version: 66.14
glider: 194
mission: 12
dive: 426
start: 2 20 118 5 50 25
data:
$ID,194
$MISSION,12
$DIVE,426
$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,51
$R_STBD_OVSHOOT,62
$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
$GPS1,200218,054447,4738.0952,-12254.5361,5,0.8,15,16.4,0.3,0.0,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,13.68
$_SM_ANGLEo,-69.6
$GPS2,200218,054948,4738.0820,-12254.4854,6,0.9,19,16.4,0.3,0.0,9,4.7
$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,22.1,1711,-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,-244.4,211,2068,365,373,0.0,0.0,0,17,0.00,0.00,-5.88,0.000,16386,0.000,0.000,210,2069,528,520,536,0,0,0,0,0,0,26.29,28.83,26.29,8.06,40.27
$GC,20,-0.81,-244.4,210,2069,520,536,13.6,0.0,1,152,10.68,2.20,-110.65,0.000,18948,0.227,0.052,2886,684,3064,3142,2986,0,0,0,0,0,0,25.54,24.18,25.81,8.07,40.43
$GC,230,-0.62,-244.4,2885,684,3142,2987,33.4,-22.9,32,238,0.20,2.10,0.00,0.000,3078,0.144,0.028,2949,2075,3064,3142,2987,0,0,0,0,0,0,25.73,26.03,25.92,8.28,39.84
$GC,359,-0.55,-244.4,2949,2075,3142,2987,53.9,-14.6,45,367,0.00,2.20,0.00,0.000,260,0.000,0.045,2949,3483,3064,3142,2987,0,0,0,0,0,0,26.46,26.02,26.47,8.30,40.51
$GC,481,-0.50,-244.4,2949,3483,3142,2987,70.6,-13.2,57,490,0.10,2.05,0.00,0.000,3078,0.130,0.023,2984,2072,3064,3142,2987,0,0,0,0,0,0,25.94,26.20,26.01,8.30,41.10
$GC,610,-0.50,-244.4,2984,2071,3142,2987,85.5,-10.3,70,612,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2071,3064,3142,2987,0,0,0,0,0,0,26.55,26.56,26.56,8.31,42.04
$GC,730,-0.50,-244.4,2984,2071,3142,2987,98.1,-11.0,82,735,0.00,2.22,0.00,0.000,260,0.000,0.044,2985,3486,3064,3142,2987,0,0,0,0,0,0,26.59,26.13,26.60,8.32,41.17
$GC,810,-0.50,-244.4,2984,3486,3142,2987,105.6,-9.4,89,817,0.00,2.08,0.00,0.000,1030,0.000,0.023,2985,2074,3064,3141,2987,0,0,0,0,0,0,26.35,26.29,26.37,8.32,41.65
$GC,997,-0.50,-244.4,2984,2074,3142,2986,125.3,-10.6,108,1006,0.00,2.20,0.00,0.000,260,0.000,0.043,2985,3482,3064,3142,2987,0,0,0,0,0,0,26.65,26.19,26.65,8.32,42.16
$GC,1032,-0.50,-244.4,2984,3481,3143,2987,128.5,-10.0,111,1039,0.00,2.05,0.00,0.000,1030,0.000,0.022,2985,2080,3064,3142,2986,0,0,0,0,0,0,26.39,26.33,26.41,8.33,42.08
$GC,1219,-0.50,-244.4,2985,2078,3142,2987,147.4,-9.6,130,1224,0.00,2.20,0.00,0.000,260,0.000,0.043,2985,3489,3064,3142,2986,0,0,0,0,0,0,26.68,26.22,26.69,8.33,41.53
$GC,1252,-0.50,-244.4,2984,3488,3142,2987,150.3,-9.1,133,1261,0.00,2.05,0.00,0.000,1030,0.000,0.023,2986,2080,3064,3142,2987,0,0,0,0,0,0,26.43,26.36,26.44,8.33,42.00
$GC,1442,-0.50,-244.4,2984,2079,3142,2986,169.5,-10.4,152,1451,0.00,2.20,0.00,0.000,260,0.000,0.043,2985,3487,3064,3142,2986,0,0,0,0,0,0,26.72,26.24,26.72,8.33,42.12
$STATE,1633,end dive,NO_VERTICAL_VELOCITY
$STATE,1633,begin apogee
$GC,1641,-0.22,0.0,2985,2087,3142,2987,172.3,0.0,171,1844,0.25,0.00,194.25,0.747,10246,0.072,0.000,3089,2086,2064,2115,2013,0,0,0,0,0,0,26.31,24.77,24.18,8.34,42.12
$STATE,1847,end apogee,CONTROL_FINISHED_OK
$STATE,1847,begin climb
$GC,1850,0.81,244.4,3089,2086,2114,2013,172.4,0.0,192,2059,0.82,2.35,200.25,0.721,10756,0.058,0.041,3394,681,1066,1129,1003,0,0,0,0,0,0,24.96,24.49,23.91,8.26,39.36
$GC,2181,0.81,244.4,3393,681,1129,1006,153.2,8.0,225,2189,0.00,2.17,0.00,0.000,1030,0.000,0.024,3394,2103,1068,1129,1007,0,0,0,0,0,0,25.44,25.37,25.45,8.19,39.95
