version: 66.14
glider: 194
mission: 12
dive: 239
start: 2 10 118 19 28 15
data:
$ID,194
$MISSION,12
$DIVE,239
$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,50
$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
$GPS1,100218,192210,4737.5176,-12256.2070,5,1.0,13,16.4,0.0,0.0,9,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,8.07
$_SM_ANGLEo,-73.8
$GPS2,100218,192737,4737.5205,-12256.2480,10,0.8,13,16.4,0.0,0.0,10,5.0
$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,47.1,2119,-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,-244.4,211,2080,375,366,0.0,0.0,0,17,0.00,0.00,-6.25,0.000,16386,0.000,0.000,211,2080,551,544,559,0,0,0,0,0,0,26.29,28.83,26.31,8.07,38.81
$GC,20,-0.81,-244.4,211,2080,544,559,8.2,0.0,1,125,11.00,2.17,-84.20,0.000,18692,0.246,0.053,2885,3471,3060,3137,2984,0,0,0,0,0,0,25.58,25.41,25.89,8.09,39.64
$GC,219,-0.75,-244.4,2885,3471,3137,2985,30.4,-14.4,29,225,0.00,2.08,0.00,0.000,1030,0.000,0.024,2885,2074,3061,3137,2985,0,0,0,0,0,0,26.19,26.12,26.20,8.30,39.28
$GC,346,-0.68,-244.4,2885,2073,3138,2985,48.1,-13.4,42,351,0.12,2.15,0.00,0.000,2564,0.148,0.039,2929,682,3061,3137,2985,0,0,0,0,0,0,26.03,26.13,26.09,8.30,39.64
$GC,379,-0.68,-244.4,2929,682,3137,2985,52.2,-12.6,45,388,0.00,2.10,0.00,0.000,1030,0.000,0.026,2929,2081,3061,3137,2985,0,0,0,0,0,0,26.26,26.18,26.27,8.30,39.95
$GC,509,-0.68,-244.4,2929,2081,3137,2985,66.0,-10.2,58,513,0.00,2.17,0.00,0.000,260,0.000,0.042,2930,3480,3061,3137,2985,0,0,0,0,0,0,26.53,26.18,26.53,8.30,39.48
$GC,563,-0.68,-244.4,2929,3480,3137,2985,71.3,-9.9,63,571,0.00,2.05,0.00,0.000,1030,0.000,0.023,2930,2083,3061,3137,2985,0,0,0,0,0,0,26.32,26.27,26.32,8.31,40.07
$GC,692,-0.68,-244.4,2929,2082,3137,2985,84.2,-10.1,76,696,0.00,2.15,0.00,0.000,516,0.000,0.041,2930,683,3061,3137,2985,0,0,0,0,0,0,26.58,26.25,26.59,8.31,40.27
$GC,738,-0.68,-244.4,2929,683,3137,2985,88.6,-10.2,80,745,0.00,2.08,0.00,0.000,1030,0.000,0.026,2930,2088,3060,3137,2984,0,0,0,0,0,0,26.37,26.29,26.39,8.31,40.03
$GC,867,-0.68,-244.4,2929,2088,3137,2985,101.8,-10.1,93,879,0.00,2.12,0.00,0.000,260,0.000,0.041,2930,3475,3061,3137,2985,0,0,0,0,0,0,26.59,26.26,26.60,8.31,40.19
$GC,921,-0.68,-244.4,2929,3475,3137,2985,107.1,-9.5,97,925,0.00,2.05,0.00,0.000,1030,0.000,0.023,2930,2079,3061,3137,2985,0,0,0,0,0,0,26.41,26.34,26.42,8.31,40.54
$GC,1116,-0.68,-244.4,2929,2078,3137,2985,126.1,-9.3,116,1120,0.00,2.15,0.00,0.000,516,0.000,0.040,2930,686,3061,3137,2985,0,0,0,0,0,0,26.62,26.29,26.63,8.31,40.78
