version: 66.14
glider: 194
mission: 12
dive: 441
start: 2 20 118 22 42 24
data:
$ID,194
$MISSION,12
$DIVE,441
$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,55
$R_STBD_OVSHOOT,37
$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
$GPS1,200218,223634,4738.0088,-12254.9160,5,0.9,13,16.4,0.0,0.0,9,4.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,13.92
$_SM_ANGLEo,-70.5
$GPS2,200218,224146,4738.0122,-12254.8574,6,0.9,13,16.4,0.0,0.0,9,4.7
$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,38.8,2163,-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,-244.4,212,2068,340,395,0.0,0.0,0,17,0.00,0.00,-6.47,0.000,16386,0.000,0.000,211,2068,543,519,568,0,0,0,0,0,0,26.27,28.83,26.28,8.06,40.23
$GC,20,-0.81,-244.4,212,2069,519,569,14.0,0.0,1,158,10.85,2.30,-115.68,0.000,18692,0.233,0.056,2888,3494,3062,3134,2991,0,0,0,0,0,0,25.48,24.15,25.77,8.07,40.54
$GC,168,-0.60,-244.4,2888,3494,3134,2991,17.8,-13.7,25,176,0.22,2.10,0.00,0.000,3078,0.145,0.024,2959,2087,3062,3134,2991,0,0,0,0,0,0,25.65,26.03,25.85,8.28,40.43
$GC,245,-0.51,-244.4,2958,2086,3134,2992,31.1,-17.3,33,249,0.00,2.17,0.00,0.000,516,0.000,0.039,2959,684,3063,3134,2992,0,0,0,0,0,0,26.40,25.99,26.41,8.28,40.03
$GC,278,-0.45,-244.4,2958,683,3134,2992,36.7,-16.7,36,287,0.12,2.12,0.00,0.000,3078,0.130,0.028,3003,2097,3063,3134,2992,0,0,0,0,0,0,25.81,26.06,25.89,8.29,40.39
$GC,408,-0.45,-244.4,3002,2098,3135,2992,51.9,-11.0,49,412,0.00,2.17,0.00,0.000,260,0.000,0.043,3003,3482,3063,3134,2992,0,0,0,0,0,0,26.48,26.03,26.48,8.30,40.86
$GC,553,-0.45,-244.4,3002,3483,3134,2992,65.9,-9.6,63,558,0.00,2.10,0.00,0.000,1030,0.000,0.023,3003,2070,3063,3134,2992,0,0,0,0,0,0,26.28,26.21,26.29,8.30,41.21
$GC,686,-0.45,-244.4,3002,2068,3134,2992,79.2,-9.5,76,694,0.00,2.12,0.00,0.000,516,0.000,0.039,3003,687,3063,3135,2992,0,0,0,0,0,0,26.58,26.15,26.58,8.30,41.84
$GC,730,-0.45,-244.4,3002,686,3134,2991,83.5,-10.3,80,737,0.00,2.10,0.00,0.000,1030,0.000,0.026,3003,2100,3063,3134,2992,0,0,0,0,0,0,26.29,26.20,26.32,8.31,41.49
$GC,858,-0.45,-244.4,3002,2100,3134,2992,95.5,-9.3,93,862,0.00,2.12,0.00,0.000,260,0.000,0.043,3003,3477,3063,3134,2992,0,0,0,0,0,0,26.61,26.14,26.62,8.31,41.61
$GC,946,-0.45,-244.4,3002,3477,3134,2991,102.9,-8.8,101,952,0.00,2.05,0.00,0.000,1030,0.000,0.023,3003,2078,3062,3134,2991,0,0,0,0,0,0,26.36,26.30,26.39,8.32,41.65
