version: 66.14
glider: 194
mission: 12
dive: 416
start: 2 19 118 18 49 42
data:
$ID,194
$MISSION,12
$DIVE,416
$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,49
$R_STBD_OVSHOOT,53
$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
$GPS1,190218,184422,4738.5645,-12253.4111,5,0.9,15,16.4,0.9,217.1,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,13.36
$_SM_ANGLEo,-62.2
$GPS2,190218,184904,4738.5205,-12253.4395,8,0.9,21,16.4,0.0,217.7,9,5.0
$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,348.7,255,-27.2,-10.000,-30.00,962
$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,6,begin dive
$GC,9,-1.25,-63.1,214,2082,345,388,0.0,0.0,0,17,0.00,0.00,-5.70,0.000,16386,0.000,0.000,214,2082,521,504,539,0,0,0,0,0,0,26.30,28.83,26.32,8.06,39.84
$GC,20,-1.25,-63.1,214,2082,505,539,13.4,0.0,1,122,9.73,2.22,-81.20,0.000,18692,0.213,0.055,2750,3478,2324,2359,2290,0,0,0,0,0,0,25.57,24.22,25.83,8.07,40.19
$GC,181,-1.06,-63.1,2749,3479,2359,2290,27.2,-21.8,26,187,0.20,2.10,0.00,0.000,3078,0.186,0.023,2806,2074,2324,2359,2290,0,0,0,0,0,0,25.58,26.07,25.83,8.23,39.68
$GC,315,-1.00,-63.1,2805,2073,2359,2287,52.8,-17.5,39,324,0.00,2.17,0.00,0.000,260,0.000,0.041,2806,3468,2323,2359,2287,0,0,0,0,0,0,26.46,26.03,26.46,8.23,40.62
$GC,469,-0.94,-63.1,2805,3468,2359,2285,77.7,-15.5,54,475,0.15,2.08,0.00,0.000,3078,0.184,0.023,2849,2065,2322,2359,2285,0,0,0,0,0,0,25.75,26.20,25.97,8.24,40.82
$GC,603,-0.94,-63.1,2848,2064,2360,2284,95.3,-12.1,67,612,0.00,2.12,0.00,0.000,516,0.000,0.037,2849,690,2321,2360,2283,0,0,0,0,0,0,26.56,26.16,26.57,8.24,41.17
$GC,687,-0.94,-63.1,2848,690,2359,2282,107.5,-14.4,75,696,0.00,2.08,0.00,0.000,1030,0.000,0.026,2849,2083,2320,2359,2281,0,0,0,0,0,0,26.31,26.22,26.33,8.25,41.14
$GC,878,-0.94,-63.1,2848,2083,2359,2281,132.6,-13.0,94,886,0.00,2.15,0.00,0.000,260,0.000,0.042,2849,3481,2320,2360,2281,0,0,0,0,0,0,26.63,26.17,26.63,8.26,41.84
$GC,942,-0.94,-63.1,2848,3481,2360,2281,140.4,-12.7,100,949,0.00,2.05,0.00,0.000,1030,0.000,0.022,2849,2076,2320,2360,2281,0,0,0,0,0,0,26.38,26.31,26.40,8.26,41.65
$GC,1130,-0.94,-63.1,2848,2076,2360,2280,164.7,-12.8,119,1131,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,2076,2319,2359,2280,0,0,0,0,0,0,26.67,26.68,26.67,8.27,41.29
$STATE,1147,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1147,begin apogee
$GC,1153,-0.22,0.0,2849,2076,2360,2280,167.2,-12.8,121,1213,0.70,0.00,55.47,0.763,10246,0.152,0.000,3072,2075,2064,2105,2024,0,0,0,0,0,0,25.79,25.43,24.78,8.27,41.84
$STATE,1214,end apogee,CONTROL_FINISHED_OK
$STATE,1214,begin climb
$GC,1216,1.25,63.1,3072,2075,2106,2023,170.7,0.0,127,1279,1.27,0.00,55.88,0.745,10502,0.078,0.000,3529,2075,1806,1854,1758,0,0,0,0,0,0,25.49,24.97,24.37,8.25,41.14
$GC,1460,1.25,63.1,3528,2075,1851,1757,152.9,10.5,152,1461,0.00,0.00,0.00,0.000,6,0.000,0.000,3529,2075,1804,1851,1757,0,0,0,0,0,0,26.05,26.06,26.06,8.23,40.94
$GC,1640,1.25,63.1,3528,2075,1851,1756,134.7,9.6,170,1641,0.00,0.00,0.00,0.000,6,0.000,0.000,3529,2075,1803,1851,1756,0,0,0,0,0,0,26.27,26.28,26.28,8.23,41.41
