version: 66.14
glider: 194
mission: 12
dive: 180
start: 2 7 118 22 20 49
data:
$ID,194
$MISSION,12
$DIVE,180
$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,70
$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
$GPS1,070218,221359,4738.6021,-12253.4521,35,0.9,39,16.4,0.2,0.0,9,4.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,5.88
$_SM_ANGLEo,-72.0
$GPS2,070218,221940,4738.6299,-12253.4033,8,0.9,15,16.4,0.0,0.0,9,4.9
$SPEED_LIMITS,0.173,0.325
$TGT_NAME,NW1
$TGT_LATLONG,4738.657,-12253.412
$TGT_RADIUS,250.000
$KALMAN_CONTROL,-0.140530,-0.101249
$KALMAN_X,26132.677734,126.817673,32.313961,-27400.363281,412.300934
$KALMAN_Y,10102.086914,57.054890,46.039757,-11166.957031,354.818359
$MHEAD_RNG_PITCHd_Wd,217.8,52,-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,-63.1,218,2081,368,374,0.0,0.0,0,16,0.00,0.00,-6.45,0.000,16386,0.000,0.000,218,2081,556,549,563,0,0,0,0,0,0,26.31,28.83,26.32,8.07,39.36
$GC,20,-1.25,-63.1,218,2081,549,564,5.9,0.0,1,106,10.25,2.17,-65.88,0.000,18692,0.242,0.054,2743,3459,2325,2361,2290,0,0,0,0,0,0,25.67,24.68,25.94,8.09,39.52
$GC,132,-1.11,-63.1,2742,3459,2361,2290,13.1,-16.7,20,139,0.17,2.05,0.00,0.000,3078,0.185,0.022,2792,2066,2325,2361,2290,0,0,0,0,0,0,25.79,26.08,26.00,8.25,39.68
$GC,203,-1.05,-63.1,2792,2065,2361,2288,23.1,-12.7,31,211,0.00,2.08,0.00,0.000,516,0.000,0.038,2792,700,2324,2361,2287,0,0,0,0,0,0,26.39,26.08,26.39,8.24,39.05
$GC,255,-0.97,-63.1,2792,700,2361,2286,29.6,-12.4,36,264,0.15,2.03,0.00,0.000,3078,0.184,0.025,2836,2068,2323,2361,2286,0,0,0,0,0,0,25.86,26.14,25.98,8.24,39.25
$GC,384,-0.97,-63.1,2836,2068,2361,2285,43.4,-10.1,49,393,0.00,2.17,0.00,0.000,260,0.000,0.042,2836,3471,2323,2361,2285,0,0,0,0,0,0,26.48,26.15,26.48,8.24,40.03
$GC,476,-0.97,-63.1,2835,3471,2361,2285,52.8,-10.2,58,485,0.00,2.05,0.00,0.000,1030,0.000,0.023,2836,2082,2322,2361,2284,0,0,0,0,0,0,26.31,26.25,26.32,8.25,39.48
$GC,606,-0.97,-63.1,2835,2082,2361,2283,68.0,-12.6,71,610,0.00,2.15,0.00,0.000,516,0.000,0.040,2836,683,2322,2361,2283,0,0,0,0,0,0,26.55,26.24,26.56,8.24,39.48
$GC,691,-0.97,-63.1,2835,682,2361,2282,78.5,-12.9,79,698,0.00,2.08,0.00,0.000,1030,0.000,0.026,2836,2087,2321,2361,2282,0,0,0,0,0,0,26.36,26.29,26.39,8.25,40.47
$GC,818,-0.97,-63.1,2835,2087,2361,2282,93.9,-11.4,92,822,0.00,2.12,0.00,0.000,260,0.000,0.042,2836,3474,2321,2361,2282,0,0,0,0,0,0,26.61,26.28,26.62,8.25,40.35
