version: 66.14
glider: 194
mission: 12
dive: 187
start: 2 8 118 6 25 59
data:
$ID,194
$MISSION,12
$DIVE,187
$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,54
$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
$GPS1,080218,061931,4738.9224,-12253.2695,9,0.9,27,16.4,0.0,0.0,9,4.7
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,6.33
$_SM_ANGLEo,-65.1
$GPS2,080218,062449,4738.9233,-12253.2520,8,0.9,17,16.4,0.0,148.7,9,4.7
$SPEED_LIMITS,0.173,0.325
$TGT_NAME,NW1
$TGT_LATLONG,4738.657,-12253.412
$TGT_RADIUS,250.000
$KALMAN_CONTROL,-0.075782,-0.155747
$KALMAN_X,26897.580078,114.084656,-307.230255,-27625.632812,-20.443817
$KALMAN_Y,9356.058594,81.319000,-408.838043,-9446.051758,-129.849106
$MHEAD_RNG_PITCHd_Wd,189.5,532,-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,-63.1,215,2100,354,388,0.0,0.0,0,16,0.00,0.00,-6.30,0.000,16386,0.000,0.000,215,2100,559,552,567,0,0,0,0,0,0,26.32,28.83,26.32,8.07,39.68
$GC,20,-1.25,-63.1,215,2100,552,568,6.4,0.0,1,101,10.07,2.17,-63.75,0.000,18692,0.234,0.056,2746,3468,2324,2361,2288,0,0,0,0,0,0,25.67,24.67,25.94,8.09,39.95
$GC,286,-1.13,-63.1,2745,3468,2361,2286,38.9,-13.0,39,295,0.12,2.05,0.00,0.000,3078,0.182,0.024,2782,2071,2323,2361,2285,0,0,0,0,0,0,25.89,26.17,26.01,8.24,39.52
$GC,416,-1.07,-63.1,2782,2071,2360,2283,54.5,-12.4,52,417,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,2071,2322,2361,2283,0,0,0,0,0,0,26.50,26.51,26.51,8.24,39.84
$GC,536,-1.02,-63.1,2782,2071,2361,2282,70.3,-13.9,64,545,0.12,2.15,0.00,0.000,2308,0.190,0.040,2821,3459,2321,2361,2282,0,0,0,0,0,0,26.02,26.21,26.13,8.24,40.39
$GC,601,-1.02,-63.1,2820,3459,2361,2282,78.5,-12.6,70,608,0.00,2.03,0.00,0.000,1030,0.000,0.023,2820,2078,2321,2361,2281,0,0,0,0,0,0,26.36,26.29,26.37,8.25,39.72
$GC,728,-1.02,-63.1,2821,2078,2362,2280,94.2,-11.2,83,729,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2077,2320,2361,2280,0,0,0,0,0,0,26.60,26.60,26.60,8.25,40.47
$GC,848,-1.02,-63.1,2820,2078,2361,2280,108.6,-12.3,95,857,0.00,2.12,0.00,0.000,260,0.000,0.041,2821,3462,2320,2361,2280,0,0,0,0,0,0,26.63,26.29,26.63,8.25,40.19
$GC,883,-1.02,-63.1,2820,3462,2361,2280,112.5,-12.0,98,890,0.00,2.03,0.00,0.000,1030,0.000,0.023,2820,2075,2320,2361,2280,0,0,0,0,0,0,26.42,26.36,26.44,8.25,40.39
$GC,1072,-1.02,-63.1,2820,2075,2361,2279,136.1,-12.6,117,1080,0.00,2.12,0.00,0.000,516,0.000,0.040,2821,689,2320,2361,2279,0,0,0,0,0,0,26.67,26.34,26.67,8.26,39.80
$GC,1124,-1.02,-63.1,2820,689,2361,2279,143.1,-13.5,122,1128,0.00,2.03,0.00,0.000,1030,0.000,0.025,2820,2067,2320,2361,2279,0,0,0,0,0,0,26.46,26.39,26.48,8.25,39.88
$STATE,1185,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1185,begin apogee
$GC,1191,-0.22,0.0,2820,2068,2361,2279,151.0,-12.8,128,1249,0.77,0.00,54.55,0.753,10246,0.148,0.000,3071,2068,2064,2107,2021,0,0,0,0,0,0,26.13,25.49,24.91,8.26,40.23
$STATE,1250,end apogee,CONTROL_FINISHED_OK
$STATE,1250,begin climb
$GC,1253,1.25,63.1,3071,2068,2107,2021,154.6,0.0,134,1317,1.33,2.30,56.12,0.735,10500,0.089,0.037,3530,3475,1806,1851,1761,0,0,0,0,0,0,25.55,25.03,24.45,8.24,39.80
