version: 66.14
glider: 194
mission: 12
dive: 284
start: 2 13 118 5 10 47
data:
$ID,194
$MISSION,12
$DIVE,284
$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,43
$R_STBD_OVSHOOT,65
$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
$GPS1,130218,050457,4737.8047,-12255.3496,8,1.0,17,16.4,0.0,0.0,9,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,10.10
$_SM_ANGLEo,-72.1
$GPS2,130218,051000,4737.7993,-12255.3535,6,1.0,19,16.4,0.0,156.4,9,4.8
$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,32.8,908,-20.7,-10.000,-23.93,1632
$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,-1.01,-107.3,210,2103,364,370,0.0,0.0,0,17,0.00,0.00,-6.28,0.000,16386,0.000,0.000,209,2103,542,534,550,0,0,0,0,0,0,26.34,28.83,26.35,8.06,39.91
$GC,20,-1.01,-107.3,210,2103,534,551,10.1,0.0,1,117,10.45,2.25,-75.65,0.000,18948,0.233,0.051,2827,679,2504,2549,2460,0,0,0,0,0,0,25.65,24.51,25.93,8.08,39.88
$GC,157,-0.89,-107.3,2827,679,2549,2460,22.0,-24.9,23,164,0.12,2.08,0.00,0.000,3078,0.177,0.026,2864,2067,2504,2549,2460,0,0,0,0,0,0,25.84,26.09,26.02,8.25,38.81
$GC,283,-0.89,-107.3,2863,2066,2549,2460,42.3,-13.3,36,284,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2066,2504,2549,2459,0,0,0,0,0,0,26.46,26.47,26.47,8.25,39.91
$GC,403,-0.89,-107.3,2863,2066,2549,2459,57.6,-12.5,48,407,0.00,2.20,0.00,0.000,260,0.000,0.042,2864,3482,2503,2549,2458,0,0,0,0,0,0,26.51,26.15,26.53,8.25,40.27
$GC,465,-0.89,-107.3,2863,3482,2549,2459,65.5,-12.9,54,470,0.00,2.10,0.00,0.000,1030,0.000,0.023,2864,2062,2503,2549,2458,0,0,0,0,0,0,26.32,26.25,26.34,8.25,40.51
$GC,598,-0.89,-107.3,2864,2062,2549,2457,81.6,-12.0,67,602,0.00,2.10,0.00,0.000,516,0.000,0.040,2864,691,2503,2549,2457,0,0,0,0,0,0,26.58,26.23,26.59,8.27,40.31
$GC,680,-0.89,-107.3,2863,690,2549,2457,92.1,-12.6,75,684,0.00,2.08,0.00,0.000,1030,0.000,0.026,2864,2093,2503,2549,2457,0,0,0,0,0,0,26.36,26.29,26.39,8.27,40.74
$GC,812,-0.89,-107.3,2864,2094,2549,2457,107.4,-11.5,88,816,0.00,2.12,0.00,0.000,260,0.000,0.042,2864,3482,2503,2549,2457,0,0,0,0,0,0,26.63,26.25,26.64,8.28,41.10
$GC,854,-0.89,-107.3,2864,3482,2549,2457,112.2,-11.4,92,859,0.00,2.08,0.00,0.000,1030,0.000,0.023,2864,2071,2503,2549,2457,0,0,0,0,0,0,26.41,26.35,26.44,8.28,40.90
$GC,1047,-0.89,-107.3,2864,2071,2549,2456,133.2,-11.1,111,1048,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2071,2502,2549,2456,0,0,0,0,0,0,26.67,26.68,26.68,8.28,40.66
$GC,1227,-0.89,-107.3,2863,2071,2549,2457,152.3,-10.7,129,1236,0.00,2.17,0.00,0.000,260,0.000,0.041,2864,3477,2502,2549,2456,0,0,0,0,0,0,26.70,26.34,26.71,8.29,41.14
$GC,1263,-0.89,-107.3,2864,3477,2549,2456,155.6,-10.4,132,1269,0.00,2.03,0.00,0.000,1030,0.000,0.022,2864,2081,2503,2549,2457,0,0,0,0,0,0,26.48,26.42,26.51,8.28,40.86
$GC,1450,-1.23,-244.4,2863,2081,2549,2457,172.6,-0.7,151,1455,0.20,2.12,0.00,0.000,4612,0.057,0.037,2753,685,2502,2549,2456,0,0,0,0,0,0,26.48,26.38,26.50,8.29,40.90
$STATE,1572,end dive,NO_VERTICAL_VELOCITY
$STATE,1572,begin apogee
