version: 66.14
glider: 194
mission: 12
dive: 443
start: 2 21 118 1 11 46
data:
$ID,194
$MISSION,12
$DIVE,443
$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,52
$R_STBD_OVSHOOT,54
$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
$GPS1,210218,010603,4738.2544,-12253.9609,35,1.0,37,16.4,0.0,0.0,9,4.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,13.96
$_SM_ANGLEo,-67.2
$GPS2,210218,011109,4738.2500,-12253.9385,7,1.0,13,16.4,0.0,0.0,9,5.0
$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,25.2,1000,-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,-244.4,212,2064,362,372,0.0,0.0,0,17,0.00,0.00,-5.78,0.000,16386,0.000,0.000,212,2063,522,516,528,0,0,0,0,0,0,26.36,28.83,26.38,8.06,39.91
$GC,20,-0.81,-244.4,212,2063,516,528,14.0,0.0,1,162,10.70,2.22,-121.62,0.000,19204,0.227,0.057,2891,3480,3062,3142,2982,0,0,0,0,0,0,25.56,24.18,25.84,8.08,40.39
$GC,364,-0.67,-244.4,2891,3480,3142,2983,49.4,-18.3,49,375,0.12,2.08,0.00,0.000,3078,0.142,0.024,2933,2075,3062,3141,2983,0,0,0,0,0,0,25.84,26.19,25.94,8.29,41.14
$GC,494,-0.58,-244.4,2932,2075,3142,2983,70.4,-15.7,62,503,0.10,2.12,0.00,0.000,2564,0.162,0.037,2969,693,3062,3142,2983,0,0,0,0,0,0,26.06,26.14,26.11,8.30,41.25
$GC,670,-0.58,-244.4,2968,693,3142,2983,92.1,-11.6,79,678,0.00,2.08,0.00,0.000,1030,0.000,0.027,2969,2086,3062,3141,2983,0,0,0,0,0,0,26.30,26.22,26.34,8.31,42.00
$GC,797,-0.58,-244.4,2968,2086,3142,2983,107.4,-11.8,92,801,0.00,2.15,0.00,0.000,260,0.000,0.044,2969,3476,3062,3142,2983,0,0,0,0,0,0,26.63,26.15,26.64,8.30,40.98
$GC,875,-0.58,-244.4,2968,3476,3142,2983,115.8,-10.4,99,882,0.00,2.05,0.00,0.000,1030,0.000,0.023,2969,2079,3062,3141,2983,0,0,0,0,0,0,26.37,26.31,26.39,8.31,41.33
$GC,1062,-0.58,-244.4,2968,2078,3142,2983,136.5,-11.1,118,1072,0.00,2.20,0.00,0.000,260,0.000,0.043,2969,3484,3062,3142,2983,0,0,0,0,0,0,26.67,26.19,26.69,8.32,41.45
$GC,1165,-0.58,-244.4,2968,3484,3142,2983,147.0,-10.4,128,1169,0.00,2.05,0.00,0.000,1030,0.000,0.023,2969,2081,3062,3142,2983,0,0,0,0,0,0,26.42,26.35,26.44,8.33,41.77
$GC,1357,-0.58,-244.4,2968,2081,3142,2983,167.6,-10.8,147,1361,0.00,2.17,0.00,0.000,260,0.000,0.042,2969,3484,3062,3141,2983,0,0,0,0,0,0,26.72,26.22,26.72,8.33,41.80
$GC,1402,-0.58,-244.4,2968,3484,3142,2983,171.9,-10.3,151,1410,0.00,2.05,0.00,0.000,1030,0.000,0.023,2969,2081,3062,3142,2983,0,0,0,0,0,0,26.44,26.37,26.46,8.33,41.96
$GC,1590,-0.81,-244.4,2968,2081,3142,2983,179.7,-0.1,170,1592,0.15,0.00,0.00,0.000,4102,0.075,0.000,2897,2081,3062,3142,2982,0,0,0,0,0,0,26.44,26.50,26.48,8.33,41.14
$STATE,1627,end dive,NO_VERTICAL_VELOCITY
$STATE,1627,begin apogee
$GC,1634,-0.22,0.0,2896,2080,3142,2983,179.6,0.0,174,1839,0.50,0.00,198.15,0.768,10246,0.064,0.000,3090,2080,2064,2112,2016,0,0,0,0,0,0,26.25,24.54,24.12,8.33,42.12
$STATE,1842,end apogee,CONTROL_FINISHED_OK
$STATE,1842,begin climb
$GC,1845,0.81,244.4,3089,2080,2111,2015,179.6,0.0,195,2051,0.90,0.00,201.62,0.737,10246,0.092,0.000,3389,2080,1067,1129,1005,0,0,0,0,0,0,24.88,24.40,23.84,8.26,40.66
