version: 66.14
glider: 194
mission: 12
dive: 234
start: 2 10 118 13 55 15
data:
$ID,194
$MISSION,12
$DIVE,234
$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
$GPS1,100218,134841,4738.5156,-12254.0342,4,1.0,13,16.4,0.0,0.0,8,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,7.78
$_SM_ANGLEo,-71.3
$GPS2,100218,135427,4738.4766,-12254.0527,7,1.0,15,16.4,0.0,0.0,8,4.8
$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,225.3,1145,-13.6,-10.000,-17.60,3444
$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,-0.82,-228.0,214,2072,358,375,0.0,0.0,0,16,0.00,0.00,-5.62,0.000,16386,0.000,0.000,214,2072,526,516,536,0,0,0,0,0,0,26.33,28.83,26.34,8.07,39.21
$GC,19,-0.82,-228.0,214,2072,516,536,7.9,0.0,1,125,10.70,2.17,-87.50,0.000,18692,0.238,0.057,2881,3454,2997,3067,2927,0,0,0,0,0,0,25.65,24.61,25.94,8.09,39.01
$GC,285,-0.76,-228.0,2881,3454,3067,2928,37.6,-13.1,37,290,0.00,2.05,0.00,0.000,1030,0.000,0.024,2881,2073,2997,3067,2928,0,0,0,0,0,0,26.25,26.18,26.26,8.29,40.19
$GC,418,-0.76,-228.0,2881,2073,3067,2928,55.3,-12.5,50,422,0.00,2.15,0.00,0.000,516,0.000,0.041,2881,684,2997,3067,2928,0,0,0,0,0,0,26.51,26.17,26.52,8.29,39.80
$GC,450,-0.76,-228.0,2881,684,3067,2928,59.4,-12.8,53,454,0.00,2.08,0.00,0.000,1030,0.000,0.026,2881,2068,2997,3067,2928,0,0,0,0,0,0,26.31,26.24,26.32,8.30,39.68
$GC,583,-0.76,-228.0,2881,2068,3067,2928,75.4,-12.0,66,591,0.00,2.17,0.00,0.000,260,0.000,0.042,2882,3485,2997,3067,2928,0,0,0,0,0,0,26.57,26.22,26.58,8.30,40.23
$GC,655,-0.76,-228.0,2881,3485,3066,2928,83.5,-10.8,73,659,0.00,2.08,0.00,0.000,1030,0.000,0.023,2881,2080,2997,3067,2928,0,0,0,0,0,0,26.37,26.31,26.39,8.31,40.74
$GC,791,-0.76,-228.0,2881,2080,3067,2928,99.0,-11.6,86,801,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,2080,2997,3067,2928,0,0,0,0,0,0,26.59,26.60,26.60,8.31,40.07
$GC,923,-0.76,-228.0,2881,2080,3067,2928,114.1,-11.5,99,933,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,2080,2997,3067,2928,0,0,0,0,0,0,26.60,26.62,26.61,8.31,40.74
$GC,1116,-0.76,-228.0,2881,2080,3067,2928,135.5,-10.9,118,1125,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2080,2997,3067,2928,0,0,0,0,0,0,26.63,26.63,26.63,8.32,40.66
$GC,1307,-0.76,-228.0,2881,2080,3067,2928,157.1,-11.3,137,1319,0.00,2.12,0.00,0.000,516,0.000,0.041,2881,692,2997,3067,2928,0,0,0,0,0,0,26.65,26.32,26.65,8.33,40.51
$GC,1339,-0.76,-228.0,2881,693,3067,2927,160.4,-11.3,139,1349,0.00,2.05,0.00,0.000,1030,0.000,0.026,2882,2092,2997,3067,2928,0,0,0,0,0,0,26.44,26.37,26.46,8.33,39.80
$STATE,1509,end dive,NO_VERTICAL_VELOCITY
$STATE,1510,begin apogee
$GC,1516,-0.22,0.0,2881,2092,3067,2928,161.9,0.0,156,1707,0.47,0.00,183.52,0.740,10246,0.059,0.000,3074,2092,2064,2112,2016,0,0,0,0,0,0,26.34,24.84,24.31,8.33,40.23
$STATE,1708,end apogee,CONTROL_FINISHED_OK
$STATE,1710,begin climb
$GC,1712,0.82,228.0,3074,2092,2112,2016,161.9,0.0,176,1909,0.93,0.00,185.55,0.711,10502,0.051,0.000,3422,2092,1133,1190,1076,0,0,0,0,0,0,25.03,24.63,24.13,8.26,39.01