$GC,1820,1.25,63.1,3528,2075,1851,1756,116.2,10.6,188,1829,0.00,2.20,0.00,0.000,260,0.000,0.038,3529,3485,1803,1851,1755,0,0,0,0,0,0,26.40,26.01,26.41,8.23,41.06
$GC,1902,1.25,63.1,3528,3485,1851,1755,107.2,11.3,196,1911,0.00,2.05,0.00,0.000,1030,0.000,0.022,3541,2083,1803,1851,1755,0,0,0,0,0,0,26.20,26.13,26.22,8.23,41.02
$GC,2092,1.25,63.1,3539,2083,1851,1755,88.1,10.0,215,2101,0.00,2.15,0.00,0.000,516,0.000,0.038,3549,692,1802,1850,1755,0,0,0,0,0,0,26.52,26.13,26.53,8.23,41.17
$GC,2154,1.25,63.1,3549,693,1850,1755,81.4,11.3,221,2158,0.00,2.05,0.00,0.000,1030,0.000,0.025,3549,2087,1802,1850,1755,0,0,0,0,0,0,26.28,26.20,26.30,8.23,41.17
$GC,2286,1.25,63.1,3549,2087,1850,1755,68.1,9.4,234,2291,0.00,2.15,0.00,0.000,516,0.000,0.038,3559,690,1802,1850,1755,0,0,0,0,0,0,26.58,26.17,26.58,8.23,41.02
$GC,2362,1.25,63.1,3558,690,1850,1755,61.3,9.4,241,2368,0.00,2.05,0.00,0.000,1030,0.000,0.025,3559,2083,1802,1850,1755,0,0,0,0,0,0,26.33,26.26,26.35,8.23,40.90
$GC,2489,1.25,63.1,3558,2083,1850,1755,49.0,9.2,254,2493,0.00,2.12,0.00,0.000,260,0.000,0.037,3559,3478,1802,1850,1755,0,0,0,0,0,0,26.63,26.20,26.63,8.23,40.74
$GC,2554,1.25,63.1,3558,3478,1850,1755,43.8,8.2,260,2561,0.00,2.05,0.00,0.000,1030,0.000,0.021,3569,2073,1802,1850,1755,0,0,0,0,0,0,26.39,26.32,26.40,8.23,41.33
$GC,2682,1.34,159.6,3569,2073,1850,1755,41.6,-0.3,273,2755,0.00,2.22,67.22,0.671,8452,0.000,0.036,3569,3480,1413,1471,1355,0,0,0,0,0,0,26.66,25.22,24.82,8.23,40.66
$GC,3052,1.37,185.8,3569,3480,1471,1351,17.2,7.2,312,3072,0.00,2.08,12.98,0.509,9222,0.000,0.021,3580,2077,1305,1363,1247,0,0,0,0,0,0,26.07,26.01,25.10,8.17,40.47
$GC,3138,1.99,280.9,3580,2074,1362,1241,12.5,-0.1,327,3191,0.55,0.00,46.72,0.519,10502,0.058,0.000,3800,2074,915,968,863,0,0,0,0,0,0,25.89,25.39,24.89,8.16,40.31
$STATE,3242,end climb,NO_VERTICAL_VELOCITY
$STATE,3242,begin surface
$SM_CCo,3246,67.68,0.516,0,0,374,414.56
$SM_GC,13.42,9.80,0.00,0.00,0.050,0.000,0.000,207,2076,369,-9.14,-0.17,416.03,0,0,0,0,0,0,25.80,26.17,25.88
$IRIDIUM_FIX,4740.06,-12250.84,190218,174508
$TT8_MAMPS,0.026215,0.279377
$HUMID,40.43
$INTERNAL_PRESSURE,8.0299
$TCM_TEMP,10.30
$XPDR_PINGS,14
$ALTIM_TOP_PING,19.4,6.4
$ALTIM_BOTTOM_PING,131.2,45.7
$24V_AH,24.22,33.416
$10V_AH,10.22,13.047
$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,22.400,38.100,238.275,67.675,0.000,0.000,0.000,180.050,6.000,0.000,22.557,909.339,1636.300,401.510,864.246,136.181,0.000,992.104,0.000,669.315,0.000,24.732,0.000
$DEVICE_MAMPS,213.435,55.080,762.705,515.610,0.000,0.000,0.000,80.325,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,236.466,458.173,462.648,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312160
$DATA_FILE_SIZE,24522,346
$CAP_FILE_SIZE,57353,0
$CFSIZE,2097872896,2049802240
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,2366.94,0x2139a2,1,24
$CURRENT,0.013,52.59,1
$GPS,190218,195122,4738.813,-12253.386,8,0.9,17,16.4,0.0,200.2,9,4.8