version: 66.14
glider: 194
mission: 12
dive: 186
start: 2 8 118 5 17 46
data:
$ID,194
$MISSION,12
$DIVE,186
$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,44
$R_STBD_OVSHOOT,59
$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
$GPS1,080218,051147,4738.7725,-12253.2441,9,1.0,18,16.4,0.0,139.6,9,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,6.40
$_SM_ANGLEo,-67.0
$GPS2,080218,051635,4738.7690,-12253.2275,5,1.0,18,16.4,0.0,85.8,9,4.8
$SPEED_LIMITS,0.173,0.325
$TGT_NAME,NW1
$TGT_LATLONG,4738.657,-12253.412
$TGT_RADIUS,250.000
$KALMAN_CONTROL,0.014257,0.172617
$KALMAN_X,26694.089844,234.093887,-134.569901,-27684.759766,-233.462631
$KALMAN_Y,9459.042969,177.448532,-278.771179,-10064.564453,-275.366180
$MHEAD_RNG_PITCHd_Wd,348.3,310,-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,-63.1,216,2081,366,370,0.0,0.0,0,16,0.00,0.00,-6.20,0.000,16386,0.000,0.000,217,2081,553,548,559,0,0,0,0,0,0,26.29,28.83,26.29,8.08,39.48
$GC,20,-1.25,-63.1,217,2081,548,559,6.5,0.0,1,100,10.25,2.22,-60.90,0.000,18948,0.242,0.053,2742,680,2325,2361,2289,0,0,0,0,0,0,25.63,24.69,25.91,8.10,39.72
$GC,397,-1.11,-63.1,2741,680,2360,2283,58.9,-14.5,48,406,0.15,2.05,0.00,0.000,3078,0.190,0.026,2785,2074,2322,2361,2284,0,0,0,0,0,0,25.91,26.20,26.05,8.25,39.44
$GC,526,-1.11,-63.1,2784,2074,2361,2283,76.0,-12.9,61,528,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2074,2321,2360,2283,0,0,0,0,0,0,26.53,26.54,26.53,8.25,39.17
$GC,647,-1.11,-63.1,2784,2074,2360,2282,92.4,-14.0,73,655,0.00,2.17,0.00,0.000,516,0.000,0.039,2785,673,2321,2360,2282,0,0,0,0,0,0,26.57,26.25,26.58,8.24,40.07
$GC,678,-1.11,-63.1,2784,672,2359,2282,96.9,-14.0,76,687,0.00,2.10,0.00,0.000,1030,0.000,0.026,2785,2088,2321,2360,2282,0,0,0,0,0,0,26.36,26.28,26.37,8.25,39.99
$GC,809,-1.11,-63.1,2784,2088,2360,2281,115.0,-14.1,89,822,0.00,2.17,0.00,0.000,516,0.000,0.038,2785,682,2320,2360,2281,0,0,0,0,0,0,26.60,26.29,26.61,8.25,39.88
$GC,866,-1.11,-63.1,2784,682,2360,2281,123.4,-15.0,94,874,0.00,2.08,0.00,0.000,1030,0.000,0.026,2785,2080,2320,2361,2280,0,0,0,0,0,0,26.40,26.33,26.42,8.26,40.03
$GC,1056,-1.11,-63.1,2784,2080,2361,2280,149.6,-14.0,113,1064,0.00,2.12,0.00,0.000,260,0.000,0.043,2785,3473,2320,2361,2280,0,0,0,0,0,0,26.65,26.32,26.66,8.26,39.84
$STATE,1115,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1115,begin apogee
$GC,1124,-0.22,0.0,2785,2066,2360,2280,158.1,-13.7,119,1187,0.88,0.00,54.17,0.754,10246,0.132,0.000,3076,2066,2064,2107,2022,0,0,0,0,0,0,26.16,25.48,24.89,8.27,39.91
$STATE,1188,end apogee,CONTROL_FINISHED_OK
$STATE,1188,begin climb
$GC,1190,1.25,63.1,3076,2066,2107,2022,159.9,0.0,126,1251,1.27,0.00,56.33,0.741,10502,0.081,0.000,3528,2065,1806,1852,1760,0,0,0,0,0,0,25.54,24.99,24.46,8.24,40.11
$GC,1430,1.27,82.0,3527,2066,1852,1761,147.1,8.0,150,1452,0.00,2.25,17.65,0.702,8452,0.000,0.036,3528,3478,1728,1774,1683,0,0,0,0,0,0,26.01,25.27,24.86,8.23,39.80
$GC,1607,1.27,82.0,3527,3478,1774,1685,128.6,11.8,167,1616,0.00,2.10,0.00,0.000,1030,0.000,0.023,3539,2086,1729,1774,1685,0,0,0,0,0,0,25.91,25.85,25.93,8.22,39.99
