version: 66.14
glider: 194
mission: 12
dive: 256
start: 2 11 118 19 44 53
data:
$ID,194
$MISSION,12
$DIVE,256
$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,39
$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
$GPS1,110218,193708,4738.2173,-12254.3008,4,0.8,14,16.4,0.0,236.2,10,4.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,8.97
$_SM_ANGLEo,-70.1
$GPS2,110218,194416,4738.2056,-12254.3594,6,0.8,16,16.4,0.0,0.0,10,4.7
$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,42.7,1448,-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,9,-0.81,-244.4,204,2083,366,369,0.0,0.0,0,17,0.00,0.00,-5.93,0.000,16386,0.000,0.000,204,2084,532,524,540,0,0,0,0,0,0,26.34,28.83,26.34,8.06,39.76
$GC,20,-0.81,-244.4,204,2084,523,540,9.1,0.0,1,134,10.82,2.22,-91.93,0.000,19204,0.238,0.057,2887,3486,3064,3141,2987,0,0,0,0,0,0,25.59,24.55,25.91,8.08,39.95
$GC,173,-0.71,-244.4,2886,3487,3141,2988,23.6,-17.6,25,183,0.10,2.10,0.00,0.000,3078,0.155,0.024,2920,2073,3064,3141,2988,0,0,0,0,0,0,25.91,26.11,26.06,8.29,39.28
$GC,303,-0.71,-244.4,2919,2072,3141,2988,41.7,-13.4,38,304,0.00,0.00,0.00,0.000,6,0.000,0.000,2920,2072,3064,3141,2988,0,0,0,0,0,0,26.46,26.47,26.47,8.29,39.40
$GC,423,-0.71,-244.4,2920,2072,3141,2988,56.5,-12.1,50,427,0.00,2.15,0.00,0.000,516,0.000,0.040,2920,678,3064,3141,2988,0,0,0,0,0,0,26.51,26.17,26.52,8.30,40.43
$GC,448,-0.71,-244.4,2920,678,3141,2988,59.3,-12.0,52,455,0.00,2.08,0.00,0.000,1030,0.000,0.026,2920,2068,3064,3141,2988,0,0,0,0,0,0,26.29,26.22,26.32,8.30,40.19
$GC,576,-0.71,-244.4,2920,2068,3141,2988,73.7,-10.9,65,584,0.00,2.20,0.00,0.000,260,0.000,0.043,2920,3485,3064,3141,2988,0,0,0,0,0,0,26.56,26.20,26.57,8.30,40.31
$GC,630,-0.71,-244.4,2920,3485,3141,2988,79.3,-10.7,70,637,0.00,2.08,0.00,0.000,1030,0.000,0.023,2920,2075,3064,3141,2988,0,0,0,0,0,0,26.36,26.29,26.38,8.31,40.78
$GC,757,-0.71,-244.4,2920,2074,3141,2988,93.5,-10.2,83,759,0.00,0.00,0.00,0.000,6,0.000,0.000,2920,2074,3064,3141,2988,0,0,0,0,0,0,26.61,26.62,26.62,8.31,40.62
$GC,878,-0.71,-244.4,2920,2074,3141,2988,106.3,-10.6,95,879,0.00,0.00,0.00,0.000,6,0.000,0.000,2920,2074,3064,3141,2988,0,0,0,0,0,0,26.64,26.65,26.65,8.32,40.98
$GC,1058,-0.71,-244.4,2920,2074,3141,2988,124.3,-9.9,113,1062,0.00,2.17,0.00,0.000,260,0.000,0.042,2920,3480,3064,3141,2988,0,0,0,0,0,0,26.67,26.31,26.68,8.33,40.11
$GC,1100,-0.71,-244.4,2920,3480,3141,2988,128.2,-9.3,117,1104,0.00,2.08,0.00,0.000,1030,0.000,0.023,2920,2073,3064,3141,2988,0,0,0,0,0,0,26.46,26.39,26.48,8.32,40.66
$GC,1292,-0.71,-244.4,2920,2073,3141,2988,147.1,-9.9,136,1297,0.00,2.15,0.00,0.000,516,0.000,0.040,2920,679,3064,3141,2988,0,0,0,0,0,0,26.72,26.36,26.72,8.33,40.11
$GC,1325,-0.71,-244.4,2920,679,3141,2988,150.4,-10.2,139,1334,0.00,2.10,0.00,0.000,1030,0.000,0.026,2920,2096,3064,3141,2988,0,0,0,0,0,0,26.48,26.40,26.50,8.33,41.10
$STATE,1503,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1503,begin apogee
$GC,1509,-0.22,0.0,2920,2096,3141,2988,168.1,-9.9,157,1714,0.43,0.00,196.55,0.753,10246,0.110,0.000,3077,2096,2064,2114,2014,0,0,0,0,0,0,26.23,24.65,24.27,8.33,41.06
$STATE,1715,end apogee,CONTROL_FINISHED_OK
$STATE,1716,begin climb
$GC,1718,0.81,244.4,3077,2096,2113,2014,173.5,0.0,178,1929,0.90,2.35,200.50,0.721,10756,0.083,0.041,3387,699,1067,1128,1006,0,0,0,0,0,0,24.94,24.59,24.06,8.25,39.21