$GC,881,-0.97,-63.1,2835,3474,2361,2282,101.1,-12.1,98,885,0.00,2.08,0.00,0.000,1030,0.000,0.023,2836,2077,2321,2361,2281,0,0,0,0,0,0,26.39,26.36,26.40,8.25,40.35
$GC,1073,-0.97,-63.1,2836,2077,2361,2281,123.4,-11.6,117,1082,0.00,2.17,0.00,0.000,260,0.000,0.041,2836,3481,2321,2361,2281,0,0,0,0,0,0,26.66,26.33,26.67,8.25,39.91
$GC,1105,-0.97,-63.1,2835,3481,2361,2281,127.2,-11.7,120,1114,0.00,2.05,0.00,0.000,1030,0.000,0.023,2836,2082,2321,2361,2281,0,0,0,0,0,0,26.46,26.39,26.48,8.26,40.39
$GC,1295,-0.97,-63.1,2835,2082,2361,2280,149.1,-11.6,139,1304,0.00,2.15,0.00,0.000,516,0.000,0.039,2836,684,2320,2361,2280,0,0,0,0,0,0,26.70,26.36,26.70,8.26,39.72
$STATE,1365,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1365,begin apogee
$GC,1373,-0.22,0.0,2836,2082,2361,2280,158.1,-12.6,146,1436,0.75,0.00,54.50,0.754,10246,0.151,0.000,3076,2083,2064,2107,2022,0,0,0,0,0,0,26.15,25.51,24.92,8.26,39.60
$STATE,1437,end apogee,CONTROL_FINISHED_OK
$STATE,1437,begin climb
$GC,1440,1.25,63.1,3076,2082,2107,2022,161.6,0.0,153,1507,1.30,2.30,56.42,0.744,10756,0.088,0.040,3539,697,1806,1851,1761,0,0,0,0,0,0,25.55,25.03,24.46,8.24,40.31
$GC,1545,1.25,63.1,3539,697,1851,1763,154.9,8.8,163,1552,0.00,2.12,0.00,0.000,1030,0.000,0.024,3539,2092,1807,1851,1763,0,0,0,0,0,0,25.47,25.42,25.49,8.23,39.25
$GC,1732,1.25,63.1,3539,2092,1851,1763,133.2,11.4,182,1741,0.00,2.22,0.00,0.000,516,0.000,0.040,3550,687,1807,1851,1763,0,0,0,0,0,0,26.09,25.79,26.10,8.23,39.52
$GC,1784,1.18,63.1,3550,687,1851,1763,127.0,11.8,187,1788,0.00,2.10,0.00,0.000,1030,0.000,0.025,3550,2087,1807,1851,1763,0,0,0,0,0,0,25.96,25.90,25.98,8.23,39.91
$GC,1977,1.11,63.1,3550,2087,1851,1762,103.9,11.6,206,1986,0.12,2.12,0.00,0.000,4356,0.174,0.036,3513,3472,1806,1851,1762,0,0,0,0,0,0,25.86,26.03,25.96,8.23,40.27
$GC,2099,1.11,63.1,3512,3472,1850,1762,89.7,11.0,218,2103,0.00,2.05,0.00,0.000,1030,0.000,0.023,3521,2082,1806,1851,1761,0,0,0,0,0,0,26.20,26.15,26.22,8.23,40.03
$GC,2232,1.11,63.1,3520,2081,1851,1761,76.1,10.3,231,2235,0.00,2.15,0.00,0.000,516,0.000,0.040,3532,688,1806,1850,1762,0,0,0,0,0,0,26.47,26.15,26.47,8.23,39.91
$GC,2346,1.11,63.1,3531,689,1851,1762,64.6,10.0,242,2353,0.00,2.05,0.00,0.000,1030,0.000,0.025,3531,2087,1806,1851,1762,0,0,0,0,0,0,26.31,26.25,26.32,8.23,40.78
$GC,2474,1.11,63.1,3531,2087,1851,1761,53.2,8.3,255,2482,0.00,2.17,0.00,0.000,516,0.000,0.040,3542,688,1806,1851,1761,0,0,0,0,0,0,26.55,26.24,26.56,8.22,39.76
