version: 66.14
glider: 194
mission: 12
dive: 4
start: 1 31 118 22 49 51
data:
$ID,194
$MISSION,12
$DIVE,4
$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,75
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,59218
$MASS_COMP,3867
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,14
$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,20
$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,3060
$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,37
$R_STBD_OVSHOOT,42
$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,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,75
$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
$GPS1,310118,224512,4739.4414,-12251.9189,16,1.1,16,16.4,0.0,0.0,8,24.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-67.6
$GPS2,310118,224918,4739.4805,-12251.8604,18,1.1,18,16.4,0.0,0.0,8,23.9
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW_SW
$TGT_LATLONG,4737.800,-12256.050
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.000000,0.000000
$KALMAN_X,0.000000,0.000000,0.000000,0.000000,0.000000
$KALMAN_Y,0.000000,0.000000,0.000000,0.000000,0.000000
$MHEAD_RNG_PITCHd_Wd,222.8,6085,-17.4,-10.000,-21.00,2234
$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,-0.90,-146.6,219,2071,356,421,0.0,0.0,0,39,0.00,0.00,-28.30,0.000,16386,0.000,0.000,219,2071,1173,1172,1175,0,0,0,0,0,0,26.42,28.83,26.44,8.05,38.81
$GC,42,-0.90,-146.6,219,2071,1173,1176,2.1,-3.7,5,107,10.48,2.25,-45.55,0.000,19204,0.251,0.065,2762,3484,2663,2708,2618,0,0,0,0,0,0,25.70,25.50,26.02,8.12,38.62
$GC,147,-0.70,-146.6,2761,3484,2708,2619,12.3,-19.2,23,155,0.22,2.15,0.00,0.000,3078,0.167,0.034,2829,2067,2663,2708,2618,0,0,0,0,0,0,25.84,26.10,26.06,8.24,38.46
$GC,224,-0.61,-146.6,2828,2067,2708,2618,23.7,-12.3,34,233,0.10,2.17,0.00,0.000,2564,0.177,0.050,2862,683,2663,2708,2618,0,0,0,0,0,0,26.00,26.08,26.07,8.24,38.69
$GC,309,-0.61,-146.6,2861,683,2708,2618,34.2,-12.8,42,316,0.00,2.15,0.00,0.000,1030,0.000,0.037,2862,2086,2663,2708,2618,0,0,0,0,0,0,26.25,26.15,26.27,8.24,38.85
$GC,436,-0.61,-146.6,2861,2087,2708,2618,49.1,-11.5,55,445,0.00,2.22,0.00,0.000,260,0.000,0.051,2861,3506,2663,2708,2618,0,0,0,0,0,0,26.53,26.17,26.53,8.25,39.25
$GC,481,-0.61,-146.6,2861,3505,2708,2618,53.7,-10.8,59,488,0.00,2.15,0.00,0.000,1030,0.000,0.034,2862,2084,2662,2707,2618,0,0,0,0,0,0,26.30,26.22,26.32,8.25,39.36
$GC,609,-0.61,-146.6,2861,2083,2708,2618,67.6,-10.8,72,617,0.00,2.22,0.00,0.000,516,0.000,0.051,2862,683,2663,2708,2618,0,0,0,0,0,0,26.56,26.19,26.58,8.25,39.32
$GC,640,-0.61,-146.6,2861,683,2708,2618,71.2,-10.9,75,649,0.00,2.12,0.00,0.000,1030,0.000,0.035,2862,2089,2662,2708,2617,0,0,0,0,0,0,26.33,26.24,26.35,8.25,39.17
$GC,771,-0.67,-146.6,2861,2089,2708,2618,84.4,-10.4,88,772,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2089,2663,2708,2618,0,0,0,0,0,0,26.60,26.61,26.60,8.26,39.21