$GC,1987,0.81,244.4,3387,699,1128,1006,154.1,11.0,205,1997,0.00,2.15,0.00,0.000,1030,0.000,0.024,3388,2085,1067,1128,1006,0,0,0,0,0,0,25.22,25.16,25.24,8.19,38.06
$GC,2177,0.81,244.4,3387,2085,1127,1005,133.7,10.6,224,2186,0.00,2.20,0.00,0.000,516,0.000,0.041,3388,689,1066,1127,1005,0,0,0,0,0,0,25.95,25.63,25.96,8.17,39.68
$GC,2270,0.81,244.4,3387,689,1128,1005,123.9,10.5,233,2279,0.00,2.08,0.00,0.000,1030,0.000,0.024,3388,2080,1066,1127,1005,0,0,0,0,0,0,25.86,25.83,25.89,8.19,39.09
$GC,2460,0.81,244.4,3387,2080,1127,1005,103.7,10.2,252,2469,0.00,2.17,0.00,0.000,516,0.000,0.042,3388,687,1066,1127,1005,0,0,0,0,0,0,26.29,25.96,26.29,8.18,39.52
$GC,2515,0.81,244.4,3387,687,1128,1005,98.4,10.4,257,2523,0.00,2.10,0.00,0.000,1030,0.000,0.024,3388,2098,1066,1127,1005,0,0,0,0,0,0,26.12,26.06,26.13,8.18,39.48
$GC,2643,0.81,244.4,3387,2098,1127,1005,85.2,10.1,270,2651,0.00,2.20,0.00,0.000,516,0.000,0.042,3388,690,1066,1128,1005,0,0,0,0,0,0,26.40,26.07,26.41,8.18,39.28
$GC,2695,0.81,244.4,3387,690,1128,1006,80.0,9.9,275,2704,0.00,2.08,0.00,0.000,1030,0.000,0.025,3388,2085,1066,1127,1005,0,0,0,0,0,0,26.22,26.15,26.24,8.18,39.76
$GC,2825,0.81,244.4,3387,2085,1127,1005,67.0,9.8,288,2834,0.00,2.15,0.00,0.000,516,0.000,0.041,3388,688,1066,1127,1005,0,0,0,0,0,0,26.48,26.15,26.50,8.17,39.52
$GC,2887,0.81,244.4,3387,688,1127,1006,60.8,10.2,294,2896,0.00,2.05,0.00,0.000,1030,0.000,0.025,3388,2080,1067,1128,1006,0,0,0,0,0,0,26.27,26.24,26.29,8.16,39.60
$GC,3017,0.81,244.4,3387,2080,1127,1006,47.6,9.9,307,3027,0.00,2.17,0.00,0.000,516,0.000,0.042,3388,690,1066,1127,1006,0,0,0,0,0,0,26.55,26.21,26.56,8.16,39.48
$GC,3070,0.81,244.4,3387,690,1127,1006,42.6,9.5,312,3074,0.00,2.08,0.00,0.000,1030,0.000,0.025,3388,2096,1066,1127,1006,0,0,0,0,0,0,26.35,26.28,26.37,8.16,39.28
$GC,3202,0.81,244.4,3387,2096,1127,1006,30.7,8.4,325,3203,0.00,0.00,0.00,0.000,6,0.000,0.000,3388,2096,1066,1127,1006,0,0,0,0,0,0,26.60,26.61,26.60,8.16,39.84
$GC,3323,0.90,328.9,3387,2096,1127,1006,20.9,7.7,337,3374,0.08,2.28,44.80,0.580,10756,0.106,0.042,3457,691,721,773,669,0,0,0,0,0,0,26.41,25.74,25.21,8.16,39.68
$GC,3544,1.50,671.6,3456,690,769,670,8.0,0.5,377,3598,0.47,2.08,42.85,0.517,11270,0.067,0.026,3639,2071,371,371,371,0,0,0,0,0,0,25.97,26.02,25.03,8.11,39.40
$STATE,3645,end climb,NO_VERTICAL_VELOCITY
$STATE,3645,begin surface
$SM_CCo,3974,0.00,0.000,0,0,368,416.27
$SM_GC,9.22,9.15,0.00,0.00,0.041,0.000,0.000,205,2072,368,-9.14,-0.28,416.27,0,0,0,0,0,0,26.01,26.34,26.08
$IRIDIUM_FIX,4738.33,-12256.21,110218,182437
$TT8_MAMPS,0.026215,0.279377
$HUMID,40.23
$INTERNAL_PRESSURE,8.0299
$TCM_TEMP,10.00
$XPDR_PINGS,6
$ALTIM_TOP_PING,19.4,11.0
$ALTIM_BOTTOM_PING,100.9,76.6
$24V_AH,24.06,18.956
$10V_AH,10.26,7.986
$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,21.950,51.450,484.700,0.000,0.000,0.000,0.000,271.125,2.250,0.000,17.380,938.549,1800.103,556.018,989.644,137.792,0.000,1314.116,0.000,714.715,0.000,7.252,0.000
$DEVICE_MAMPS,237.915,56.610,752.760,0.000,0.000,0.000,0.000,81.855,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,267.025,522.052,527.434,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312188
$DATA_FILE_SIZE,28006,395
$CAP_FILE_SIZE,61308,0
$CFSIZE,2097872896,2065530880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.062,235.26,1
$GPS,110218,205205,4738.343,-12253.702,4,0.8,17,16.4,0.0,205.6,10,4.9