$GC,2369,0.89,323.9,3393,2103,1129,1006,138.2,7.8,244,2441,0.08,2.35,65.20,0.701,10756,0.103,0.040,3459,690,742,795,690,0,0,0,0,0,0,25.86,25.05,24.41,8.19,40.54
$GC,2526,0.89,323.9,3459,690,795,693,121.3,11.5,259,2533,0.00,2.12,0.00,0.000,1030,0.000,0.025,3459,2083,744,795,693,0,0,0,0,0,0,25.64,25.58,25.66,8.16,40.43
$GC,2715,0.89,323.9,3459,2083,795,693,99.7,11.5,278,2719,0.00,2.25,0.00,0.000,516,0.000,0.041,3459,683,744,795,693,0,0,0,0,0,0,26.19,25.83,26.20,8.16,40.11
$GC,2747,0.89,323.9,3458,683,795,692,96.0,11.5,281,2757,0.00,2.12,0.00,0.000,1030,0.000,0.025,3459,2087,743,794,693,0,0,0,0,0,0,25.99,25.93,26.01,8.16,40.35
$GC,2878,0.89,323.9,3458,2087,794,693,81.2,11.2,294,2881,0.00,2.15,0.00,0.000,260,0.000,0.039,3459,3477,743,795,692,0,0,0,0,0,0,26.34,25.96,26.34,8.15,40.35
$GC,2900,0.89,323.9,3459,3478,795,692,78.8,10.5,296,2909,0.00,2.08,0.00,0.000,1030,0.000,0.022,3465,2078,744,795,693,0,0,0,0,0,0,26.08,26.06,26.11,8.15,40.66
$GC,3030,0.89,323.9,3465,2077,795,692,63.8,11.3,309,3039,0.00,2.17,0.00,0.000,516,0.000,0.041,3471,687,744,795,693,0,0,0,0,0,0,26.42,26.04,26.43,8.15,40.66
$GC,3103,0.89,323.9,3470,687,795,692,55.2,11.9,316,3112,0.08,2.05,0.00,0.000,5126,0.117,0.025,3443,2085,743,795,692,0,0,0,0,0,0,25.98,26.14,26.03,8.15,40.51
$GC,3233,0.89,323.9,3443,2085,795,692,42.1,9.6,329,3242,0.00,2.20,0.00,0.000,516,0.000,0.041,3444,685,744,795,693,0,0,0,0,0,0,26.51,26.11,26.51,8.13,40.70
$GC,3278,0.89,323.9,3443,685,795,692,38.0,9.2,333,3286,0.00,2.08,0.00,0.000,1030,0.000,0.025,3444,2082,744,795,693,0,0,0,0,0,0,26.27,26.20,26.29,8.14,40.86
$GC,3407,1.05,431.0,3443,2082,795,693,28.7,7.0,346,3467,0.08,2.20,49.38,0.591,10500,0.106,0.038,3522,3469,372,369,375,0,0,0,0,0,0,26.34,25.59,25.02,8.13,40.23
$GC,3493,1.05,431.0,3521,3469,370,375,19.6,12.1,354,3501,0.12,2.12,0.00,0.000,5126,0.129,0.023,3486,2095,372,370,374,0,0,0,0,0,0,25.60,25.78,25.75,8.10,39.64
$GC,3565,1.24,534.2,3486,2094,370,374,12.8,7.1,367,3572,0.15,2.22,0.00,0.000,2564,0.075,0.037,3555,676,372,370,374,0,0,0,0,0,0,25.89,25.81,25.93,8.09,39.48
$STATE,3704,end climb,NO_VERTICAL_VELOCITY
$STATE,3705,begin surface
$SM_CCo,4035,0.00,0.000,0,0,369,415.78
$SM_GC,13.85,8.93,2.17,0.00,0.043,0.025,0.000,206,2091,369,-9.15,-1.53,415.78,0,0,0,0,0,0,26.06,26.15,26.15
$IRIDIUM_FIX,4739.67,-12257.95,200218,044302
$TT8_MAMPS,0.026215,0.280126
$HUMID,41.33
$INTERNAL_PRESSURE,8.0299
$TCM_TEMP,9.90
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.6,6.5
$ALTIM_BOTTOM_PING,100.6,89.4
$24V_AH,23.91,34.384
$10V_AH,10.18,13.340
$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,21.475,60.500,509.075,0.000,0.000,0.000,0.000,199.800,1.750,0.000,20.786,951.677,1678.088,593.365,985.881,148.563,0.000,1315.336,0.000,778.415,0.000,10.448,0.000
$DEVICE_MAMPS,227.205,52.020,746.640,0.000,0.000,0.000,0.000,78.795,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,266.030,520.600,525.747,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312176
$DATA_FILE_SIZE,27939,394
$CAP_FILE_SIZE,64381,0
$CFSIZE,2097872896,2048819200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.101,82.85,1
$GPS,200218,065850,4738.382,-12253.571,5,0.9,29,16.4,0.4,90.9,8,5.0