version: 66.14
glider: 194
mission: 12
dive: 219
start: 2 9 118 20 32 14
data:
$ID,194
$MISSION,12
$DIVE,219
$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,54
$R_STBD_OVSHOOT,60
$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
$GPS1,090218,201850,4737.8330,-12255.5137,4,0.9,13,16.4,0.0,0.0,9,4.8
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,7.23
$_SM_ANGLEo,-72.9
$GPS2,090218,203136,4737.8315,-12255.5996,6,1.0,16,16.4,0.0,0.0,8,4.9
$SPEED_LIMITS,0.173,0.325
$TGT_NAME,NW2N
$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,47.6,1130,-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,-244.4,214,2076,370,363,0.0,0.0,0,17,0.00,0.00,-6.28,0.000,16386,0.000,0.000,214,2076,543,536,551,0,0,0,0,0,0,26.30,28.83,26.31,8.08,39.40
$GC,20,-0.81,-244.4,214,2076,536,551,7.2,0.0,1,130,10.75,2.20,-88.22,0.000,18692,0.239,0.056,2884,3463,3065,3142,2988,0,0,0,0,0,0,25.61,24.58,25.90,8.09,39.99
$GC,179,-0.81,-244.4,2883,3463,3142,2989,21.1,-14.8,28,189,0.00,2.05,0.00,0.000,1030,0.000,0.023,2884,2087,3065,3142,2989,0,0,0,0,0,0,26.17,26.10,26.19,8.30,38.97
$GC,311,-0.75,-244.4,2883,2087,3142,2989,38.6,-13.4,41,312,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,2087,3065,3142,2989,0,0,0,0,0,0,26.46,26.46,26.46,8.30,39.48
$GC,431,-0.75,-244.4,2884,2087,3142,2989,53.7,-12.2,53,432,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2087,3065,3141,2989,0,0,0,0,0,0,26.51,26.52,26.52,8.31,40.23
$GC,551,-0.75,-244.4,2883,2087,3142,2988,67.8,-11.8,65,559,0.00,2.12,0.00,0.000,260,0.000,0.041,2884,3459,3065,3142,2989,0,0,0,0,0,0,26.55,26.20,26.55,8.31,39.60
$GC,582,-0.75,-244.4,2883,3459,3141,2989,71.5,-11.4,68,592,0.00,2.05,0.00,0.000,1030,0.000,0.024,2884,2073,3065,3141,2989,0,0,0,0,0,0,26.35,26.29,26.36,8.31,40.19
$GC,713,-0.75,-244.4,2883,2073,3142,2989,85.9,-10.9,81,722,0.00,2.12,0.00,0.000,516,0.000,0.041,2884,690,3065,3142,2989,0,0,0,0,0,0,26.60,26.26,26.60,8.31,40.11
$GC,745,-0.75,-244.4,2884,690,3142,2989,89.7,-11.2,84,758,0.00,2.08,0.00,0.000,1030,0.000,0.026,2884,2087,3065,3142,2989,0,0,0,0,0,0,26.38,26.31,26.40,8.32,40.51
$GC,880,-0.75,-244.4,2884,2087,3141,2989,103.9,-10.7,97,893,0.00,2.10,0.00,0.000,260,0.000,0.042,2884,3471,3065,3142,2989,0,0,0,0,0,0,26.60,26.27,26.61,8.32,40.07
$GC,955,-0.75,-244.4,2883,3471,3141,2989,110.9,-10.0,102,965,0.00,2.05,0.00,0.000,1030,0.000,0.024,2884,2072,3065,3142,2989,0,0,0,0,0,0,26.41,26.35,26.44,8.33,40.39
$GC,1147,-0.75,-244.4,2884,2071,3142,2989,131.4,-10.6,121,1159,0.00,2.10,0.00,0.000,516,0.000,0.040,2884,694,3065,3142,2989,0,0,0,0,0,0,26.63,26.32,26.64,8.34,40.47
$GC,1177,-0.75,-244.4,2883,694,3142,2989,134.7,-10.8,123,1189,0.00,2.05,0.00,0.000,1030,0.000,0.026,2884,2086,3065,3142,2989,0,0,0,0,0,0,26.42,26.34,26.44,8.33,40.07
$GC,1374,-0.75,-244.4,2883,2086,3142,2989,155.4,-10.6,142,1387,0.00,2.12,0.00,0.000,260,0.000,0.042,2884,3477,3065,3142,2989,0,0,0,0,0,0,26.64,26.30,26.65,8.34,40.23
$GC,1447,-0.75,-244.4,2884,3476,3142,2989,162.4,-9.9,147,1456,0.00,2.05,0.00,0.000,1030,0.000,0.023,2884,2072,3065,3142,2988,0,0,0,0,0,0,26.46,26.39,26.47,8.34,40.43
$GC,1639,-0.94,-244.4,2883,2072,3142,2989,172.0,-0.1,166,1651,0.00,2.10,0.00,0.000,4612,0.000,0.040,2884,690,3064,3141,2988,0,0,0,0,0,0,26.67,26.34,26.67,8.34,40.78
$STATE,1705,end dive,NO_VERTICAL_VELOCITY
$STATE,1705,begin apogee
$GC,1713,-0.22,0.0,2884,2087,3142,2989,171.9,0.0,171,1914,0.52,0.00,195.85,0.748,10246,0.073,0.000,3084,2087,2064,2114,2015,0,0,0,0,0,0,26.29,24.82,24.30,8.35,40.47
