version: 66.14
glider: 194
mission: 12
dive: 202
start: 2 8 118 23 34 34
data:
$ID,194
$MISSION,12
$DIVE,202
$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,2
$FERRY_MAX,45
$KALMAN_USE,2
$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,48
$R_STBD_OVSHOOT,62
$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
$GPS1,080218,232825,4738.6367,-12253.1816,5,0.9,14,16.4,0.4,79.3,9,4.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,6.44
$_SM_ANGLEo,-72.3
$GPS2,080218,233355,4738.6553,-12253.0801,6,0.9,14,16.4,0.0,0.0,9,5.0
$SPEED_LIMITS,0.173,0.325
$TGT_NAME,NW2S
$TGT_LATLONG,4738.117,-12254.800
$TGT_RADIUS,250.000
$KALMAN_CONTROL,-0.288867,-0.148510
$KALMAN_X,34651.437500,518.190002,-280.221558,-35416.792969,662.479614
$KALMAN_Y,12811.416016,296.136719,-399.748138,-13361.724609,330.277039
$MHEAD_RNG_PITCHd_Wd,240.1,2366,-13.0,-10.000,-17.11,3689
$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,-0.81,-244.4,214,2098,377,363,0.0,0.0,0,16,0.00,0.00,-5.53,0.000,16386,0.000,0.000,214,2098,527,525,530,0,0,0,0,0,0,26.31,28.83,26.32,8.08,39.68
$GC,19,-0.81,-244.4,214,2098,525,530,6.5,0.0,1,124,10.85,2.25,-88.12,0.000,19204,0.242,0.052,2884,683,3065,3142,2988,0,0,0,0,0,0,25.65,24.67,25.93,8.10,39.52
$GC,150,-0.72,-244.4,2883,684,3142,2988,16.3,-15.7,22,158,0.10,2.08,0.00,0.000,3078,0.161,0.027,2917,2072,3065,3142,2989,0,0,0,0,0,0,25.90,26.08,26.06,8.31,39.13
$GC,226,-0.72,-244.4,2916,2072,3141,2989,26.5,-12.4,31,235,0.00,2.20,0.00,0.000,260,0.000,0.042,2916,3482,3065,3142,2989,0,0,0,0,0,0,26.41,26.08,26.41,8.31,39.01
$GC,258,-0.72,-244.4,2916,3482,3142,2989,30.4,-12.3,34,263,0.00,2.10,0.00,0.000,1030,0.000,0.024,2916,2069,3065,3142,2988,0,0,0,0,0,0,26.22,26.16,26.24,8.31,39.25
$GC,391,-0.72,-244.4,2916,2068,3142,2989,45.8,-11.4,47,392,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,2068,3065,3142,2989,0,0,0,0,0,0,26.48,26.50,26.50,8.31,39.48
$GC,511,-0.72,-244.4,2916,2068,3142,2988,59.2,-10.9,59,520,0.00,2.20,0.00,0.000,260,0.000,0.042,2916,3478,3065,3142,2989,0,0,0,0,0,0,26.53,26.20,26.54,8.31,40.47
$GC,584,-0.72,-244.4,2916,3478,3142,2989,66.3,-9.7,66,589,0.00,2.08,0.00,0.000,1030,0.000,0.023,2917,2073,3065,3142,2989,0,0,0,0,0,0,26.35,26.29,26.37,8.31,40.35
$GC,717,-0.72,-244.4,2916,2073,3142,2989,79.0,-9.4,79,726,0.00,2.15,0.00,0.000,516,0.000,0.041,2917,681,3065,3142,2989,0,0,0,0,0,0,26.60,26.27,26.60,8.31,40.23