$GC,1170,-0.68,-244.4,2929,686,3137,2985,131.2,-9.8,120,1182,0.00,2.05,0.00,0.000,1030,0.000,0.026,2929,2078,3061,3137,2985,0,0,0,0,0,0,26.38,26.34,26.40,8.31,40.15
$GC,1367,-0.68,-244.4,2929,2078,3137,2985,150.6,-9.6,139,1371,0.00,2.15,0.00,0.000,260,0.000,0.042,2930,3479,3061,3137,2985,0,0,0,0,0,0,26.63,26.29,26.64,8.32,40.47
$GC,1436,-0.68,-244.4,2929,3479,3137,2984,156.8,-8.9,144,1440,0.00,2.08,0.00,0.000,1030,0.000,0.023,2929,2070,3061,3137,2985,0,0,0,0,0,0,26.44,26.39,26.46,8.33,40.86
$GC,1633,-0.94,-244.4,2929,2069,3137,2984,167.9,-0.2,163,1637,0.15,2.12,0.00,0.000,4612,0.079,0.039,2858,684,3061,3137,2985,0,0,0,0,0,0,26.39,26.32,26.41,8.32,40.58
$STATE,1710,end dive,NO_VERTICAL_VELOCITY
$STATE,1710,begin apogee
$GC,1719,-0.22,0.0,2858,2095,3137,2985,167.8,0.0,169,1920,0.60,0.00,194.50,0.744,10246,0.058,0.000,3092,2095,2064,2113,2015,0,0,0,0,0,0,26.33,24.82,24.29,8.33,40.39
$STATE,1923,end apogee,CONTROL_FINISHED_OK
$STATE,1923,begin climb
$GC,1926,0.81,244.4,3091,2094,2114,2014,167.8,0.0,190,2141,0.88,2.35,199.40,0.714,11012,0.054,0.041,3416,694,1066,1125,1007,0,0,0,0,0,0,24.94,24.47,24.10,8.25,38.69
$GC,2168,0.74,244.4,3415,694,1124,1007,149.5,12.5,214,2174,0.00,2.15,0.00,0.000,1030,0.000,0.024,3416,2079,1065,1124,1007,0,0,0,0,0,0,25.10,25.05,25.12,8.18,37.75
$GC,2355,0.67,244.4,3415,2079,1124,1006,125.7,12.1,233,2364,0.12,2.20,0.00,0.000,4612,0.140,0.041,3374,692,1065,1124,1006,0,0,0,0,0,0,25.52,25.60,25.59,8.17,39.44
$GC,2407,0.67,244.4,3374,693,1124,1006,120.3,9.7,238,2412,0.00,2.10,0.00,0.000,1030,0.000,0.024,3375,2085,1065,1124,1006,0,0,0,0,0,0,25.80,25.74,25.82,8.18,39.88
$GC,2600,0.67,244.4,3374,2086,1124,1006,101.6,9.6,257,2605,0.00,2.22,0.00,0.000,516,0.000,0.042,3375,683,1064,1124,1005,0,0,0,0,0,0,26.24,25.91,26.25,8.18,39.40
$GC,2653,0.67,244.4,3374,683,1124,1006,96.3,9.8,262,2662,0.00,2.10,0.00,0.000,1030,0.000,0.025,3375,2084,1064,1124,1005,0,0,0,0,0,0,26.08,26.01,26.09,8.18,39.64
$GC,2783,0.67,244.4,3374,2084,1124,1005,83.5,9.6,275,2788,0.00,2.20,0.00,0.000,516,0.000,0.042,3375,690,1064,1124,1005,0,0,0,0,0,0,26.36,26.04,26.39,8.18,40.19
$GC,2809,0.67,244.4,3374,690,1124,1006,81.4,9.7,277,2816,0.00,2.08,0.00,0.000,1030,0.000,0.024,3375,2090,1065,1124,1006,0,0,0,0,0,0,26.17,26.12,26.20,8.17,40.11
$GC,2936,0.67,244.4,3374,2090,1124,1006,69.0,9.4,290,2945,0.00,2.20,0.00,0.000,516,0.000,0.043,3375,686,1065,1124,1006,0,0,0,0,0,0,26.45,26.11,26.46,8.18,39.99
$GC,2981,0.67,244.4,3374,686,1123,1006,65.1,9.3,294,2987,0.00,2.08,0.00,0.000,1030,0.000,0.025,3374,2087,1065,1124,1006,0,0,0,0,0,0,26.26,26.20,26.27,8.17,39.64
