version: 66.14
glider: 194
mission: 12
dive: 179
start: 2 7 118 21 6 51
data:
$ID,194
$MISSION,12
$DIVE,179
$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,64
$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
$GPS1,070218,210043,4738.5811,-12253.5156,5,0.8,16,16.4,0.3,56.4,11,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,5.98
$_SM_ANGLEo,-72.9
$GPS2,070218,210542,4738.6025,-12253.4658,3,0.8,19,16.4,0.3,55.1,11,4.8
$SPEED_LIMITS,0.173,0.325
$TGT_NAME,NW1
$TGT_LATLONG,4738.657,-12253.412
$TGT_RADIUS,250.000
$KALMAN_CONTROL,-0.137911,-0.104789
$KALMAN_X,25805.781250,30.179071,-113.133217,-26907.833984,498.644684
$KALMAN_Y,9991.392578,-57.145210,-156.257233,-10789.626953,428.821106
$MHEAD_RNG_PITCHd_Wd,216.4,121,-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,-63.1,214,2088,373,367,0.0,0.0,0,16,0.00,0.00,-6.12,0.000,16386,0.000,0.000,214,2088,549,544,555,0,0,0,0,0,0,26.28,28.83,26.29,8.07,39.44
$GC,20,-1.25,-63.1,214,2088,544,556,6.1,0.0,1,101,10.40,2.20,-63.80,0.000,18692,0.246,0.054,2745,3468,2324,2359,2290,0,0,0,0,0,0,25.61,24.68,25.91,8.09,40.07
$GC,109,-1.05,-63.1,2745,3468,2359,2291,10.4,-11.8,16,116,0.22,2.05,0.00,0.000,3078,0.172,0.023,2810,2075,2325,2359,2291,0,0,0,0,0,0,25.78,26.05,25.97,8.24,39.28
$GC,180,-1.05,-63.1,2809,2075,2360,2289,21.9,-15.3,28,181,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2075,2324,2360,2289,0,0,0,0,0,0,26.35,26.36,26.36,8.24,39.56
$GC,300,-1.05,-63.1,2809,2075,2360,2286,37.1,-11.8,40,301,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2075,2322,2359,2286,0,0,0,0,0,0,26.42,26.43,26.43,8.24,38.97
$GC,420,-1.05,-63.1,2809,2075,2359,2285,51.2,-12.0,52,421,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2075,2321,2358,2285,0,0,0,0,0,0,26.48,26.49,26.49,8.25,39.48
$GC,540,-1.05,-63.1,2809,2075,2360,2284,66.6,-13.2,64,548,0.00,2.15,0.00,0.000,260,0.000,0.041,2810,3462,2322,2360,2284,0,0,0,0,0,0,26.53,26.20,26.53,8.24,39.76
$GC,696,-1.05,-63.1,2809,3463,2360,2284,86.4,-12.7,79,702,0.00,2.03,0.00,0.000,1030,0.000,0.023,2810,2079,2321,2360,2283,0,0,0,0,0,0,26.37,26.31,26.39,8.25,40.47
$GC,821,-1.05,-63.1,2809,2079,2360,2283,102.9,-13.0,92,823,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2079,2320,2359,2282,0,0,0,0,0,0,26.61,26.62,26.61,8.25,39.64
$GC,1005,-1.05,-63.1,2809,2079,2359,2282,126.3,-13.4,110,1011,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2079,2320,2359,2282,0,0,0,0,0,0,26.64,26.65,26.65,8.25,39.99
$GC,1191,-1.05,-63.1,2809,2079,2360,2281,152.0,-13.8,129,1200,0.00,2.12,0.00,0.000,516,0.000,0.040,2810,691,2320,2360,2281,0,0,0,0,0,0,26.67,26.36,26.68,8.26,40.23
$STATE,1221,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1221,begin apogee
$GC,1230,-0.22,0.0,2809,2068,2359,2281,156.4,-13.6,132,1292,0.82,0.00,53.70,0.754,10246,0.151,0.000,3074,2068,2064,2106,2023,0,0,0,0,0,0,26.13,25.50,24.91,8.26,40.35
$STATE,1293,end apogee,CONTROL_FINISHED_OK
$STATE,1293,begin climb
$GC,1296,1.25,63.1,3073,2068,2106,2022,160.5,0.0,139,1364,1.30,2.30,56.20,0.741,10500,0.085,0.037,3528,3484,1806,1851,1761,0,0,0,0,0,0,25.55,25.03,24.46,8.24,39.76
$GC,1438,1.19,63.1,3528,3484,1851,1763,149.4,10.7,153,1447,0.00,2.10,0.00,0.000,1030,0.000,0.023,3540,2092,1807,1851,1763,0,0,0,0,0,0,25.58,25.56,25.60,8.23,39.25
$GC,1628,1.19,63.1,3539,2092,1851,1763,128.7,10.7,172,1637,0.00,2.22,0.00,0.000,516,0.000,0.040,3550,679,1807,1851,1763,0,0,0,0,0,0,26.15,25.84,26.15,8.22,40.07
$GC,1762,1.12,63.1,3549,680,1851,1763,112.8,12.7,185,1771,0.12,2.10,0.00,0.000,5126,0.162,0.025,3514,2098,1806,1850,1763,0,0,0,0,0,0,25.79,26.03,25.93,8.23,39.84
