version: 66.14
glider: 194
mission: 12
dive: 214
start: 2 9 118 13 54 39
data:
$ID,194
$MISSION,12
$DIVE,214
$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,35
$R_STBD_OVSHOOT,67
$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
$GPS1,090218,134828,4738.4819,-12253.8848,4,1.0,13,16.4,0.0,0.0,8,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,6.84
$_SM_ANGLEo,-71.8
$GPS2,090218,135402,4738.4839,-12253.8447,7,1.0,16,16.4,0.0,0.0,8,4.6
$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,224.6,1372,-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,9,-0.81,-244.4,209,2093,358,374,0.0,0.0,0,17,0.00,0.00,-5.97,0.000,16386,0.000,0.000,208,2093,534,523,545,0,0,0,0,0,0,26.32,28.83,26.32,8.09,39.60
$GC,20,-0.81,-244.4,209,2093,523,545,6.9,0.0,1,134,10.77,2.15,-93.28,0.000,18692,0.238,0.057,2885,3451,3064,3141,2988,0,0,0,0,0,0,25.65,24.65,25.94,8.10,39.60
$GC,184,-0.74,-244.4,2885,3452,3141,2989,19.6,-12.5,29,191,0.00,2.05,0.00,0.000,1030,0.000,0.024,2886,2067,3065,3142,2989,0,0,0,0,0,0,26.18,26.12,26.20,8.31,39.13
$GC,250,-0.68,-244.4,2885,2066,3141,2989,28.9,-14.0,36,260,0.12,2.10,0.00,0.000,2564,0.148,0.039,2930,691,3065,3141,2989,0,0,0,0,0,0,26.00,26.10,26.08,8.31,39.64
$GC,267,-0.63,-244.4,2929,691,3141,2989,30.2,-14.0,37,274,0.00,2.05,0.00,0.000,1030,0.000,0.026,2930,2064,3065,3142,2989,0,0,0,0,0,0,26.22,26.15,26.24,8.31,39.64
$GC,394,-0.63,-244.4,2929,2064,3142,2989,44.7,-10.1,50,403,0.00,2.20,0.00,0.000,260,0.000,0.042,2930,3481,3065,3141,2989,0,0,0,0,0,0,26.49,26.15,26.50,8.31,39.40
$GC,467,-0.63,-244.4,2929,3481,3141,2989,51.4,-9.1,57,476,0.00,2.05,0.00,0.000,1030,0.000,0.023,2930,2078,3065,3142,2989,0,0,0,0,0,0,26.29,26.25,26.30,8.31,39.44
$GC,597,-0.63,-244.4,2930,2078,3141,2989,63.2,-9.1,70,606,0.00,2.15,0.00,0.000,516,0.000,0.040,2930,689,3065,3142,2989,0,0,0,0,0,0,26.57,26.23,26.57,8.31,40.03
$GC,622,-0.63,-244.4,2929,689,3141,2989,65.3,-9.2,72,630,0.00,2.08,0.00,0.000,1030,0.000,0.026,2930,2089,3065,3142,2989,0,0,0,0,0,0,26.36,26.28,26.37,8.31,39.48
$GC,750,-0.63,-244.4,2929,2089,3141,2989,76.8,-8.8,85,758,0.00,2.12,0.00,0.000,260,0.000,0.041,2930,3477,3065,3142,2989,0,0,0,0,0,0,26.60,26.26,26.62,8.31,40.31
$GC,802,-0.69,-244.4,2929,3477,3141,2989,81.0,-8.4,90,806,0.00,2.05,0.00,0.000,1030,0.000,0.023,2930,2077,3065,3141,2989,0,0,0,0,0,0,26.41,26.35,26.42,8.32,40.94
$GC,935,-0.69,-244.4,2929,2077,3141,2989,92.1,-8.4,103,939,0.00,2.12,0.00,0.000,516,0.000,0.040,2930,693,3065,3142,2989,0,0,0,0,0,0,26.65,26.32,26.65,8.32,40.62
