version: 66.14
glider: 194
mission: 12
dive: 182
start: 2 8 118 0 40 6
data:
$ID,194
$MISSION,12
$DIVE,182
$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,50
$R_STBD_OVSHOOT,69
$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
$GPS1,080218,003342,4738.6089,-12253.5820,8,0.8,20,16.4,0.0,0.0,11,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,6.20
$_SM_ANGLEo,-74.3
$GPS2,080218,003857,4738.6099,-12253.5410,9,0.9,39,16.4,0.0,0.0,10,4.9
$SPEED_LIMITS,0.173,0.325
$TGT_NAME,NW1
$TGT_LATLONG,4738.657,-12253.412
$TGT_RADIUS,250.000
$KALMAN_CONTROL,-0.172311,-0.017582
$KALMAN_X,26714.361328,244.582916,241.910904,-28480.544922,274.821838
$KALMAN_Y,10208.943359,224.013916,321.168701,-11752.982422,99.115936
$MHEAD_RNG_PITCHd_Wd,247.8,183,-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,-63.1,217,2089,356,383,0.0,0.0,0,16,0.00,0.00,-6.25,0.000,16386,0.000,0.000,217,2089,554,539,569,0,0,0,0,0,0,26.29,28.83,26.30,8.08,40.15
$GC,20,-1.25,-63.1,217,2089,540,570,6.2,0.0,1,100,10.55,2.15,-61.85,0.000,18692,0.252,0.055,2743,3468,2323,2356,2291,0,0,0,0,0,0,25.60,25.42,25.91,8.09,39.84
$GC,147,-1.12,-63.1,2742,3468,2356,2292,18.4,-18.4,23,155,0.15,2.08,0.00,0.000,3078,0.182,0.024,2785,2067,2323,2356,2291,0,0,0,0,0,0,25.81,26.08,26.01,8.25,38.89
$GC,214,-1.05,-63.1,2785,2066,2356,2289,29.1,-13.9,30,215,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2067,2323,2357,2290,0,0,0,0,0,0,26.39,26.39,26.39,8.24,39.48
$GC,334,-1.00,-63.1,2784,2066,2356,2287,43.8,-11.9,42,343,0.12,2.15,0.00,0.000,2308,0.191,0.041,2824,3464,2322,2356,2288,0,0,0,0,0,0,25.94,26.13,26.05,8.24,39.68
$GC,461,-1.00,-63.1,2823,3464,2356,2287,58.6,-12.5,54,468,0.00,2.03,0.00,0.000,1030,0.000,0.023,2824,2080,2321,2356,2287,0,0,0,0,0,0,26.30,26.24,26.32,8.24,39.91
$GC,586,-1.00,-63.1,2823,2080,2356,2286,74.2,-11.8,67,595,0.00,2.15,0.00,0.000,516,0.000,0.040,2824,687,2320,2356,2285,0,0,0,0,0,0,26.55,26.23,26.55,8.24,39.52
$GC,638,-1.00,-63.1,2824,687,2356,2284,80.8,-12.6,72,642,0.00,2.05,0.00,0.000,1030,0.000,0.025,2824,2077,2320,2356,2284,0,0,0,0,0,0,26.34,26.27,26.36,8.24,39.56
$GC,770,-1.00,-63.1,2823,2076,2356,2285,97.1,-12.8,85,771,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2077,2321,2357,2285,0,0,0,0,0,0,26.60,26.60,26.60,8.25,39.48
$GC,890,-1.00,-63.1,2824,2077,2357,2284,112.1,-12.3,97,891,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2077,2320,2356,2285,0,0,0,0,0,0,26.62,26.63,26.63,8.25,40.54
$GC,1072,-1.00,-63.1,2824,2077,2356,2284,133.2,-11.6,115,1080,0.00,2.12,0.00,0.000,516,0.000,0.040,2824,690,2320,2356,2284,0,0,0,0,0,0,26.66,26.34,26.67,8.26,40.03
$GC,1138,-1.00,-63.1,2824,690,2356,2283,141.9,-13.2,121,1142,0.00,2.05,0.00,0.000,1030,0.000,0.026,2824,2089,2320,2357,2283,0,0,0,0,0,0,26.45,26.38,26.47,8.26,39.95
$STATE,1217,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1217,begin apogee
$GC,1224,-0.22,0.0,2824,2089,2356,2283,152.4,-12.6,129,1282,0.77,0.00,54.53,0.752,10246,0.147,0.000,3075,2090,2065,2106,2024,0,0,0,0,0,0,26.15,25.49,24.90,8.26,40.27
$STATE,1283,end apogee,CONTROL_FINISHED_OK
$STATE,1283,begin climb
$GC,1285,1.25,63.1,3076,2090,2105,2024,155.6,0.0,135,1349,1.30,0.00,56.55,0.736,10246,0.087,0.000,3528,2090,1806,1850,1762,0,0,0,0,0,0,25.52,25.00,24.45,8.24,40.62
