,0.026215,0.279377
$HUMID,39.68
$INTERNAL_PRESSURE,8.04943
$TCM_TEMP,10.60
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.4,14.3
$ALTIM_BOTTOM_PING,125.0,41.6
$24V_AH,24.46,12.232
$10V_AH,10.30,4.969
$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,22.850,42.250,234.175,64.500,0.000,0.000,0.000,171.225,2.250,0.000,17.242,906.217,1637.591,400.336,846.189,131.596,33.453,978.535,0.000,669.165,0.000,15.186,0.000
$DEVICE_MAMPS,251.685,42.075,756.585,519.435,0.000,0.000,0.000,74.205,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,69.640,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,254.540,493.820,498.606,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312676
$DATA_FILE_SIZE,24456,373
$CAP_FILE_SIZE,58577,0
$CFSIZE,2097872896,2077130752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,070218,194959,4738.636,-12253.588,5,0.9,15,16.4,0.3,67.1,9,4.6