version: 66.14
glider: 194
mission: 12
dive: 230
start: 2 10 118 9 20 40
data:
$ID,194
$MISSION,12
$DIVE,230
$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,46
$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
$GPS1,100218,091358,4738.5771,-12253.4902,8,0.9,35,16.4,0.5,195.8,9,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,7.59
$_SM_ANGLEo,-71.8
$GPS2,100218,091952,4738.5234,-12253.5547,6,0.8,23,16.4,0.4,186.2,10,4.9
$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,21.8,305,-25.2,-10.000,-28.08,1120
$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,-1.17,-73.5,214,2097,344,390,0.0,0.0,0,16,0.00,0.00,-5.55,0.000,16386,0.000,0.000,214,2097,525,504,547,0,0,0,0,0,0,26.28,28.83,26.29,8.07,39.60
$GC,19,-1.17,-73.5,214,2097,505,547,7.6,0.0,1,110,10.35,0.00,-75.20,0.000,19206,0.240,0.000,2772,2098,2365,2397,2334,0,0,0,0,0,0,25.62,24.74,25.89,8.09,38.85
$GC,175,-1.09,-73.5,2772,2098,2397,2335,22.7,-18.4,27,184,0.00,2.10,0.00,0.000,260,0.000,0.042,2772,3450,2366,2398,2335,0,0,0,0,0,0,26.36,26.02,26.36,8.25,39.36
$GC,240,-1.01,-73.5,2772,3450,2397,2335,33.8,-16.4,33,248,0.17,2.05,0.00,0.000,3078,0.172,0.024,2823,2065,2365,2398,2333,0,0,0,0,0,0,25.84,26.13,26.05,8.24,38.69
$GC,367,-1.01,-73.5,2822,2065,2397,2332,49.6,-11.9,46,371,0.00,2.12,0.00,0.000,516,0.000,0.041,2823,686,2364,2397,2332,0,0,0,0,0,0,26.47,26.14,26.47,8.24,39.28
$GC,392,-1.01,-73.5,2822,686,2397,2331,52.5,-12.4,48,399,0.00,2.05,0.00,0.000,1030,0.000,0.026,2823,2061,2364,2397,2331,0,0,0,0,0,0,26.26,26.20,26.27,8.25,40.03
$GC,519,-1.01,-73.5,2822,2061,2398,2331,68.6,-11.8,61,521,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,2061,2364,2398,2331,0,0,0,0,0,0,26.53,26.53,26.53,8.25,39.52
$GC,639,-1.01,-73.5,2822,2061,2398,2330,83.4,-12.3,73,641,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,2061,2363,2397,2330,0,0,0,0,0,0,26.56,26.58,26.58,8.25,40.11
$GC,764,-1.01,-73.5,2823,2060,2397,2329,97.9,-12.2,85,776,0.00,2.17,0.00,0.000,260,0.000,0.042,2823,3476,2363,2397,2329,0,0,0,0,0,0,26.58,26.25,26.59,8.26,40.35
$GC,810,-1.01,-73.5,2822,3477,2397,2329,103.2,-12.0,88,820,0.00,2.05,0.00,0.000,1030,0.000,0.024,2823,2081,2363,2397,2329,0,0,0,0,0,0,26.39,26.32,26.40,8.26,40.03
$GC,1003,-1.06,-73.5,2823,2080,2397,2329,126.0,-11.3,107,1007,0.00,2.15,0.00,0.000,516,0.000,0.041,2823,690,2363,2398,2328,0,0,0,0,0,0,26.60,26.28,26.61,8.27,40.35
$GC,1071,-1.06,-73.5,2822,690,2398,2328,134.2,-12.4,112,1085,0.00,2.05,0.00,0.000,1030,0.000,0.025,2823,2085,2363,2398,2328,0,0,0,0,0,0,26.36,26.34,26.39,8.27,40.15
$GC,1270,-1.12,-73.5,2822,2085,2398,2328,156.0,-10.8,131,1279,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,2085,2362,2397,2328,0,0,0,0,0,0,26.63,26.63,26.63,8.27,40.03
$GC,1461,-1.41,-183.0,2822,2085,2397,2328,167.1,0.0,150,1473,0.25,2.10,0.00,0.000,4356,0.052,0.041,2696,3473,2362,2397,2328,0,0,0,0,0,0,26.41,26.31,26.43,8.29,40.54
$STATE,1539,end dive,NO_VERTICAL_VELOCITY
$STATE,1539,begin apogee