$GC,967,-0.74,-244.4,2929,693,3141,2989,94.9,-8.3,106,977,0.00,2.05,0.00,0.000,1030,0.000,0.025,2930,2083,3065,3141,2989,0,0,0,0,0,0,26.39,26.35,26.42,8.33,40.31
$GC,1098,-0.74,-244.4,2929,2083,3141,2989,105.7,-8.2,119,1107,0.00,2.12,0.00,0.000,260,0.000,0.042,2930,3477,3065,3141,2989,0,0,0,0,0,0,26.65,26.33,26.67,8.32,40.74
$GC,1141,-0.81,-244.4,2929,3477,3141,2989,109.2,-8.1,123,1155,0.05,2.03,0.00,0.000,5126,0.086,0.022,2881,2084,3065,3141,2989,0,0,0,0,0,0,26.32,26.44,26.37,8.32,40.15
$GC,1334,-0.81,-244.4,2880,2084,3141,2989,129.4,-10.9,142,1335,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,2084,3064,3141,2988,0,0,0,0,0,0,26.71,26.72,26.72,8.33,40.51
$GC,1513,-0.81,-244.4,2880,2084,3141,2989,148.7,-10.7,160,1523,0.00,2.15,0.00,0.000,260,0.000,0.042,2881,3476,3065,3142,2989,0,0,0,0,0,0,26.74,26.39,26.74,8.33,40.47
$GC,1539,-0.81,-244.4,2880,3476,3142,2989,151.1,-11.0,162,1547,0.00,2.03,0.00,0.000,1030,0.000,0.023,2881,2081,3065,3141,2989,0,0,0,0,0,0,26.53,26.46,26.54,8.33,40.54
$STATE,1594,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1594,begin apogee
$GC,1600,-0.22,0.0,2881,2081,3141,2989,157.5,-11.1,168,1806,0.55,0.00,196.00,0.744,10246,0.108,0.000,3077,2080,2063,2113,2014,0,0,0,0,0,0,26.28,24.83,24.31,8.33,40.19
$STATE,1807,end apogee,CONTROL_FINISHED_OK
$STATE,1807,begin climb
$GC,1811,0.81,244.4,3077,2080,2113,2013,165.4,0.0,189,2019,0.88,2.33,198.48,0.715,10500,0.071,0.037,3389,3477,1066,1126,1007,0,0,0,0,0,0,25.00,24.66,24.14,8.26,39.25
$GC,2070,0.72,244.4,3389,3477,1126,1006,143.9,13.8,215,2078,0.00,2.15,0.00,0.000,1030,0.000,0.023,3395,2094,1066,1126,1006,0,0,0,0,0,0,25.21,25.18,25.22,8.19,38.14
$GC,2258,0.65,244.4,3395,2094,1126,1005,118.8,13.0,234,2267,0.10,2.22,0.00,0.000,4612,0.153,0.041,3363,681,1065,1126,1005,0,0,0,0,0,0,25.59,25.65,25.66,8.18,39.56
$GC,2411,0.65,244.4,3362,681,1126,1005,101.6,10.7,249,2415,0.00,2.10,0.00,0.000,1030,0.000,0.025,3362,2088,1065,1126,1005,0,0,0,0,0,0,25.97,25.91,25.99,8.18,39.84
$GC,2603,0.65,244.4,3361,2087,1126,1005,80.8,11.5,268,2613,0.00,2.22,0.00,0.000,516,0.000,0.043,3362,671,1066,1126,1006,0,0,0,0,0,0,26.34,26.01,26.35,8.18,39.52
$GC,2689,0.65,244.4,3362,671,1126,1005,71.8,11.0,276,2697,0.00,2.10,0.00,0.000,1030,0.000,0.024,3362,2087,1065,1126,1005,0,0,0,0,0,0,26.19,26.13,26.20,8.18,39.60
$GC,2816,0.65,244.4,3361,2088,1126,1005,58.1,10.2,289,2825,0.00,2.20,0.00,0.000,516,0.000,0.042,3362,678,1066,1126,1006,0,0,0,0,0,0,26.46,26.13,26.46,8.18,39.91