$STATE,1917,end apogee,CONTROL_FINISHED_OK
$STATE,1918,begin climb
$GC,1920,0.81,244.4,3084,2087,2113,2014,171.9,0.0,192,2134,0.88,2.35,198.85,0.718,11012,0.068,0.041,3396,695,1067,1127,1007,0,0,0,0,0,0,24.95,24.64,24.11,8.27,38.65
$GC,2190,0.73,244.4,3396,695,1126,1006,149.7,13.5,219,2197,0.00,2.15,0.00,0.000,1030,0.000,0.024,3397,2095,1066,1126,1006,0,0,0,0,0,0,25.27,25.22,25.29,8.19,38.14
$GC,2378,0.66,244.4,3396,2096,1126,1005,124.5,13.1,238,2387,0.10,2.20,0.00,0.000,4612,0.150,0.041,3364,698,1065,1126,1005,0,0,0,0,0,0,25.59,25.66,25.65,8.19,38.77
$GC,2461,0.66,244.4,3363,698,1125,1005,114.8,11.0,246,2469,0.00,2.10,0.00,0.000,1030,0.000,0.025,3364,2091,1065,1125,1005,0,0,0,0,0,0,25.89,25.83,25.91,8.19,38.97
$GC,2651,0.66,244.4,3363,2091,1126,1005,94.3,10.4,265,2659,0.00,2.20,0.00,0.000,516,0.000,0.043,3364,688,1065,1125,1005,0,0,0,0,0,0,26.29,25.96,26.29,8.18,39.95
$GC,2733,0.66,244.4,3363,688,1126,1006,85.6,10.4,273,2741,0.00,2.10,0.00,0.000,1030,0.000,0.025,3364,2094,1065,1125,1005,0,0,0,0,0,0,26.15,26.08,26.16,8.18,39.76
$GC,2863,0.66,244.4,3363,2094,1125,1005,72.1,10.4,286,2867,0.00,2.20,0.00,0.000,516,0.000,0.042,3364,684,1065,1125,1005,0,0,0,0,0,0,26.42,26.09,26.43,8.18,39.95
$GC,2905,0.66,244.4,3363,684,1125,1005,67.7,10.3,290,2910,0.00,2.10,0.00,0.000,1030,0.000,0.025,3363,2094,1065,1126,1005,0,0,0,0,0,0,26.24,26.17,26.25,8.18,39.99
$GC,3038,0.66,244.4,3363,2094,1126,1005,54.0,10.1,303,3047,0.00,2.17,0.00,0.000,516,0.000,0.042,3363,691,1066,1126,1006,0,0,0,0,0,0,26.50,26.17,26.51,8.18,39.72
$GC,3080,0.66,244.4,3363,691,1125,1006,49.7,9.7,307,3084,0.00,2.08,0.00,0.000,1030,0.000,0.024,3363,2077,1066,1126,1006,0,0,0,0,0,0,26.27,26.25,26.30,8.17,40.07
$GC,3212,0.66,244.4,3363,2077,1125,1006,36.5,9.9,320,3213,0.00,0.00,0.00,0.000,6,0.000,0.000,3363,2078,1066,1126,1006,0,0,0,0,0,0,26.55,26.57,26.57,8.16,39.76
$GC,3337,0.66,244.4,3363,2077,1125,1005,25.4,8.9,332,3342,0.00,2.17,0.00,0.000,516,0.000,0.043,3364,688,1065,1125,1006,0,0,0,0,0,0,26.58,26.25,26.58,8.16,39.72
$GC,3473,0.78,366.2,3363,688,1125,1006,14.2,6.6,346,3550,0.05,2.05,61.95,0.553,11270,0.145,0.024,3418,2093,569,607,531,0,0,0,0,0,0,26.26,26.34,25.08,8.16,39.88
$GC,3642,1.28,730.9,3417,2094,609,528,6.1,-0.1,366,3672,0.30,2.25,23.80,0.507,11012,0.044,0.041,3574,688,372,375,370,0,0,0,0,0,0,25.90,25.39,25.06,8.11,39.13
$STATE,3746,end climb,NO_VERTICAL_VELOCITY
$STATE,3747,begin surface
$SM_CCo,4077,0.00,0.000,0,0,368,416.27
$SM_GC,7.01,9.10,2.12,0.00,0.050,0.024,0.000,213,2087,368,-9.13,-1.98,416.27,0,0,0,0,0,0,26.01,26.09,26.09
$IRIDIUM_FIX,4741.99,-12255.26,090218,202240
$TT8_MAMPS,0.026964,0.276381
$HUMID,40.27
$INTERNAL_PRESSURE,8.04943
$TCM_TEMP,10.20
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.3,999.0
$24V_AH,24.11,15.619
$10V_AH,10.27,6.292
$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,21.700,59.575,480.450,0.000,0.000,0.000,0.000,483.500,74.250,0.000,18.043,920.183,1572.580,550.016,1591.856,225.160,0.000,1566.986,0.000,689.717,0.000,764.708,0.000
$DEVICE_MAMPS,238.680,55.845,748.170,0.000,0.000,0.000,0.000,79.560,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,255.836,500.852,505.757,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312308
$DATA_FILE_SIZE,27932,379
$CAP_FILE_SIZE,88939,0
$CFSIZE,2097872896,2072838144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.005,304.96,1
$GPS,090218,214126,4737.982,-12254.883,4,0.9,34,16.4,0.0,0.0,9,4.3