$GC,1952,1.12,63.1,3514,2097,1850,1762,93.2,9.9,204,1961,0.00,2.20,0.00,0.000,516,0.000,0.040,3523,687,1806,1851,1762,0,0,0,0,0,0,26.41,26.09,26.41,8.23,39.95
$GC,2027,1.12,63.1,3522,687,1851,1762,85.2,11.2,211,2034,0.00,2.05,0.00,0.000,1030,0.000,0.025,3523,2080,1806,1850,1763,0,0,0,0,0,0,26.24,26.17,26.25,8.23,40.15
$GC,2154,1.12,63.1,3522,2080,1850,1762,72.8,9.1,224,2163,0.00,2.12,0.00,0.000,260,0.000,0.037,3522,3468,1806,1851,1762,0,0,0,0,0,0,26.49,26.18,26.50,8.23,40.86
$GC,2186,1.12,63.1,3522,3468,1850,1762,69.6,9.9,227,2194,0.00,2.05,0.00,0.000,1030,0.000,0.023,3533,2077,1806,1851,1762,0,0,0,0,0,0,26.30,26.25,26.32,8.23,40.23
$GC,2316,1.12,63.1,3532,2077,1850,1762,57.3,9.2,240,2324,0.00,2.15,0.00,0.000,516,0.000,0.040,3544,688,1806,1850,1763,0,0,0,0,0,0,26.55,26.23,26.55,8.23,40.07
$GC,2350,1.12,63.1,3543,688,1851,1762,54.7,8.4,243,2357,0.10,2.05,0.00,0.000,5126,0.178,0.024,3517,2088,1806,1850,1762,0,0,0,0,0,0,26.07,26.29,26.24,8.23,39.72
$GC,2478,1.12,63.1,3516,2088,1850,1762,44.4,8.1,256,2486,0.00,2.10,0.00,0.000,260,0.000,0.037,3517,3465,1806,1850,1762,0,0,0,0,0,0,26.59,26.27,26.60,8.22,39.76
$GC,2539,1.12,63.1,3516,3464,1850,1762,39.3,8.3,262,2548,0.00,2.05,0.00,0.000,1030,0.000,0.023,3525,2070,1806,1851,1762,0,0,0,0,0,0,26.40,26.34,26.41,8.23,40.27
$GC,2670,1.14,88.3,3524,2070,1850,1762,29.4,7.3,275,2689,0.00,0.00,14.77,0.616,8454,0.000,0.000,3525,2070,1704,1751,1657,0,0,0,0,0,0,26.63,26.03,25.45,8.22,40.51
$GC,2812,1.17,113.8,3524,2070,1750,1657,18.0,7.3,291,2830,0.00,0.00,13.77,0.554,8710,0.000,0.000,3525,2070,1599,1649,1549,0,0,0,0,0,0,26.50,25.93,25.39,8.21,40.39
$GC,2894,1.21,160.0,3524,2070,1649,1550,13.3,5.1,306,2924,0.00,2.22,23.90,0.547,8708,0.000,0.041,3534,685,1410,1464,1356,0,0,0,0,0,0,26.39,25.77,25.24,8.20,39.95
$GC,3220,1.29,240.5,3534,684,1463,1356,8.6,1.4,369,3267,0.00,2.05,40.00,0.542,11270,0.000,0.024,3534,2086,1081,1129,1034,0,0,0,0,0,0,26.22,26.15,25.10,8.18,39.88
$GC,3333,1.55,343.6,3533,2087,1129,1033,6.8,-1.0,389,3391,0.22,2.30,51.65,0.527,10756,0.044,0.041,3686,687,661,686,637,0,0,0,0,0,0,25.93,25.33,24.84,8.16,39.84
$GC,3441,1.72,441.5,3685,687,686,636,5.1,-0.4,408,3482,0.00,2.10,35.72,0.509,9222,0.000,0.024,3686,2089,372,370,375,0,0,0,0,0,0,25.68,25.63,24.80,8.11,39.01
$GC,3548,1.92,533.8,3685,2089,369,374,4.8,0.2,427,3555,0.15,2.15,0.00,0.000,2308,0.056,0.034,3788,3464,372,370,374,0,0,0,0,0,0,25.67,25.58,25.68,8.09,39.05
$STATE,3616,end climb,NO_VERTICAL_VELOCITY
$STATE,3616,begin surface
$SM_CCo,3948,0.00,0.000,0,0,371,415.54
$SM_GC,6.75,10.18,2.12,0.00,0.076,0.023,0.000,218,2082,371,-9.12,1.55,415.54,0,0,0,0,0,0,25.94,26.03,26.03
$IRIDIUM_FIX,4737.86,-12251.79,070218,195129
$TT8_MAMPS,0.026215,0.27713
$HUMID,39.80
$INTERNAL_PRESSURE,8.04943
$TCM_TEMP,10.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,14.5
$ALTIM_BOTTOM_PING,150.6,15.1
$24V_AH,24.46,12.346
$10V_AH,10.29,5.030
$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,23.525,51.100,289.725,0.000,0.000,0.000,0.000,198.100,4.500,0.000,23.002,1040.528,1700.282,391.176,980.948,153.634,33.451,1060.745,0.000,761.356,0.000,38.872,0.000
$DEVICE_MAMPS,245.565,54.315,753.525,0.000,0.000,0.000,0.000,81.855,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,69.640,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,299.793,582.364,588.016,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312716
$DATA_FILE_SIZE,31450,440
$CAP_FILE_SIZE,66379,0
$CFSIZE,2097872896,2076901376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070218,221359,4738.602,-12253.452,35,0.9,39,16.4,0.2,0.0,9,4.2