version: 66.14
glider: 194
mission: 12
dive: 181
start: 2 7 118 23 34 17
data:
$ID,194
$MISSION,12
$DIVE,181
$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,71
$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
$GPS1,070218,232801,4738.5928,-12253.4346,5,0.9,15,16.4,0.0,0.0,9,4.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,6.12
$_SM_ANGLEo,-72.5
$GPS2,070218,233307,4738.6079,-12253.3857,9,0.9,16,16.4,0.0,0.0,9,5.0
$SPEED_LIMITS,0.173,0.325
$TGT_NAME,NW1
$TGT_LATLONG,4738.657,-12253.412
$TGT_RADIUS,250.000
$KALMAN_CONTROL,-0.162229,-0.060677
$KALMAN_X,26473.939453,184.158859,152.788086,-27898.287109,362.030884
$KALMAN_Y,10159.510742,147.032394,225.010300,-11533.580078,237.799911
$MHEAD_RNG_PITCHd_Wd,233.1,97,-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,-63.1,210,2074,363,376,0.0,0.0,0,17,0.00,0.00,-6.25,0.000,16386,0.000,0.000,210,2074,552,544,561,0,0,0,0,0,0,26.31,28.83,26.32,8.08,39.72
$GC,20,-1.25,-63.1,210,2074,544,562,6.1,0.0,1,100,10.48,0.00,-63.67,0.000,18694,0.248,0.000,2747,2072,2324,2359,2289,0,0,0,0,0,0,25.63,24.81,25.93,8.10,40.07
$GC,165,-1.13,-63.1,2746,2072,2360,2288,18.5,-14.3,27,172,0.12,2.15,0.00,0.000,2564,0.198,0.037,2784,686,2323,2360,2287,0,0,0,0,0,0,25.84,26.04,25.96,8.25,39.28
$GC,222,-1.02,-63.1,2783,686,2360,2285,26.0,-13.0,33,232,0.10,2.05,0.00,0.000,3078,0.189,0.025,2813,2061,2322,2360,2285,0,0,0,0,0,0,25.86,26.12,25.98,8.24,39.80
$GC,351,-1.02,-63.1,2812,2061,2359,2284,39.7,-9.5,46,360,0.00,2.22,0.00,0.000,260,0.000,0.042,2813,3492,2322,2360,2285,0,0,0,0,0,0,26.46,26.14,26.47,8.24,39.52
$GC,523,-1.02,-63.1,2812,3492,2359,2284,58.9,-12.1,63,531,0.00,2.10,0.00,0.000,1030,0.000,0.024,2813,2071,2321,2359,2283,0,0,0,0,0,0,26.33,26.27,26.34,8.25,39.28
$GC,653,-1.02,-63.1,2813,2071,2360,2282,75.4,-12.6,76,654,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2070,2321,2360,2282,0,0,0,0,0,0,26.57,26.58,26.58,8.25,39.64
$GC,773,-1.02,-63.1,2813,2071,2360,2281,90.7,-13.1,88,781,0.00,2.12,0.00,0.000,516,0.000,0.039,2813,689,2320,2360,2281,0,0,0,0,0,0,26.60,26.29,26.61,8.25,40.11
$GC,815,-1.02,-63.1,2812,689,2360,2280,96.4,-13.6,92,823,0.00,2.08,0.00,0.000,1030,0.000,0.026,2813,2093,2320,2360,2280,0,0,0,0,0,0,26.39,26.32,26.41,8.25,40.31
$GC,945,-1.02,-63.1,2813,2094,2360,2280,113.3,-13.1,105,953,0.00,2.12,0.00,0.000,260,0.000,0.042,2813,3471,2319,2359,2280,0,0,0,0,0,0,26.64,26.30,26.65,8.25,40.27
$GC,989,-1.02,-63.1,2813,3471,2360,2280,119.0,-13.1,109,993,0.00,2.05,0.00,0.000,1030,0.000,0.023,2813,2070,2320,2360,2280,0,0,0,0,0,0,26.44,26.37,26.46,8.25,40.58
$GC,1181,-1.02,-63.1,2813,2069,2360,2280,143.0,-12.6,128,1189,0.00,2.12,0.00,0.000,516,0.000,0.039,2813,687,2319,2360,2279,0,0,0,0,0,0,26.68,26.36,26.69,8.25,40.03
$GC,1235,-1.02,-63.1,2812,687,2360,2279,150.0,-13.6,133,1242,0.00,2.05,0.00,0.000,1030,0.000,0.026,2813,2086,2319,2360,2279,0,0,0,0,0,0,26.47,26.39,26.48,8.26,39.91
$STATE,1260,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1260,begin apogee
$GC,1266,-0.22,0.0,2813,2086,2360,2279,154.0,-13.2,136,1324,0.82,0.00,54.12,0.752,10246,0.149,0.000,3078,2086,2065,2107,2023,0,0,0,0,0,0,26.13,25.51,24.91,8.26,39.91