$GC,1134,-0.45,-244.4,3002,2078,3134,2992,121.0,-9.7,120,1141,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2078,3062,3134,2991,0,0,0,0,0,0,26.67,26.67,26.67,8.32,41.53
$GC,1322,-0.45,-244.4,3002,2078,3134,2992,138.8,-9.2,139,1332,0.00,2.17,0.00,0.000,260,0.000,0.043,3003,3471,3062,3134,2991,0,0,0,0,0,0,26.70,26.21,26.70,8.33,41.96
$GC,1405,-0.45,-244.4,3002,3471,3134,2991,146.1,-8.8,147,1415,0.00,2.05,0.00,0.000,1030,0.000,0.023,3003,2079,3062,3134,2991,0,0,0,0,0,0,26.44,26.37,26.46,8.34,41.25
$GC,1595,-0.45,-244.4,3002,2079,3134,2991,162.8,-9.0,166,1605,0.00,2.17,0.00,0.000,260,0.000,0.042,3003,3472,3063,3134,2992,0,0,0,0,0,0,26.72,26.24,26.74,8.34,41.61
$GC,1638,-0.45,-244.4,3002,3472,3134,2991,166.7,-9.0,170,1647,0.00,2.05,0.00,0.000,1030,0.000,0.023,3003,2077,3063,3134,2992,0,0,0,0,0,0,26.46,26.39,26.48,8.33,41.88
$GC,1830,-0.69,-244.4,3002,2077,3134,2992,172.2,-0.1,189,1837,0.12,0.00,0.00,0.000,4102,0.086,0.000,2939,2076,3062,3134,2991,0,0,0,0,0,0,26.44,26.47,26.46,8.33,41.33
$STATE,1855,end dive,NO_VERTICAL_VELOCITY
$STATE,1855,begin apogee
$GC,1862,-0.22,0.0,2939,2076,3134,2991,172.2,0.0,192,2067,0.38,0.00,197.60,0.754,10246,0.063,0.000,3088,2076,2063,2109,2018,0,0,0,0,0,0,26.29,24.56,24.16,8.34,41.57
$STATE,2070,end apogee,CONTROL_FINISHED_OK
$STATE,2070,begin climb
$GC,2073,0.81,244.4,3088,2076,2109,2018,172.2,0.0,213,2284,0.85,2.33,200.68,0.724,10500,0.060,0.037,3399,3479,1066,1126,1007,0,0,0,0,0,0,24.94,24.29,23.87,8.26,40.23
$GC,2327,0.81,244.4,3399,3479,1126,1006,159.2,8.1,238,2332,0.00,2.15,0.00,0.000,1030,0.000,0.022,3400,2092,1066,1126,1006,0,0,0,0,0,0,25.07,25.01,25.08,8.18,38.73
$GC,2521,0.89,318.7,3399,2092,1125,1006,144.0,7.9,257,2591,0.03,2.28,61.10,0.697,10756,0.237,0.041,3445,687,764,813,715,0,0,0,0,0,0,25.80,25.00,24.34,8.19,40.43
$GC,2684,0.89,318.7,3445,687,811,715,127.8,10.0,273,2688,0.00,2.15,0.00,0.000,1030,0.000,0.024,3445,2087,763,811,715,0,0,0,0,0,0,25.65,25.58,25.67,8.15,39.72
$GC,2877,0.89,318.7,3445,2088,811,715,107.5,10.5,292,2878,0.00,0.00,0.00,0.000,6,0.000,0.000,3445,2088,762,811,714,0,0,0,0,0,0,26.20,26.20,26.20,8.16,40.90
$GC,3057,0.89,318.7,3445,2087,811,714,88.7,10.6,310,3058,0.00,0.00,0.00,0.000,6,0.000,0.000,3445,2088,762,811,714,0,0,0,0,0,0,26.35,26.36,26.36,8.15,40.27
$GC,3177,0.89,318.7,3445,2087,811,714,76.7,10.0,322,3185,0.00,2.22,0.00,0.000,516,0.000,0.041,3445,679,762,811,714,0,0,0,0,0,0,26.42,26.03,26.43,8.15,40.58
$GC,3231,0.89,318.7,3445,679,811,714,71.7,9.9,327,3238,0.00,2.10,0.00,0.000,1030,0.000,0.025,3445,2088,763,811,715,0,0,0,0,0,0,26.20,26.13,26.22,8.14,40.43