$GC,2088,0.71,228.0,3421,2092,1191,1075,119.7,14.6,214,2098,0.10,2.25,0.00,0.000,4612,0.153,0.042,3389,691,1133,1191,1075,0,0,0,0,0,0,25.46,25.53,25.53,8.20,39.13
$GC,2222,0.66,228.0,3389,691,1191,1075,102.2,12.7,227,2231,0.00,2.10,0.00,0.000,1030,0.000,0.025,3389,2090,1133,1191,1075,0,0,0,0,0,0,25.85,25.82,25.87,8.19,39.40
$GC,2414,0.61,228.0,3389,2091,1190,1075,79.2,11.8,246,2424,0.10,2.20,0.00,0.000,4612,0.149,0.041,3361,688,1132,1190,1075,0,0,0,0,0,0,25.89,25.96,25.96,8.18,39.48
$GC,2470,0.61,228.0,3360,689,1191,1075,73.3,10.5,251,2478,0.00,2.08,0.00,0.000,1030,0.000,0.025,3361,2085,1133,1191,1075,0,0,0,0,0,0,26.12,26.06,26.14,8.18,39.25
$GC,2598,0.61,228.0,3360,2085,1191,1074,59.9,10.2,264,2606,0.00,2.17,0.00,0.000,516,0.000,0.043,3362,699,1133,1191,1075,0,0,0,0,0,0,26.40,26.08,26.41,8.18,39.32
$GC,2662,0.61,228.0,3361,698,1191,1075,53.9,9.4,270,2669,0.00,2.05,0.00,0.000,1030,0.000,0.024,3362,2087,1133,1191,1075,0,0,0,0,0,0,26.23,26.17,26.25,8.18,39.48
$GC,2790,0.61,228.0,3361,2087,1191,1075,41.5,9.1,283,2791,0.00,0.00,0.00,0.000,6,0.000,0.000,3362,2087,1133,1191,1075,0,0,0,0,0,0,26.49,26.50,26.50,8.17,39.64
$GC,2910,0.61,228.0,3361,2087,1190,1075,30.2,9.3,295,2922,0.00,2.20,0.00,0.000,516,0.000,0.043,3362,686,1133,1191,1076,0,0,0,0,0,0,26.53,26.20,26.54,8.17,39.48
$GC,3019,0.61,228.0,3361,685,1191,1076,21.3,8.7,303,3029,0.00,2.05,0.00,0.000,1030,0.000,0.024,3362,2084,1133,1191,1076,0,0,0,0,0,0,26.35,26.29,26.37,8.16,39.28
$GC,3206,0.96,571.6,3361,2084,1191,1076,15.5,-0.2,327,3312,0.17,2.28,96.78,0.562,10756,0.057,0.044,3478,698,372,358,387,0,0,0,0,0,0,26.36,25.29,24.80,8.16,39.60
$GC,3354,0.96,571.6,3477,698,358,386,7.6,9.2,343,3365,0.00,2.10,0.00,0.000,1030,0.000,0.024,3478,2098,371,358,385,0,0,0,0,0,0,25.65,25.59,25.67,8.10,38.85
$GC,3457,1.48,908.7,3477,2098,358,384,6.7,-0.0,356,3467,0.32,2.12,0.00,0.000,2308,0.052,0.037,3626,3461,371,358,384,0,0,0,0,0,0,25.78,25.75,25.82,8.10,38.81
$STATE,3520,end climb,NO_VERTICAL_VELOCITY
$STATE,3520,begin surface
$SM_CCo,3851,0.00,0.000,0,0,369,416.03
$SM_GC,7.64,9.20,2.12,0.00,0.047,0.024,0.000,209,2082,369,-9.15,1.44,416.03,0,0,0,0,0,0,26.03,26.10,26.11
$IRIDIUM_FIX,4741.52,-12250.84,100218,123632
$TT8_MAMPS,0.026215,0.253911
$HUMID,39.64
$INTERNAL_PRESSURE,8.04943
$TCM_TEMP,10.10
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.5,999.0
$24V_AH,24.13,16.872
$10V_AH,10.26,6.895
$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,22.000,42.600,465.850,0.000,0.000,0.000,0.000,249.600,77.750,0.000,16.507,890.302,1260.875,521.984,1375.252,178.807,0.000,1270.225,0.000,652.588,0.000,797.694,0.000
$DEVICE_MAMPS,237.915,57.375,739.755,0.000,0.000,0.000,0.000,77.265,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,246.046,481.105,485.810,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312240
$DATA_FILE_SIZE,24611,364
$CAP_FILE_SIZE,81562,0
$CFSIZE,2097872896,2071461888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.048,129.91,1
$GPS,100218,150031,4738.308,-12254.592,8,0.8,24,16.4,0.0,0.0,10,4.1