$GC,3108,0.67,244.4,3374,2087,1124,1006,53.3,8.8,307,3112,0.00,2.20,0.00,0.000,516,0.000,0.042,3375,687,1065,1124,1006,0,0,0,0,0,0,26.52,26.18,26.52,8.18,40.03
$GC,3141,0.67,244.4,3374,687,1124,1006,50.3,8.9,310,3149,0.00,2.08,0.00,0.000,1030,0.000,0.025,3375,2088,1065,1124,1006,0,0,0,0,0,0,26.32,26.25,26.33,8.17,39.80
$GC,3271,0.67,244.4,3374,2088,1124,1006,38.6,8.9,323,3275,0.00,2.17,0.00,0.000,516,0.000,0.042,3375,688,1065,1124,1006,0,0,0,0,0,0,26.55,26.22,26.56,8.17,39.72
$GC,3326,0.67,244.4,3374,688,1124,1006,34.2,8.4,328,3333,0.00,2.05,0.00,0.000,1030,0.000,0.024,3375,2084,1065,1124,1006,0,0,0,0,0,0,26.36,26.30,26.38,8.17,40.43
$GC,3457,0.67,244.4,3374,2086,1124,1006,23.3,8.1,341,3461,0.00,2.12,0.00,0.000,260,0.000,0.038,3375,3472,1065,1124,1006,0,0,0,0,0,0,26.58,26.26,26.58,8.16,40.39
$GC,3474,0.75,321.5,3374,3472,1124,1006,22.0,7.9,342,3527,0.00,2.05,41.17,0.588,9222,0.000,0.023,3375,2076,751,805,698,0,0,0,0,0,0,26.39,26.32,25.20,8.17,40.07
$GC,3623,1.07,540.5,3374,2076,805,696,13.9,3.9,359,3682,0.25,2.25,47.62,0.542,10756,0.049,0.044,3523,692,371,365,377,0,0,0,0,0,0,26.00,25.43,24.93,8.14,39.95
$GC,3739,1.46,811.8,3522,692,365,375,6.9,2.5,372,3750,0.20,2.10,0.00,0.000,3078,0.066,0.024,3619,2094,369,364,374,0,0,0,0,0,0,25.69,25.71,25.75,8.11,39.56
$GC,3841,1.97,1165.0,3618,2094,366,373,6.9,0.2,385,3852,0.35,2.22,0.00,0.000,2564,0.049,0.041,3786,690,369,365,373,0,0,0,0,0,0,25.88,25.80,25.91,8.10,39.36
$STATE,3868,end climb,NO_VERTICAL_VELOCITY
$STATE,3868,begin surface
$SM_CCo,4199,0.00,0.000,0,0,367,416.52
$SM_GC,8.03,9.68,2.12,0.00,0.050,0.024,0.000,212,2081,367,-9.14,-1.89,416.52,0,0,0,0,0,0,26.03,26.11,26.10
$IRIDIUM_FIX,4739.20,-12253.53,100218,182126
$TT8_MAMPS,0.026215,0.280126
$HUMID,39.32
$INTERNAL_PRESSURE,8.04943
$TCM_TEMP,10.30
$XPDR_PINGS,12
$ALTIM_TOP_PING,19.5,999.0
$24V_AH,24.10,17.307
$10V_AH,10.24,7.096
$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,23.350,76.875,482.700,0.000,0.000,0.000,0.000,235.050,78.750,0.000,15.200,975.091,1407.762,548.160,1424.498,192.633,0.000,1326.015,0.000,718.499,0.000,781.617,0.000
$DEVICE_MAMPS,245.565,52.785,743.580,0.000,0.000,0.000,0.000,78.030,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,262.442,512.993,518.004,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312292
$DATA_FILE_SIZE,27942,388
$CAP_FILE_SIZE,94059,0
$CFSIZE,2097872896,2070970368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.036,267.73,1
$GPS,100218,203912,4737.724,-12255.647,5,0.8,17,16.4,0.0,0.0,10,4.8