$GC,1581,-0.22,0.0,2753,2087,2549,2457,172.6,0.0,163,1676,0.90,0.00,90.93,0.766,10246,0.086,0.000,3077,2087,2064,2111,2017,0,0,0,0,0,0,26.27,25.15,24.58,8.29,40.23
$STATE,1677,end apogee,CONTROL_FINISHED_OK
$STATE,1677,begin climb
$GC,1680,1.14,244.4,3077,2088,2111,2018,172.6,0.0,173,1888,1.20,0.00,200.40,0.734,10502,0.077,0.000,3498,2088,1066,1123,1010,0,0,0,0,0,0,25.21,24.68,24.17,8.26,39.68
$GC,2067,1.14,244.4,3498,2088,1123,1007,120.6,17.9,212,2075,0.00,2.20,0.00,0.000,516,0.000,0.041,3499,697,1065,1123,1007,0,0,0,0,0,0,25.87,25.56,25.88,8.18,39.40
$GC,2141,1.14,244.4,3498,697,1123,1007,107.8,17.9,219,2148,0.00,2.08,0.00,0.000,1030,0.000,0.024,3499,2081,1065,1123,1007,0,0,0,0,0,0,25.82,25.75,25.83,8.18,39.91
$GC,2329,1.14,244.4,3498,2081,1123,1007,74.4,17.0,238,2338,0.00,2.17,0.00,0.000,516,0.000,0.041,3509,694,1065,1123,1007,0,0,0,0,0,0,26.25,25.91,26.25,8.18,39.60
$GC,2404,1.14,244.4,3508,694,1123,1007,61.1,18.3,245,2410,0.00,2.05,0.00,0.000,1030,0.000,0.025,3509,2082,1065,1123,1007,0,0,0,0,0,0,26.10,26.03,26.12,8.18,40.51
$GC,2531,1.14,244.4,3508,2082,1123,1007,39.0,17.0,258,2541,0.00,2.20,0.00,0.000,516,0.000,0.041,3513,686,1065,1123,1007,0,0,0,0,0,0,26.39,26.06,26.40,8.18,40.19
$GC,2585,1.14,244.4,3512,686,1123,1007,29.9,17.2,263,2588,0.00,2.08,0.00,0.000,1030,0.000,0.025,3513,2092,1065,1123,1007,0,0,0,0,0,0,26.20,26.14,26.22,8.18,40.74
$GC,2714,1.14,244.4,3513,2092,1123,1007,15.4,8.4,281,2722,0.00,2.12,0.00,0.000,260,0.000,0.038,3513,3482,1065,1123,1007,0,0,0,0,0,0,26.48,26.15,26.48,8.17,40.39
$GC,2780,1.22,319.8,3513,3482,1123,1007,11.5,5.3,293,2824,0.00,2.05,37.80,0.521,9222,0.000,0.023,3522,2085,759,811,707,0,0,0,0,0,0,26.29,26.23,25.22,8.17,39.76
$GC,2890,1.68,473.6,3522,2085,811,706,9.0,0.4,312,2944,0.38,2.28,47.53,0.512,10756,0.044,0.041,3702,691,371,368,375,0,0,0,0,0,0,25.98,25.44,24.94,8.14,39.25
$STATE,2964,end climb,NO_VERTICAL_VELOCITY
$STATE,2965,begin surface
$SM_CCo,3295,0.00,0.000,0,0,368,416.27
$SM_GC,10.47,9.38,2.15,0.00,0.043,0.024,0.000,205,2094,368,-9.15,-1.58,416.27,0,0,0,0,0,0,25.94,26.01,26.01
$IRIDIUM_FIX,4738.33,-12256.21,130218,034735
$TT8_MAMPS,0.026215,0.305592
$HUMID,39.91
$INTERNAL_PRESSURE,8.04943
$TCM_TEMP,9.90
$XPDR_PINGS,4
$ALTIM_TOP_PING,20.0,10.5
$ALTIM_BOTTOM_PING,100.5,93.1
$24V_AH,24.17,21.493
$10V_AH,10.24,8.949
$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,22.625,46.825,376.650,0.000,0.000,0.000,0.000,199.775,1.750,0.000,20.358,811.878,1450.265,433.189,803.522,128.459,0.000,1034.047,0.000,599.831,0.000,7.305,0.000
$DEVICE_MAMPS,233.325,51.255,765.765,0.000,0.000,0.000,0.000,81.855,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,220.002,429.761,433.966,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312144
$DATA_FILE_SIZE,21064,325
$CAP_FILE_SIZE,53117,0
$CFSIZE,2097872896,2062778368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.032,184.74,1
$GPS,130218,060702,4737.959,-12254.915,8,0.9,39,16.4,0.0,0.0,9,4.7