$GC,2871,0.65,244.4,3362,678,1126,1006,52.8,10.2,294,2879,0.00,2.08,0.00,0.000,1030,0.000,0.025,3362,2084,1066,1126,1006,0,0,0,0,0,0,26.27,26.22,26.29,8.17,40.54
$GC,2999,0.65,244.4,3361,2085,1126,1006,40.2,9.7,307,3007,0.00,2.20,0.00,0.000,516,0.000,0.042,3362,677,1066,1126,1006,0,0,0,0,0,0,26.53,26.20,26.53,8.17,40.35
$GC,3050,0.65,244.4,3361,677,1126,1006,35.1,10.1,312,3054,0.00,2.08,0.00,0.000,1030,0.000,0.024,3361,2091,1066,1126,1006,0,0,0,0,0,0,26.34,26.28,26.35,8.16,39.68
$GC,3183,0.65,244.4,3362,2091,1126,1006,23.1,9.2,325,3187,0.00,2.22,0.00,0.000,516,0.000,0.043,3362,669,1066,1126,1006,0,0,0,0,0,0,26.58,26.25,26.59,8.16,39.52
$GC,3232,0.65,244.4,3361,669,1126,1006,19.0,8.5,330,3239,0.00,2.08,0.00,0.000,1030,0.000,0.024,3362,2085,1066,1126,1006,0,0,0,0,0,0,26.39,26.32,26.40,8.16,39.72
$GC,3302,0.75,340.4,3361,2085,1126,1006,13.5,7.3,343,3358,0.00,2.30,49.08,0.553,8708,0.000,0.042,3362,670,674,725,624,0,0,0,0,0,0,26.61,25.72,25.20,8.16,39.91
$GC,3423,1.05,541.4,3361,670,722,624,7.4,4.4,364,3468,0.28,2.10,36.78,0.513,11270,0.047,0.024,3503,2090,372,368,376,0,0,0,0,0,0,25.94,25.93,25.01,8.12,39.17
$GC,3534,1.59,912.7,3503,2090,368,373,5.9,-0.3,383,3541,0.35,2.15,0.00,0.000,2308,0.044,0.037,3669,3467,370,368,373,0,0,0,0,0,0,25.79,25.73,25.82,8.10,39.48
$STATE,3587,end climb,NO_VERTICAL_VELOCITY
$STATE,3587,begin surface
$SM_CCo,3917,0.00,0.000,0,0,367,416.27
$SM_GC,7.58,9.38,2.15,0.00,0.050,0.024,0.000,207,2070,367,-9.15,1.07,416.27,0,0,0,0,0,0,26.03,26.10,26.11
$IRIDIUM_FIX,4738.72,-12249.11,090218,123640
$TT8_MAMPS,0.026964,0.279377
$HUMID,40.78
$INTERNAL_PRESSURE,8.04943
$TCM_TEMP,10.50
$XPDR_PINGS,7
$ALTIM_TOP_PING,19.6,13.4
$ALTIM_BOTTOM_PING,110.0,56.9
$24V_AH,24.14,15.113
$10V_AH,10.27,6.094
$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,22.475,68.175,480.325,0.000,0.000,0.000,0.000,237.475,3.250,0.000,17.230,950.036,1608.652,584.622,972.660,155.366,0.000,1330.455,0.000,729.947,0.000,13.353,0.000
$DEVICE_MAMPS,237.915,56.610,744.345,0.000,0.000,0.000,0.000,79.560,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,264.525,519.087,524.175,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312180
$DATA_FILE_SIZE,27990,393
$CAP_FILE_SIZE,67576,0
$CFSIZE,2097872896,2073460736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.052,56.46,1
$GPS,090218,150101,4738.279,-12254.391,5,0.8,24,16.4,0.0,0.0,10,4.1