$GC,1530,1.25,63.1,3527,2090,1850,1763,133.6,11.6,160,1531,0.00,0.00,0.00,0.000,6,0.000,0.000,3528,2090,1806,1850,1763,0,0,0,0,0,0,26.02,26.03,26.03,8.23,40.39
$GC,1710,1.25,63.1,3527,2090,1850,1762,112.7,11.5,178,1719,0.00,2.20,0.00,0.000,516,0.000,0.040,3538,691,1806,1850,1763,0,0,0,0,0,0,26.25,25.94,26.25,8.23,40.03
$GC,1834,1.19,63.1,3538,691,1850,1762,98.1,11.4,190,1842,0.00,2.08,0.00,0.000,1030,0.000,0.025,3538,2091,1806,1850,1762,0,0,0,0,0,0,26.10,26.06,26.13,8.23,40.27
$GC,1962,1.19,63.1,3538,2092,1851,1762,83.3,10.9,203,1971,0.00,2.20,0.00,0.000,516,0.000,0.040,3549,673,1806,1850,1762,0,0,0,0,0,0,26.41,26.10,26.42,8.22,40.27
$GC,2135,1.13,63.1,3549,673,1850,1762,63.5,11.7,220,2145,0.10,2.08,0.00,0.000,5126,0.165,0.025,3521,2092,1806,1850,1762,0,0,0,0,0,0,26.01,26.23,26.10,8.22,39.72
$GC,2265,1.13,63.1,3520,2092,1850,1761,51.4,9.2,233,2274,0.00,2.17,0.00,0.000,516,0.000,0.040,3529,694,1805,1850,1761,0,0,0,0,0,0,26.54,26.22,26.55,8.23,40.23
$GC,2320,1.13,63.1,3528,694,1850,1761,46.7,8.7,238,2327,0.00,2.03,0.00,0.000,1030,0.000,0.025,3529,2077,1805,1850,1761,0,0,0,0,0,0,26.35,26.29,26.36,8.23,39.84
$GC,2447,1.13,63.1,3528,2078,1850,1761,35.7,8.3,251,2451,0.00,2.15,0.00,0.000,516,0.000,0.040,3540,684,1805,1850,1761,0,0,0,0,0,0,26.59,26.27,26.60,8.22,39.95
$GC,2479,1.15,82.2,3539,684,1849,1761,33.2,8.0,254,2499,0.00,2.08,12.10,0.626,9222,0.000,0.025,3540,2093,1728,1772,1684,0,0,0,0,0,0,26.39,26.33,25.41,8.22,40.58
$GC,2619,1.15,82.2,3539,2092,1772,1685,21.1,8.6,268,2628,0.00,2.12,0.00,0.000,260,0.000,0.037,3540,3477,1728,1772,1685,0,0,0,0,0,0,26.50,26.19,26.51,8.22,39.88
$GC,2924,1.25,189.6,3539,3477,1772,1686,16.9,-1.4,326,2988,0.00,2.05,57.08,0.593,9222,0.000,0.023,3550,2070,1289,1337,1242,0,0,0,0,0,0,26.39,26.34,25.08,8.21,39.84
$GC,3053,1.25,189.6,3550,2070,1337,1241,10.7,9.1,349,3060,0.00,2.17,0.00,0.000,260,0.000,0.036,3551,3468,1289,1337,1241,0,0,0,0,0,0,26.07,25.78,26.08,8.17,38.93
$STATE,3312,end climb,NO_VERTICAL_VELOCITY
$STATE,3312,begin surface
$SM_CCo,3315,113.70,0.531,0,0,372,414.56
$SM_GC,6.33,9.35,2.12,0.00,0.065,0.023,0.000,216,2089,369,-9.13,1.84,416.03,0,0,0,0,0,0,25.82,25.91,25.91
$IRIDIUM_FIX,4737.86,-12251.79,070218,232943
$TT8_MAMPS,0.026215,0.280126
$HUMID,39.52
$INTERNAL_PRESSURE,8.03967
$TCM_TEMP,10.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,14.5
$ALTIM_BOTTOM_PING,140.3,21.0
$24V_AH,24.45,12.520
$10V_AH,10.30,5.123
$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,22.350,42.225,180.250,113.700,0.000,0.000,0.000,196.675,4.000,0.000,40.376,991.360,1650.258,402.010,936.299,142.107,33.455,1010.460,0.000,701.428,0.000,33.974,0.000
$DEVICE_MAMPS,251.685,55.080,751.995,530.910,0.000,0.000,0.000,76.500,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,69.640,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,274.680,530.255,535.660,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312708
$DATA_FILE_SIZE,28035,400
$CAP_FILE_SIZE,60509,0
$CFSIZE,2097872896,2076639232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,080218,014412,4738.506,-12253.834,6,0.8,19,16.4,0.3,163.7,10,5.0