$GC,1797,1.27,82.0,3538,2086,1774,1685,105.7,11.7,186,1805,0.00,2.17,0.00,0.000,516,0.000,0.041,3549,683,1729,1774,1685,0,0,0,0,0,0,26.30,25.99,26.30,8.22,40.70
$GC,1871,1.27,82.0,3549,683,1774,1685,96.6,12.5,193,1878,0.00,2.10,0.00,0.000,1030,0.000,0.024,3549,2099,1729,1774,1685,0,0,0,0,0,0,26.15,26.09,26.17,8.22,40.27
$GC,1999,1.27,82.0,3549,2099,1774,1685,80.9,12.1,206,2008,0.00,2.22,0.00,0.000,516,0.000,0.041,3561,680,1729,1774,1685,0,0,0,0,0,0,26.42,26.10,26.43,8.22,39.91
$GC,2051,1.20,82.0,3560,680,1774,1685,74.7,12.2,211,2055,0.00,2.08,0.00,0.000,1030,0.000,0.026,3561,2085,1729,1774,1685,0,0,0,0,0,0,26.24,26.17,26.26,8.22,40.19
$GC,2184,1.15,82.0,3560,2086,1774,1685,58.8,12.4,224,2186,0.12,0.00,0.00,0.000,4102,0.179,0.000,3526,2087,1729,1774,1685,0,0,0,0,0,0,26.03,26.24,26.19,8.22,40.51
$GC,2304,1.15,82.0,3526,2087,1774,1685,46.1,10.2,236,2313,0.00,2.17,0.00,0.000,516,0.000,0.041,3535,679,1729,1774,1684,0,0,0,0,0,0,26.54,26.22,26.55,8.22,40.27
$GC,2386,1.15,82.0,3534,679,1774,1685,38.0,10.6,244,2394,0.00,2.08,0.00,0.000,1030,0.000,0.026,3535,2083,1729,1774,1685,0,0,0,0,0,0,26.36,26.29,26.37,8.23,40.66
$GC,2516,1.17,100.8,3534,2083,1774,1685,26.1,8.0,257,2535,0.00,2.15,10.73,0.584,8452,0.000,0.037,3535,3471,1651,1699,1604,0,0,0,0,0,0,26.60,26.08,25.45,8.22,40.90
$GC,2651,1.20,136.6,3534,3471,1699,1606,14.9,6.2,276,2675,0.00,2.05,18.98,0.558,9222,0.000,0.023,3546,2071,1504,1557,1452,0,0,0,0,0,0,26.32,26.26,25.36,8.21,39.56
$GC,2739,1.26,196.0,3545,2071,1557,1453,12.0,3.7,292,2775,0.00,2.25,29.98,0.548,8452,0.000,0.036,3546,3481,1263,1314,1213,0,0,0,0,0,0,26.35,25.68,25.15,8.20,39.52
$GC,2944,1.35,284.0,3545,3481,1314,1212,9.8,0.6,331,2996,0.00,2.08,44.03,0.544,9222,0.000,0.023,3556,2081,905,948,862,0,0,0,0,0,0,26.07,26.01,24.98,8.17,39.68
$GC,3062,1.64,383.8,3555,2082,948,861,6.6,-0.6,352,3120,0.25,2.22,50.12,0.520,10756,0.040,0.040,3716,694,497,505,489,0,0,0,0,0,0,25.81,25.12,24.82,8.14,39.56
$STATE,3287,end climb,NO_VERTICAL_VELOCITY
$STATE,3287,begin surface
$SM_CCo,3290,15.15,0.493,0,0,373,414.56
$SM_GC,6.22,9.93,2.15,0.00,0.073,0.025,0.000,216,2099,371,-9.14,-1.58,415.54,0,0,0,0,0,0,25.91,26.02,26.01
$IRIDIUM_FIX,4738.33,-12256.21,080218,041305
$TT8_MAMPS,0.026215,0.28462
$HUMID,39.80
$INTERNAL_PRESSURE,8.03967
$TCM_TEMP,10.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,14.4
$ALTIM_BOTTOM_PING,116.3,51.7
$24V_AH,24.46,12.780
$10V_AH,10.28,5.242
$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,22.850,47.125,281.975,15.150,0.000,0.000,0.000,194.400,1.500,0.000,20.039,938.351,1562.225,381.370,936.095,131.717,33.449,1026.515,0.000,730.730,0.000,11.993,0.000
$DEVICE_MAMPS,241.740,52.785,754.290,492.660,0.000,0.000,0.000,78.030,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,69.640,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,269.054,522.774,527.852,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312680
$DATA_FILE_SIZE,27908,395
$CAP_FILE_SIZE,59719,0
$CFSIZE,2097872896,2076246016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,080218,061931,4738.922,-12253.270,9,0.9,27,16.4,0.0,0.0,9,4.7