version: 66.14
glider: 194
mission: 12
dive: 198
start: 2 8 118 18 52 29
data:
$ID,194
$MISSION,12
$DIVE,198
$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,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
$GPS1,080218,184631,4738.6631,-12253.3359,4,0.8,30,16.4,0.6,69.5,10,4.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,6.36
$_SM_ANGLEo,-71.8
$GPS2,080218,185120,4738.7017,-12253.2139,5,0.8,12,16.4,0.6,66.8,10,4.6
$SPEED_LIMITS,0.173,0.325
$TGT_NAME,NW1
$TGT_LATLONG,4738.657,-12253.412
$TGT_RADIUS,250.000
$KALMAN_CONTROL,-0.198901,-0.069215
$KALMAN_X,33574.625000,423.089264,-144.622025,-34729.304688,473.500732
$KALMAN_Y,12357.738281,223.343307,-286.799408,-13124.983398,168.513885
$MHEAD_RNG_PITCHd_Wd,234.4,261,-22.3,-10.000,-25.40,1417
$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,-1.06,-93.1,211,2075,371,368,0.0,0.0,0,16,0.00,0.00,-6.10,0.000,16386,0.000,0.000,211,2075,548,542,554,0,0,0,0,0,0,26.32,28.83,26.33,8.08,39.36
$GC,20,-1.06,-93.1,211,2075,541,554,6.5,0.0,1,105,10.57,0.00,-69.45,0.000,19206,0.243,0.000,2807,2075,2446,2488,2404,0,0,0,0,0,0,25.63,24.79,25.93,8.09,40.15
$GC,171,-0.94,-93.1,2807,2076,2488,2404,15.6,-11.2,28,178,0.10,2.15,0.00,0.000,2564,0.200,0.037,2839,687,2446,2488,2404,0,0,0,0,0,0,25.89,26.06,25.98,8.26,39.01
$GC,237,-0.85,-93.1,2838,687,2488,2403,24.6,-14.1,37,246,0.10,2.05,0.00,0.000,3078,0.169,0.025,2869,2067,2446,2489,2403,0,0,0,0,0,0,25.91,26.14,26.01,8.26,39.60
$GC,366,-0.85,-93.1,2869,2067,2488,2403,40.2,-11.2,50,368,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2066,2445,2488,2403,0,0,0,0,0,0,26.48,26.49,26.49,8.26,39.64
$GC,486,-0.85,-93.1,2869,2066,2489,2403,53.9,-11.6,62,495,0.00,2.17,0.00,0.000,260,0.000,0.042,2870,3474,2445,2488,2403,0,0,0,0,0,0,26.53,26.19,26.53,8.26,39.52
$GC,548,-0.85,-93.1,2869,3474,2488,2403,61.0,-11.5,68,557,0.00,2.05,0.00,0.000,1030,0.000,0.023,2869,2081,2445,2488,2402,0,0,0,0,0,0,26.34,26.27,26.36,8.26,39.95
$GC,679,-0.91,-93.1,2868,2080,2488,2403,75.8,-11.5,81,680,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2081,2445,2489,2402,0,0,0,0,0,0,26.59,26.60,26.59,8.26,40.07
$GC,799,-0.98,-93.1,2869,2080,2489,2402,89.2,-10.9,93,800,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2081,2444,2487,2402,0,0,0,0,0,0,26.62,26.63,26.63,8.26,39.95
$GC,919,-1.04,-93.1,2869,2081,2488,2402,102.2,-10.7,105,921,0.10,0.00,0.00,0.000,4102,0.089,0.000,2802,2080,2445,2489,2402,0,0,0,0,0,0,26.41,26.46,26.44,8.27,39.88
$GC,1101,-1.04,-93.1,2801,2081,2488,2401,125.9,-13.5,123,1105,0.00,2.15,0.00,0.000,260,0.000,0.041,2802,3474,2444,2488,2401,0,0,0,0,0,0,26.67,26.34,26.68,8.27,40.43
$GC,1153,-1.04,-93.1,2802,3474,2488,2401,133.2,-13.4,128,1162,0.00,2.05,0.00,0.000,1030,0.000,0.023,2802,2073,2444,2488,2401,0,0,0,0,0,0,26.47,26.41,26.49,8.27,40.31
$GC,1343,-1.04,-93.1,2802,2073,2488,2401,159.0,-13.6,147,1352,0.00,2.17,0.00,0.000,260,0.000,0.041,2802,3482,2444,2488,2401,0,0,0,0,0,0,26.71,26.37,26.72,8.28,40.51
$STATE,1364,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1364,begin apogee
$GC,1373,-0.22,0.0,2802,2073,2488,2401,162.0,-13.7,149,1455,0.82,0.00,78.80,0.760,10246,0.132,0.000,3075,2072,2065,2112,2018,0,0,0,0,0,0,26.19,25.25,24.68,8.28,40.03
$STATE,1456,end apogee,CONTROL_FINISHED_OK
$STATE,1456,begin climb
$GC,1459,1.06,93.1,3075,2072,2111,2018,164.0,0.0,158,1548,1.12,2.28,80.25,0.740,11012,0.079,0.041,3473,693,1683,1736,1631,0,0,0,0,0,0,25.29,24.88,24.33,8.26,40.03