$GC,1548,-0.22,0.0,2695,2069,2398,2328,167.1,0.0,156,1618,1.12,0.00,62.92,0.752,10246,0.113,0.000,3076,2068,2064,2103,2025,0,0,0,0,0,0,26.15,25.38,24.79,8.28,39.95
$STATE,1619,end apogee,CONTROL_FINISHED_OK
$STATE,1620,begin climb
$GC,1622,1.28,183.0,3076,2068,2103,2025,167.1,0.0,164,1790,1.38,2.25,152.27,0.731,10756,0.106,0.041,3541,694,1317,1368,1266,0,0,0,0,0,0,25.40,24.65,24.27,8.25,39.48
$GC,1806,1.28,183.0,3541,694,1368,1266,151.9,16.6,182,1813,0.00,2.15,0.00,0.000,1030,0.000,0.025,3541,2086,1316,1367,1265,0,0,0,0,0,0,25.21,25.15,25.22,8.21,38.14
$GC,1994,1.28,183.0,3541,2086,1368,1263,114.9,19.2,201,2003,0.00,2.20,0.00,0.000,516,0.000,0.041,3552,700,1315,1368,1262,0,0,0,0,0,0,25.99,25.69,25.99,8.20,39.32
$GC,2077,1.23,183.0,3552,700,1368,1262,98.4,20.2,209,2081,0.00,2.10,0.00,0.000,1030,0.000,0.025,3552,2076,1315,1368,1262,0,0,0,0,0,0,25.89,25.86,25.91,8.20,39.25
$GC,2209,1.23,183.0,3551,2076,1368,1262,72.4,19.5,222,2219,0.00,2.20,0.00,0.000,516,0.000,0.041,3563,687,1315,1368,1262,0,0,0,0,0,0,26.26,25.94,26.26,8.19,39.60
$GC,2265,1.17,183.0,3563,687,1368,1262,61.6,20.6,227,2272,0.10,2.10,0.00,0.000,5126,0.170,0.025,3534,2096,1315,1368,1262,0,0,0,0,0,0,25.82,26.03,25.98,8.20,40.03
$GC,2393,1.17,183.0,3534,2096,1367,1262,37.9,16.9,240,2399,0.00,0.00,0.00,0.000,6,0.000,0.000,3534,2096,1314,1367,1262,0,0,0,0,0,0,26.39,26.39,26.39,8.20,39.91
$GC,2537,1.17,183.0,3534,2095,1367,1262,16.4,11.0,255,2546,0.00,0.00,0.00,0.000,6,0.000,0.000,3534,2096,1315,1368,1262,0,0,0,0,0,0,26.44,26.44,26.44,8.19,39.40
$GC,2638,1.44,348.7,3533,2095,1368,1261,13.7,-5.1,268,2734,0.15,2.20,84.45,0.563,11012,0.060,0.036,3643,3465,640,663,617,0,0,0,0,0,0,26.26,25.13,24.77,8.19,39.36
$GC,2769,1.39,382.1,3643,3465,663,615,11.1,7.0,282,2798,0.17,2.10,16.70,0.500,13318,0.152,0.023,3604,2078,504,513,495,0,0,0,0,0,0,25.39,25.58,24.87,8.12,38.22
$GC,2892,1.93,492.4,3603,2078,513,490,6.6,-0.1,297,2922,0.38,2.25,15.85,0.485,10756,0.051,0.043,3761,691,370,363,378,0,0,0,0,0,0,25.72,25.51,25.00,8.10,38.85
$STATE,2982,end climb,NO_VERTICAL_VELOCITY
$STATE,2982,begin surface
$SM_CCo,3312,0.00,0.000,0,0,368,416.27
$SM_GC,7.79,9.55,2.15,0.00,0.045,0.025,0.000,209,2087,368,-9.14,-1.64,416.27,0,0,0,0,0,0,25.98,26.05,26.06
$IRIDIUM_FIX,4738.33,-12256.21,100218,081110
$TT8_MAMPS,0.026215,0.280875
$HUMID,39.09
$INTERNAL_PRESSURE,8.03967
$TCM_TEMP,10.50
$XPDR_PINGS,6
$ALTIM_TOP_PING,19.9,999.0
$24V_AH,24.27,16.495
$10V_AH,10.26,6.732
$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,23.625,42.675,332.200,0.000,0.000,0.000,0.000,250.600,76.250,0.000,24.740,785.443,1097.714,380.593,1262.610,171.302,0.000,1082.929,0.000,551.032,0.000,774.857,0.000
$DEVICE_MAMPS,240.210,42.840,751.995,0.000,0.000,0.000,0.000,76.500,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,208.332,407.121,411.095,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312244
$DATA_FILE_SIZE,21057,308
$CAP_FILE_SIZE,78813,0
$CFSIZE,2097872896,2071855104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.125,204.13,1
$GPS,100218,101701,4738.524,-12253.370,8,0.9,28,16.4,0.6,199.9,9,4.6