$GC,2526,1.08,82.8,3542,688,1851,1761,48.9,7.9,260,2550,0.15,2.05,18.02,0.662,13318,0.166,0.024,3499,2091,1726,1772,1680,0,0,0,0,0,0,26.06,26.30,25.32,8.23,39.88
$GC,2672,1.08,82.8,3498,2091,1771,1681,36.2,8.8,274,2678,0.00,0.00,0.00,0.000,6,0.000,0.000,3499,2091,1726,1771,1681,0,0,0,0,0,0,26.40,26.41,26.41,8.21,39.99
$GC,2801,1.08,82.8,3499,2091,1771,1681,25.1,8.1,287,2802,0.00,0.00,0.00,0.000,6,0.000,0.000,3499,2091,1726,1771,1681,0,0,0,0,0,0,26.47,26.48,26.48,8.21,40.07
$GC,2923,1.14,143.7,3499,2091,1771,1681,17.7,3.5,303,2964,0.00,2.20,32.58,0.583,8708,0.000,0.041,3508,690,1477,1531,1424,0,0,0,0,0,0,26.52,25.77,25.23,8.21,39.84
$GC,3260,1.31,235.4,3507,690,1532,1424,9.7,0.3,368,3314,0.10,2.05,45.83,0.546,11270,0.076,0.024,3597,2090,1102,1147,1057,0,0,0,0,0,0,26.14,26.15,25.06,8.19,39.48
$GC,3378,1.48,335.3,3596,2090,1146,1057,7.0,-0.6,389,3436,0.00,2.25,49.70,0.522,8708,0.000,0.041,3606,691,695,728,663,0,0,0,0,0,0,26.06,25.32,24.83,8.16,39.36
$GC,3491,1.77,443.7,3606,691,728,663,5.7,-1.5,409,3538,0.25,2.08,40.00,0.509,11270,0.043,0.024,3736,2082,371,366,377,0,0,0,0,0,0,25.65,25.63,24.79,8.12,38.58
$GC,3604,1.86,534.7,3735,2082,366,375,5.2,0.3,429,3611,0.00,2.15,0.00,0.000,260,0.000,0.037,3736,3460,370,366,375,0,0,0,0,0,0,25.84,25.56,25.85,8.10,38.93
$STATE,3646,end climb,NO_VERTICAL_VELOCITY
$STATE,3646,begin surface
$SM_CCo,3977,0.00,0.000,0,0,370,415.78
$SM_GC,6.36,10.12,2.12,0.00,0.080,0.023,0.000,211,2076,370,-9.15,1.44,415.78,0,0,0,0,0,0,25.91,26.01,26.01
$IRIDIUM_FIX,4738.80,-12300.63,070218,210213
$TT8_MAMPS,0.026215,0.251664
$HUMID,39.76
$INTERNAL_PRESSURE,8.04943
$TCM_TEMP,10.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,14.4
$ALTIM_BOTTOM_PING,145.6,21.4
$24V_AH,24.46,12.405
$10V_AH,10.29,5.064
$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,23.375,63.675,297.050,0.000,0.000,0.000,0.000,243.375,4.250,0.000,17.081,1039.840,1697.184,397.042,1049.561,153.149,33.464,1132.878,0.000,786.584,0.000,39.266,0.000
$DEVICE_MAMPS,241.740,54.315,754.290,0.000,0.000,0.000,0.000,78.030,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,69.640,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,297.511,578.326,583.947,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,31315,437
$CAP_FILE_SIZE,69307,0
$CFSIZE,2097872896,2076803072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,070218,232801,4738.593,-12253.435,5,0.9,15,16.4,0.0,0.0,9,4.4