$STATE,1325,end apogee,CONTROL_FINISHED_OK
$STATE,1326,begin climb
$GC,1328,1.25,63.1,3078,2086,2106,2023,157.3,0.0,142,1392,1.30,0.00,56.50,0.738,10758,0.086,0.000,3532,2087,1805,1850,1761,0,0,0,0,0,0,25.53,25.00,24.46,8.24,39.84
$GC,1573,1.25,63.1,3531,2087,1850,1762,134.5,12.1,167,1574,0.00,0.00,0.00,0.000,6,0.000,0.000,3533,2087,1806,1851,1762,0,0,0,0,0,0,26.02,26.03,26.03,8.23,39.99
$GC,1753,1.25,63.1,3531,2087,1850,1762,113.5,11.6,185,1761,0.00,2.20,0.00,0.000,516,0.000,0.040,3543,689,1806,1850,1762,0,0,0,0,0,0,26.25,25.94,26.25,8.23,40.31
$GC,1858,1.19,63.1,3543,689,1850,1762,100.9,12.1,195,1865,0.00,2.08,0.00,0.000,1030,0.000,0.025,3543,2087,1805,1850,1761,0,0,0,0,0,0,26.13,26.06,26.14,8.22,39.60
$GC,2047,1.13,63.1,3543,2087,1850,1761,79.7,10.8,214,2053,0.00,0.00,0.00,0.000,6,0.000,0.000,3544,2087,1805,1850,1761,0,0,0,0,0,0,26.44,26.44,26.44,8.22,40.54
$GC,2175,1.13,63.1,3542,2088,1850,1761,65.3,10.8,227,2178,0.00,2.17,0.00,0.000,516,0.000,0.040,3554,686,1806,1851,1761,0,0,0,0,0,0,26.49,26.17,26.50,8.22,40.03
$GC,2321,1.06,63.1,3553,684,1850,1761,50.5,9.8,241,2329,0.20,2.05,0.00,0.000,5126,0.160,0.025,3495,2087,1805,1850,1761,0,0,0,0,0,0,26.02,26.27,26.21,8.23,40.19
$GC,2447,1.09,88.4,3494,2088,1850,1760,40.5,7.3,254,2477,0.00,2.12,22.30,0.663,8452,0.000,0.037,3495,3464,1704,1751,1657,0,0,0,0,0,0,26.58,25.70,25.29,8.22,40.58
$GC,2503,1.09,88.4,3495,3464,1751,1658,36.1,8.7,259,2510,0.00,2.05,0.00,0.000,1030,0.000,0.023,3503,2082,1704,1751,1658,0,0,0,0,0,0,26.10,26.04,26.11,8.22,40.03
$GC,2630,1.09,88.4,3502,2082,1751,1658,24.0,9.0,272,2639,0.00,2.15,0.00,0.000,260,0.000,0.037,3503,3467,1704,1751,1658,0,0,0,0,0,0,26.39,26.08,26.40,8.21,40.62
$GC,2714,1.12,117.7,3502,3467,1751,1658,17.3,6.9,283,2738,0.00,2.05,16.00,0.558,9222,0.000,0.023,3514,2076,1582,1632,1533,0,0,0,0,0,0,26.23,26.17,25.30,8.21,40.70
$GC,2802,1.16,164.1,3513,2076,1631,1533,12.1,5.1,299,2832,0.00,2.22,23.67,0.543,8708,0.000,0.041,3523,690,1394,1447,1341,0,0,0,0,0,0,26.32,25.71,25.18,8.20,40.35
$STATE,3059,end climb,NO_VERTICAL_VELOCITY
$STATE,3059,begin surface
$SM_CCo,3062,126.28,0.531,0,0,372,414.56
$SM_GC,6.11,9.23,2.15,0.00,0.062,0.024,0.000,218,2087,370,-9.13,-1.92,415.78,0,0,0,0,0,0,25.76,25.86,25.86
$IRIDIUM_FIX,4738.72,-12249.11,070218,221537
$TT8_MAMPS,0.026215,0.280126
$HUMID,40.19
$INTERNAL_PRESSURE,8.03967
$TCM_TEMP,10.40
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.5,14.4
$ALTIM_BOTTOM_PING,140.5,23.2
$24V_AH,24.46,12.463
$10V_AH,10.30,5.092
$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,22.250,42.325,172.600,126.275,0.000,0.000,0.000,208.325,4.000,0.000,17.266,876.577,1541.591,410.199,864.272,135.798,33.443,1011.703,0.000,642.959,0.000,31.456,0.000
$DEVICE_MAMPS,247.860,42.075,751.995,530.910,0.000,0.000,0.000,78.795,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,69.640,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,238.862,462.325,466.788,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312684
$DATA_FILE_SIZE,24596,349
$CAP_FILE_SIZE,58666,0
$CFSIZE,2097872896,2076737536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,080218,003342,4738.609,-12253.582,8,0.8,20,16.4,0.0,0.0,11,4.8