$GC,1638,1.19,154.0,3472,692,1736,1632,157.9,5.6,176,1697,0.10,2.10,51.00,0.725,11270,0.050,0.024,3557,2084,1435,1493,1377,0,0,0,0,0,0,25.51,25.53,24.42,8.23,38.81
$GC,1877,1.10,154.0,3556,2084,1493,1378,128.4,15.7,200,1886,0.15,2.15,0.00,0.000,4356,0.156,0.035,3510,3465,1434,1492,1377,0,0,0,0,0,0,25.56,25.70,25.65,8.21,39.48
$GC,1922,1.04,154.0,3509,3466,1493,1378,122.2,14.5,204,1929,0.00,2.08,0.00,0.000,1030,0.000,0.023,3518,2082,1434,1492,1377,0,0,0,0,0,0,25.86,25.80,25.88,8.21,39.56
$GC,2109,1.04,154.0,3517,2081,1493,1377,96.5,13.3,223,2118,0.00,2.20,0.00,0.000,516,0.000,0.040,3528,678,1434,1492,1377,0,0,0,0,0,0,26.26,25.95,26.27,8.21,39.80
$GC,2184,0.98,154.0,3528,678,1492,1377,86.7,13.8,230,2192,0.20,2.08,0.00,0.000,5126,0.150,0.024,3468,2082,1434,1492,1377,0,0,0,0,0,0,25.84,26.06,26.01,8.20,39.80
$GC,2311,0.98,154.0,3467,2082,1493,1376,72.0,10.5,243,2312,0.00,0.00,0.00,0.000,6,0.000,0.000,3469,2082,1434,1492,1376,0,0,0,0,0,0,26.40,26.41,26.41,8.20,40.07
$GC,2431,0.98,154.0,3468,2083,1493,1376,59.4,10.4,255,2432,0.00,0.00,0.00,0.000,6,0.000,0.000,3469,2082,1434,1492,1377,0,0,0,0,0,0,26.46,26.47,26.47,8.20,40.03
$GC,2551,0.98,154.0,3468,2082,1492,1376,47.1,10.0,267,2560,0.00,2.17,0.00,0.000,516,0.000,0.042,3473,686,1435,1493,1377,0,0,0,0,0,0,26.51,26.19,26.52,8.20,40.62
$GC,2593,0.98,154.0,3472,686,1493,1376,42.7,10.3,271,2602,0.00,2.08,0.00,0.000,1030,0.000,0.025,3473,2087,1434,1493,1376,0,0,0,0,0,0,26.32,26.26,26.34,8.20,40.62
$GC,2723,0.98,154.0,3472,2088,1493,1376,29.6,9.4,284,2724,0.00,0.00,0.00,0.000,6,0.000,0.000,3473,2087,1434,1492,1376,0,0,0,0,0,0,26.56,26.58,26.57,8.19,40.03
$GC,2844,0.98,154.0,3472,2088,1493,1377,19.1,8.0,297,2850,0.00,2.10,0.00,0.000,260,0.000,0.037,3473,3472,1435,1493,1377,0,0,0,0,0,0,26.60,26.28,26.60,8.19,40.11
$GC,2903,0.98,154.0,3473,3472,1492,1376,13.6,9.6,308,2910,0.00,2.05,0.00,0.000,1030,0.000,0.023,3481,2074,1434,1492,1377,0,0,0,0,0,0,26.41,26.34,26.42,8.18,40.62
$GC,2974,1.24,291.9,3480,2074,1493,1376,9.8,0.1,321,3050,0.10,2.25,69.05,0.552,11012,0.080,0.035,3583,3478,873,918,828,0,0,0,0,0,0,26.42,25.54,25.04,8.19,39.76
$GC,3346,1.37,421.3,3583,3478,918,827,7.4,0.7,392,3415,0.00,2.08,61.75,0.526,9222,0.000,0.023,3591,2075,371,364,379,0,0,0,0,0,0,26.13,26.06,24.91,8.13,39.28
$GC,3480,1.82,559.2,3590,2075,363,377,5.2,0.0,416,3488,0.30,2.20,0.00,0.000,2308,0.042,0.036,3747,3472,370,364,377,0,0,0,0,0,0,25.74,25.65,25.75,8.09,39.60
$STATE,3570,end climb,NO_VERTICAL_VELOCITY
$STATE,3570,begin surface
$SM_CCo,3900,0.00,0.000,0,0,369,416.03
$SM_GC,6.72,9.62,2.12,0.00,0.054,0.023,0.000,211,2083,369,-9.14,1.67,416.03,0,0,0,0,0,0,26.01,26.09,26.09
$IRIDIUM_FIX,4738.33,-12256.21,080218,173851
$TT8_MAMPS,0.026215,0.272636
$HUMID,40.15
$INTERNAL_PRESSURE,8.04943
$TCM_TEMP,10.40
$XPDR_PINGS,11
$ALTIM_TOP_PING,19.9,14.4
$ALTIM_BOTTOM_PING,115.1,55.4
$24V_AH,24.33,13.600
$10V_AH,10.29,5.597
$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,23.300,46.850,340.850,0.000,0.000,0.000,0.000,195.900,4.750,0.000,15.078,1016.808,1703.537,419.029,927.308,141.826,33.453,1071.449,0.000,728.743,0.000,17.858,0.000
$DEVICE_MAMPS,242.505,42.075,760.410,0.000,0.000,0.000,0.000,81.855,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,69.640,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,294.894,573.060,578.964,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,31479,433
$CAP_FILE_SIZE,63918,0
$CFSIZE,2097872896,2075066368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,080218,195823,4738.749,-12253.113,5,0.8,13,16.4,0.7,73.1,10,4.9