$GC,1335,1.27,86.6,3530,3475,1851,1762,150.0,7.5,142,1362,0.00,2.12,21.62,0.701,9222,0.000,0.022,3541,2087,1710,1756,1664,0,0,0,0,0,0,25.37,25.30,24.48,8.23,39.09
$GC,1550,1.27,86.6,3541,2087,1756,1664,121.3,14.0,164,1559,0.00,2.22,0.00,0.000,516,0.000,0.041,3552,684,1710,1756,1665,0,0,0,0,0,0,26.02,25.72,26.03,8.21,39.56
$GC,1636,1.20,86.6,3551,684,1754,1665,109.3,15.1,172,1642,0.00,2.10,0.00,0.000,1030,0.000,0.026,3552,2087,1710,1756,1665,0,0,0,0,0,0,25.94,25.88,25.96,8.22,40.31
$GC,1824,1.14,86.6,3551,2086,1755,1664,82.0,14.8,191,1834,0.10,2.12,0.00,0.000,4356,0.181,0.036,3522,3471,1709,1755,1664,0,0,0,0,0,0,25.86,26.01,25.95,8.21,40.47
$GC,1860,1.14,86.6,3521,3471,1755,1663,77.0,14.3,194,1867,0.00,2.08,0.00,0.000,1030,0.000,0.023,3530,2074,1709,1755,1663,0,0,0,0,0,0,26.14,26.08,26.16,8.22,40.51
$GC,1987,1.14,86.6,3529,2074,1755,1663,60.5,11.9,207,1988,0.00,0.00,0.00,0.000,6,0.000,0.000,3529,2074,1709,1755,1663,0,0,0,0,0,0,26.41,26.42,26.42,8.22,39.88
$GC,2107,1.14,86.6,3529,2074,1755,1663,45.8,12.2,219,2116,0.00,2.15,0.00,0.000,516,0.000,0.041,3541,679,1709,1755,1663,0,0,0,0,0,0,26.47,26.15,26.48,8.22,40.19
$GC,2122,1.14,86.6,3540,679,1755,1663,44.9,12.2,220,2128,0.00,2.08,0.00,0.000,1030,0.000,0.026,3541,2083,1709,1755,1663,0,0,0,0,0,0,26.27,26.21,26.29,8.22,40.27
$GC,2249,1.14,86.6,3540,2083,1755,1663,29.2,11.3,233,2258,0.00,2.20,0.00,0.000,516,0.000,0.041,3552,666,1709,1755,1663,0,0,0,0,0,0,26.52,26.20,26.53,8.21,40.19
$GC,2377,1.17,117.8,3551,666,1755,1663,17.9,6.7,248,2402,0.00,2.10,16.73,0.565,9222,0.000,0.026,3552,2097,1581,1630,1533,0,0,0,0,0,0,26.36,26.29,25.40,8.20,40.86
$GC,2465,1.23,175.0,3551,2097,1630,1533,13.9,3.9,264,2501,0.00,2.17,29.30,0.558,8452,0.000,0.037,3552,3468,1348,1400,1297,0,0,0,0,0,0,26.41,25.72,25.19,8.19,40.07
$STATE,2743,end climb,NO_VERTICAL_VELOCITY
$STATE,2743,begin surface
$SM_CCo,2746,120.72,0.534,0,0,374,414.56
$SM_GC,6.22,9.18,2.17,0.00,0.056,0.028,0.000,218,2075,370,-9.13,1.19,415.78,0,0,0,0,0,0,25.86,25.92,25.95
$IRIDIUM_FIX,4737.86,-12251.79,080218,051311
$TT8_MAMPS,0.026215,0.274134
$HUMID,39.95
$INTERNAL_PRESSURE,8.04943
$TCM_TEMP,10.30
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.7,14.4
$ALTIM_BOTTOM_PING,120.9,39.7
$24V_AH,24.45,12.838
$10V_AH,10.29,5.269
$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,21.700,42.525,178.325,120.725,0.000,0.000,0.000,221.075,2.250,0.000,18.582,796.444,1472.919,395.052,802.508,132.901,33.460,978.981,0.000,576.171,0.000,16.455,0.000
$DEVICE_MAMPS,234.090,55.845,752.760,533.970,0.000,0.000,0.000,77.265,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,69.640,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,217.178,421.046,425.113,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312676
$DATA_FILE_SIZE,21046,318
$CAP_FILE_SIZE,55259,0
$CFSIZE,2097872896,2076147712
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,1079.44,0x2139aa,0,24
$GPS,080218,072121,4738.669,-12253.339,2,0.9,20,16.4,0.3,56.9,9,4.7