$GC,742,-0.72,-244.4,2916,681,3142,2989,81.1,-9.5,81,749,0.00,2.08,0.00,0.000,1030,0.000,0.026,2917,2084,3065,3142,2989,0,0,0,0,0,0,26.39,26.31,26.40,8.31,40.23
$GC,869,-0.72,-244.4,2916,2084,3142,2989,92.9,-8.9,94,873,0.00,2.15,0.00,0.000,260,0.000,0.042,2916,3476,3065,3142,2989,0,0,0,0,0,0,26.63,26.29,26.64,8.32,39.91
$GC,914,-0.72,-244.4,2916,3476,3142,2988,96.7,-9.1,98,921,0.00,2.05,0.00,0.000,1030,0.000,0.023,2917,2074,3065,3142,2989,0,0,0,0,0,0,26.43,26.36,26.45,8.32,40.27
$GC,1042,-0.72,-244.4,2916,2074,3142,2989,108.5,-9.1,111,1050,0.00,2.12,0.00,0.000,516,0.000,0.040,2916,691,3065,3142,2989,0,0,0,0,0,0,26.66,26.34,26.67,8.32,40.62
$GC,1076,-0.72,-244.4,2916,691,3142,2989,111.6,-9.0,114,1080,0.00,2.05,0.00,0.000,1030,0.000,0.025,2916,2085,3065,3142,2989,0,0,0,0,0,0,26.45,26.38,26.47,8.32,40.86
$GC,1268,-0.72,-244.4,2916,2085,3141,2989,128.8,-8.8,133,1273,0.00,2.12,0.00,0.000,260,0.000,0.041,2916,3477,3065,3142,2989,0,0,0,0,0,0,26.70,26.36,26.71,8.33,40.98
$GC,1341,-0.79,-244.4,2916,3477,3142,2989,134.9,-8.2,140,1350,0.00,2.05,0.00,0.000,1030,0.000,0.023,2916,2069,3065,3142,2989,0,0,0,0,0,0,26.47,26.44,26.48,8.33,40.43
$GC,1531,-0.79,-244.4,2916,2069,3142,2989,151.6,-8.6,159,1540,0.00,2.12,0.00,0.000,516,0.000,0.041,2917,686,3065,3142,2989,0,0,0,0,0,0,26.74,26.40,26.74,8.33,40.19
$STATE,1561,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1561,begin apogee
$GC,1569,-0.22,0.0,2916,2085,3142,2989,154.5,-9.0,162,1773,0.43,0.00,196.57,0.744,10246,0.106,0.000,3075,2084,2065,2114,2016,0,0,0,0,0,0,26.29,24.82,24.30,8.33,40.03
$STATE,1774,end apogee,CONTROL_FINISHED_OK
$STATE,1774,begin climb
$GC,1779,0.81,244.4,3074,2084,2114,2015,162.5,0.0,183,1992,0.88,2.33,200.25,0.715,11012,0.071,0.042,3391,694,1066,1127,1006,0,0,0,0,0,0,24.98,24.65,24.14,8.26,38.89
$GC,2127,0.74,244.4,3390,694,1126,1006,128.9,13.1,218,2136,0.00,2.12,0.00,0.000,1030,0.000,0.024,3391,2094,1066,1127,1006,0,0,0,0,0,0,25.55,25.49,25.56,8.19,39.17
$GC,2317,0.68,244.4,3390,2094,1126,1006,104.3,12.4,237,2326,0.00,2.22,0.00,0.000,516,0.000,0.042,3391,690,1066,1127,1005,0,0,0,0,0,0,26.09,25.78,26.10,8.18,39.32
$GC,2390,0.62,244.4,3390,690,1126,1006,94.9,13.3,244,2400,0.10,2.08,0.00,0.000,5126,0.125,0.024,3358,2087,1066,1126,1006,0,0,0,0,0,0,25.77,25.92,25.85,8.18,39.72
$GC,2520,0.62,244.4,3357,2087,1126,1006,80.7,10.7,257,2529,0.00,2.20,0.00,0.000,516,0.000,0.043,3358,690,1066,1126,1006,0,0,0,0,0,0,26.29,25.98,26.30,8.18,39.44
$GC,2582,0.62,244.4,3357,690,1126,1006,74.2,10.5,263,2591,0.00,2.05,0.00,0.000,1030,0.000,0.024,3358,2079,1066,1126,1006,0,0,0,0,0,0,26.11,26.08,26.11,8.17,39.72
