version: 66.14
glider: 194
mission: 12
dive: 227
start: 2 10 118 6 13 31
data:
$ID,194
$MISSION,12
$DIVE,227
$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,55
$R_STBD_OVSHOOT,55
$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
$GPS1,100218,060425,4738.5601,-12253.4512,8,1.2,38,16.4,0.5,198.9,8,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,7.44
$_SM_ANGLEo,-68.9
$GPS2,100218,061244,4738.4858,-12253.5293,7,0.9,14,16.4,0.0,0.0,9,4.7
$SPEED_LIMITS,0.173,0.325
$TGT_NAME,NW1
$TGT_LATLONG,4738.657,-12253.412
$TGT_RADIUS,250.000
$KALMAN_CONTROL,-0.288867,-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,15.0,350,-23.9,-10.000,-26.93,1236
$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,-1.12,-81.1,204,2092,349,385,0.0,0.0,0,17,0.00,0.00,-5.95,0.000,16386,0.000,0.000,204,2092,536,517,556,0,0,0,0,0,0,26.22,28.83,26.23,8.09,38.81
$GC,20,-1.12,-81.1,204,2092,518,556,7.5,0.0,1,117,10.43,2.20,-75.18,0.000,18948,0.237,0.052,2789,697,2398,2431,2365,0,0,0,0,0,0,25.55,24.53,25.84,8.10,38.81
$GC,167,-1.01,-81.1,2788,697,2431,2365,21.8,-20.7,26,176,0.10,2.05,0.00,0.000,3078,0.181,0.026,2818,2073,2398,2431,2365,0,0,0,0,0,0,25.77,26.03,25.88,8.26,38.62
$GC,296,-1.01,-81.1,2817,2073,2431,2364,38.6,-11.2,39,297,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2073,2397,2431,2364,0,0,0,0,0,0,26.40,26.41,26.41,8.25,38.69
$GC,416,-1.01,-81.1,2817,2073,2431,2363,52.0,-11.1,51,417,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2072,2397,2431,2363,0,0,0,0,0,0,26.46,26.48,26.47,8.25,38.85
$GC,536,-1.01,-81.1,2817,2073,2431,2362,65.8,-12.2,63,537,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2073,2396,2431,2362,0,0,0,0,0,0,26.51,26.53,26.53,8.26,39.72
$GC,656,-1.01,-81.1,2817,2073,2431,2361,80.3,-12.1,75,666,0.00,2.12,0.00,0.000,516,0.000,0.039,2818,692,2395,2431,2360,0,0,0,0,0,0,26.55,26.22,26.56,8.26,39.36
$GC,679,-1.01,-81.1,2817,691,2431,2360,83.0,-11.9,77,683,0.00,2.08,0.00,0.000,1030,0.000,0.025,2818,2098,2395,2431,2360,0,0,0,0,0,0,26.34,26.27,26.36,8.26,39.28
$GC,815,-1.01,-81.1,2817,2098,2431,2360,99.2,-12.0,90,827,0.00,2.10,0.00,0.000,260,0.000,0.042,2818,3468,2395,2431,2360,0,0,0,0,0,0,26.58,26.25,26.58,8.26,39.44
$GC,874,-1.01,-81.1,2817,3468,2431,2360,106.2,-12.4,94,885,0.00,2.03,0.00,0.000,1030,0.000,0.023,2818,2078,2395,2431,2360,0,0,0,0,0,0,26.35,26.33,26.36,8.26,39.64
$GC,1071,-1.01,-81.1,2817,2078,2431,2360,130.3,-11.9,113,1083,0.00,2.10,0.00,0.000,516,0.000,0.039,2818,692,2395,2431,2359,0,0,0,0,0,0,26.60,26.29,26.61,8.27,39.95
$GC,1130,-1.01,-81.1,2817,693,2431,2359,137.4,-12.5,117,1141,0.00,2.05,0.00,0.000,1030,0.000,0.025,2818,2085,2395,2431,2359,0,0,0,0,0,0,26.40,26.33,26.42,8.27,40.07
$GC,1325,-1.01,-81.1,2817,2085,2431,2359,161.2,-11.8,136,1335,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2085,2395,2431,2359,0,0,0,0,0,0,26.63,26.63,26.63,8.27,40.54
$GC,1517,-1.31,-202.6,2817,2086,2431,2359,166.8,0.1,155,1527,0.15,0.00,0.00,0.000,4102,0.068,0.000,2724,2086,2395,2431,2359,0,0,0,0,0,0,26.40,26.45,26.44,8.27,39.91
$STATE,1535,end dive,NO_VERTICAL_VELOCITY
$STATE,1535,begin apogee
$GC,1541,-0.22,0.0,2725,2086,2431,2359,166.7,0.0,157,1615,1.02,0.00,69.53,0.752,10246,0.109,0.000,3074,2086,2064,2104,2024,0,0,0,0,0,0,26.16,25.31,24.73,8.27,40.23
$STATE,1616,end apogee,CONTROL_FINISHED_OK
$STATE,1616,begin climb
$GC,1619,1.24,202.6,3073,2085,2103,2024,166.7,0.0,165,1785,1.35,0.00,160.98,0.731,10242,0.105,0.000,3521,2085,1274,1333,1215,0,0,0,0,0,0,25.32,28.83,25.37,8.25,39.60
$STATE,1786,end climb,NO_VERTICAL_VELOCITY
$STATE,1786,begin surface
$SM_CCo,1790,179.57,0.706,0,0,373,414.56
$SM_GC,7.70,8.85,0.00,0.00,0.042,0.000,0.000,192,2089,370,-9.19,0.23,415.78,0,0,0,0,0,0,26.13,26.46,26.20
$IRIDIUM_FIX,4740.65,-12253.53,100218,045828
$TT8_MAMPS,0.026215,0.250915
$HUMID,39.68
$INTERNAL_PRESSURE,8.0592
$TCM_TEMP,10.60
$XPDR_PINGS,4
$24V_AH,24.11,16.282
$10V_AH,10.26,6.620
$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,21.900,16.725,230.500,179.575,0.000,0.000,0.000,409.800,42.000,0.000,15.182,493.399,1310.894,497.694,812.420,259.913,0.000,1160.854,0.000,301.909,0.000,418.592,0.000
$DEVICE_MAMPS,237.150,52.020,751.995,706.095,0.000,0.000,0.000,80.325,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,122.224,240.252,242.614,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,10719,182
$CAP_FILE_SIZE,50546,0
$CFSIZE,2097872896,2072117248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.067,219.87,1
$GPS,100218,070148,4738.552,-12253.523,9,0.9,13,16.4,0.0,0.0,9,4.7