$GC,2233,0.94,325.3,3389,2080,1128,1002,155.8,7.8,234,2312,0.10,2.28,66.97,0.712,10756,0.084,0.041,3459,695,736,787,686,0,0,0,0,0,0,25.58,24.66,24.22,8.19,40.35
$GC,2368,0.94,325.3,3459,694,786,686,140.1,12.1,247,2375,0.00,2.12,0.00,0.000,1030,0.000,0.024,3460,2082,736,786,686,0,0,0,0,0,0,25.47,25.41,25.49,8.16,39.95
$GC,2555,0.94,325.3,3459,2082,786,685,117.4,11.8,266,2556,0.00,0.00,0.00,0.000,6,0.000,0.000,3460,2082,735,786,685,0,0,0,0,0,0,26.11,26.13,26.12,8.15,40.43
$GC,2736,0.94,325.3,3459,2082,786,685,96.3,11.5,284,2744,0.00,2.20,0.00,0.000,516,0.000,0.041,3460,685,735,786,685,0,0,0,0,0,0,26.31,25.93,26.31,8.15,40.98
$GC,2841,0.94,325.3,3459,685,786,685,84.4,11.4,294,2848,0.00,2.10,0.00,0.000,1030,0.000,0.025,3460,2092,735,785,685,0,0,0,0,0,0,26.14,26.07,26.15,8.15,40.98
$GC,2968,0.94,325.3,3459,2092,785,685,69.7,11.5,307,2969,0.00,0.00,0.00,0.000,6,0.000,0.000,3460,2092,735,785,685,0,0,0,0,0,0,26.44,26.46,26.45,8.15,41.02
$GC,3088,0.94,325.3,3459,2092,785,685,56.7,10.8,319,3097,0.00,2.20,0.00,0.000,516,0.000,0.041,3460,694,735,786,685,0,0,0,0,0,0,26.50,26.10,26.51,8.14,41.10
$GC,3123,0.94,325.3,3459,694,786,685,53.2,10.3,322,3130,0.00,2.08,0.00,0.000,1030,0.000,0.025,3460,2087,735,786,685,0,0,0,0,0,0,26.26,26.19,26.28,8.14,41.17
$GC,3251,0.94,325.3,3459,2087,786,685,39.8,10.4,335,3252,0.00,0.00,0.00,0.000,6,0.000,0.000,3460,2087,735,786,685,0,0,0,0,0,0,26.55,26.56,26.55,8.13,41.25
$GC,3371,1.03,408.2,3459,2087,786,685,29.6,7.7,347,3422,0.00,2.28,45.40,0.598,8708,0.000,0.040,3460,689,397,398,397,0,0,0,0,0,0,26.58,25.63,25.02,8.13,41.33
$GC,3467,1.11,408.2,3459,689,397,396,21.6,8.5,356,3476,0.08,2.10,0.00,0.000,3078,0.099,0.024,3528,2088,397,398,396,0,0,0,0,0,0,25.78,25.83,25.86,8.10,40.43
$GC,3598,1.72,771.3,3527,2091,397,394,13.1,-0.1,380,3605,0.43,0.00,2.85,0.265,10246,0.075,0.000,3689,2092,372,368,376,0,0,0,0,0,0,25.84,25.59,24.87,8.09,40.23
$GC,3669,2.26,1121.0,3689,2092,368,376,13.0,0.3,393,3677,0.40,2.20,0.00,0.000,2564,0.044,0.041,3870,695,371,368,375,0,0,0,0,0,0,26.04,25.93,26.06,8.08,40.62
$STATE,3682,end climb,NO_VERTICAL_VELOCITY
$STATE,3682,begin surface
$SM_CCo,4014,0.00,0.000,0,0,369,416.03
$SM_GC,13.93,9.77,2.15,0.00,0.044,0.027,0.000,212,2081,369,-9.13,-1.58,416.03,0,0,0,0,0,0,26.02,26.15,26.12
$IRIDIUM_FIX,4738.33,-12256.21,200218,235758
$TT8_MAMPS,0.026964,0.280875
$HUMID,41.33
$INTERNAL_PRESSURE,8.03967
$TCM_TEMP,9.90
$XPDR_PINGS,5
$ALTIM_TOP_PING,19.8,7.0
$ALTIM_BOTTOM_PING,110.2,99.2
$24V_AH,23.84,35.986
$10V_AH,10.20,13.838
$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,23.250,42.875,515.000,0.000,0.000,0.000,0.000,209.675,2.750,0.000,14.538,945.634,1690.928,617.247,943.131,143.474,0.000,1296.461,0.000,730.023,0.000,16.623,0.000
$DEVICE_MAMPS,227.205,57.375,768.060,0.000,0.000,0.000,0.000,79.560,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,266.895,521.987,527.143,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312168
$DATA_FILE_SIZE,28015,395
$CAP_FILE_SIZE,60613,0
$CFSIZE,2097872896,2047148032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.088,197.54,1
$GPS,210218,021935,4738.332,-12253.575,5,0.8,14,16.4,0.0,0.0,10,4.6