$GC,2712,0.62,244.4,3357,2079,1126,1006,61.8,9.1,276,2722,0.00,2.20,0.00,0.000,516,0.000,0.043,3357,684,1066,1126,1006,0,0,0,0,0,0,26.41,26.09,26.42,8.17,39.60
$GC,2755,0.62,244.4,3358,683,1126,1006,57.7,9.5,280,2765,0.00,2.10,0.00,0.000,1030,0.000,0.024,3357,2097,1066,1126,1006,0,0,0,0,0,0,26.23,26.17,26.25,8.17,39.48
$GC,2885,0.62,244.4,3357,2097,1126,1006,45.5,9.4,293,2886,0.00,0.00,0.00,0.000,6,0.000,0.000,3357,2097,1066,1126,1006,0,0,0,0,0,0,26.49,26.50,26.50,8.17,39.44
$GC,3005,0.62,244.4,3357,2096,1126,1006,34.7,8.6,305,3014,0.00,2.17,0.00,0.000,516,0.000,0.043,3357,697,1066,1127,1006,0,0,0,0,0,0,26.53,26.22,26.54,8.16,40.15
$GC,3037,0.62,244.4,3357,697,1126,1006,31.8,9.1,308,3047,0.00,2.05,0.00,0.000,1030,0.000,0.025,3358,2084,1066,1126,1006,0,0,0,0,0,0,26.34,26.28,26.36,8.16,39.28
$GC,3168,0.62,244.4,3357,2084,1126,1006,20.5,8.4,321,3179,0.00,2.17,0.00,0.000,516,0.000,0.043,3358,687,1066,1127,1006,0,0,0,0,0,0,26.58,26.26,26.59,8.16,39.80
$GC,3208,0.73,353.9,3357,687,1126,1006,17.6,7.0,327,3271,0.00,2.05,57.25,0.577,9222,0.000,0.024,3358,2088,621,667,576,0,0,0,0,0,0,26.39,26.33,25.08,8.16,40.35
$GC,3336,1.07,583.5,3357,2087,666,573,11.5,3.6,349,3374,0.30,2.22,30.83,0.534,10500,0.045,0.038,3514,3469,372,370,375,0,0,0,0,0,0,25.86,25.46,24.96,8.12,39.17
$STATE,3541,end climb,NO_VERTICAL_VELOCITY
$STATE,3541,begin surface
$SM_CCo,3872,0.00,0.000,0,0,368,416.27
$SM_GC,6.32,8.88,2.15,0.00,0.047,0.026,0.000,207,2080,368,-9.15,1.30,416.27,0,0,0,0,0,0,26.05,26.10,26.13
$IRIDIUM_FIX,4739.20,-12253.53,080218,222138
$TT8_MAMPS,0.025466,0.280875
$HUMID,40.54
$INTERNAL_PRESSURE,8.04943
$TCM_TEMP,10.40
$XPDR_PINGS,11
$ALTIM_TOP_PING,19.9,14.1
$ALTIM_BOTTOM_PING,110.5,53.5
$24V_AH,24.14,14.004
$10V_AH,10.30,5.721
$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,21.525,64.050,484.900,0.000,0.000,0.000,0.000,235.950,4.500,0.000,16.104,933.224,1611.613,575.101,956.244,147.936,0.000,1304.234,0.000,715.912,0.000,16.192,0.000
$DEVICE_MAMPS,241.740,52.020,743.580,0.000,0.000,0.000,0.000,78.795,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,261.519,512.542,517.865,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312196
$DATA_FILE_SIZE,28041,388
$CAP_FILE_SIZE,64492,0
$CFSIZE,2097872896,2074673152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.121,78.13,1
$GPS,090218,004006,4738.654,-12253.550,5,0.9,19,16.4,0.3,0.0,10,4.8