$GC,3359,0.89,318.7,3444,2089,811,714,59.6,9.3,340,3367,0.00,2.20,0.00,0.000,516,0.000,0.041,3445,678,762,811,714,0,0,0,0,0,0,26.50,26.10,26.51,8.14,40.58
$GC,3394,0.89,318.7,3444,677,811,714,56.9,8.4,343,3400,0.00,2.10,0.00,0.000,1030,0.000,0.024,3445,2093,762,811,714,0,0,0,0,0,0,26.26,26.20,26.29,8.14,40.58
$GC,3521,0.89,318.7,3445,2093,811,714,44.7,9.6,356,3522,0.00,0.00,0.00,0.000,6,0.000,0.000,3445,2093,763,811,715,0,0,0,0,0,0,26.55,26.56,26.56,8.13,41.29
$GC,3641,1.00,431.1,3445,2093,811,714,34.9,6.9,368,3700,0.00,0.00,54.12,0.629,8966,0.000,0.000,3445,2093,373,362,384,0,0,0,0,0,0,26.58,25.48,24.92,8.13,40.98
$GC,3823,1.20,544.8,3444,2092,362,382,22.3,6.8,386,3830,0.17,0.00,0.00,0.000,2054,0.060,0.000,3559,2093,372,362,382,0,0,0,0,0,0,25.93,25.96,25.94,8.09,40.86
$GC,3953,1.78,912.2,3558,2094,362,380,13.0,-0.2,409,3961,0.38,2.22,0.00,0.000,2564,0.057,0.037,3720,683,371,362,380,0,0,0,0,0,0,25.97,25.91,26.00,8.09,40.11
$GC,3969,2.33,1261.4,3718,683,362,379,12.9,0.3,411,3977,0.40,2.10,0.00,0.000,3078,0.058,0.026,3884,2063,370,362,378,0,0,0,0,0,0,25.94,26.00,26.03,8.09,40.23
$GC,4042,2.91,1631.3,3884,2064,362,379,13.1,-0.3,424,4048,0.00,0.00,0.00,0.000,2054,0.000,0.000,3884,2064,370,362,379,0,0,0,0,0,0,26.38,26.38,26.38,8.09,40.51
$STATE,4052,end climb,NO_VERTICAL_VELOCITY
$STATE,4052,begin surface
$SM_CCo,4381,0.00,0.000,0,0,369,416.03
$SM_GC,13.94,9.85,0.00,0.00,0.047,0.000,0.000,211,2064,369,-9.13,-0.51,416.03,0,0,0,0,0,0,26.08,26.48,26.16
$IRIDIUM_FIX,4738.33,-12256.21,200218,213134
$TT8_MAMPS,0.026215,0.280126
$HUMID,41.49
$INTERNAL_PRESSURE,8.0299
$TCM_TEMP,9.90
$XPDR_PINGS,13
$ALTIM_TOP_PING,19.2,6.2
$ALTIM_BOTTOM_PING,110.3,99.0
$24V_AH,23.87,35.766
$10V_AH,10.20,13.775
$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,23.375,51.675,513.500,0.000,0.000,0.000,0.000,216.350,4.500,0.000,15.118,1025.898,1913.322,621.650,998.424,156.405,0.000,1357.852,0.000,776.610,0.000,13.686,0.000
$DEVICE_MAMPS,237.150,55.845,754.290,0.000,0.000,0.000,0.000,79.560,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,288.143,563.057,568.611,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312152
$DATA_FILE_SIZE,31508,426
$CAP_FILE_SIZE,67786,0
$CFSIZE,2097872896,2047311872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.049,218.37,1
$GPS,200218,235625,4738.115,-12254.220,5,0.8,19,16.4,0.2,0.0,10,4.8