$GC,891,-0.73,-146.6,2861,2089,2708,2618,96.8,-10.3,100,900,0.00,2.15,0.00,0.000,4356,0.000,0.050,2862,3474,2662,2708,2617,0,0,0,0,0,0,26.63,26.25,26.63,8.26,38.81
$GC,936,-0.80,-146.6,2861,3474,2708,2618,101.0,-9.9,104,943,0.12,2.10,0.00,0.000,5126,0.078,0.033,2793,2078,2662,2708,2617,0,0,0,0,0,0,26.32,26.31,26.38,8.26,39.60
$GC,1123,-0.80,-146.6,2792,2078,2708,2618,126.1,-13.3,123,1132,0.00,2.20,0.00,0.000,516,0.000,0.051,2793,686,2663,2708,2618,0,0,0,0,0,0,26.65,26.28,26.67,8.26,39.56
$GC,1157,-0.80,-146.6,2792,685,2708,2618,130.7,-13.9,126,1164,0.00,2.12,0.00,0.000,1030,0.000,0.034,2793,2090,2663,2708,2618,0,0,0,0,0,0,26.42,26.33,26.44,8.27,39.25
$STATE,1172,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1172,begin apogee
$GC,1179,-0.22,0.0,2793,2090,2708,2617,133.5,-14.3,128,1307,0.57,0.00,124.60,0.776,10246,0.134,0.000,2981,2090,2064,2113,2016,0,0,0,0,0,0,26.11,24.79,24.24,8.27,39.52
$STATE,1308,end apogee,CONTROL_FINISHED_OK
$STATE,1308,begin climb
$GC,1311,0.90,146.6,2981,2090,2113,2015,137.9,0.0,141,1448,1.00,2.45,126.05,0.748,10756,0.082,0.053,3326,681,1466,1528,1404,0,0,0,0,0,0,24.89,24.65,24.10,8.23,39.28
$GC,1504,0.90,146.6,3326,681,1527,1404,128.2,8.4,160,1511,0.00,2.22,0.00,0.000,1030,0.000,0.034,3326,2088,1465,1527,1403,0,0,0,0,0,0,25.29,25.22,25.31,8.19,37.71
$GC,1691,0.90,146.6,3326,2089,1527,1402,110.5,9.8,179,1700,0.00,2.25,0.00,0.000,516,0.000,0.054,3327,694,1464,1527,1402,0,0,0,0,0,0,25.96,25.65,25.97,8.19,38.73
$GC,1796,0.90,146.6,3326,694,1527,1402,100.6,9.9,189,1803,0.00,2.15,0.00,0.000,1030,0.000,0.034,3327,2090,1464,1527,1402,0,0,0,0,0,0,25.89,25.82,25.91,8.19,38.85
$GC,1983,0.90,146.6,3326,2091,1526,1402,83.3,9.1,208,1992,0.00,2.25,0.00,0.000,516,0.000,0.054,3327,690,1464,1527,1401,0,0,0,0,0,0,26.26,25.93,26.27,8.18,38.97
$GC,2026,0.90,146.6,3326,690,1527,1402,79.5,9.1,212,2035,0.00,2.12,0.00,0.000,1030,0.000,0.033,3326,2087,1464,1527,1402,0,0,0,0,0,0,26.05,26.01,26.06,8.18,39.01
$GC,2155,0.90,146.6,3326,2087,1527,1402,67.2,9.0,225,2164,0.00,2.22,0.00,0.000,516,0.000,0.054,3327,683,1464,1527,1402,0,0,0,0,0,0,26.36,26.03,26.37,8.18,39.40
$GC,2237,0.90,146.6,3326,683,1527,1402,59.5,9.7,233,2246,0.00,2.15,0.00,0.000,1030,0.000,0.034,3327,2090,1464,1527,1402,0,0,0,0,0,0,26.19,26.11,26.20,8.18,39.21
$GC,2367,0.90,146.6,3326,2090,1527,1402,47.7,8.9,246,2376,0.00,2.25,0.00,0.000,516,0.000,0.054,3327,667,1464,1527,1402,0,0,0,0,0,0,26.46,26.10,26.46,8.18,38.89
$GC,2419,0.90,146.6,3326,667,1527,1402,43.0,9.2,251,2428,0.00,2.15,0.00,0.000,1030,0.000,0.033,3327,2085,1464,1527,1401,0,0,0,0,0,0,26.26,26.18,26.27,8.18,38.73
$GC,2549,0.90,146.6,3326,2084,1527,1402,31.8,8.7,264,2558,0.00,2.22,0.00,0.000,516,0.000,0.053,3329,684,1464,1527,1402,0,0,0,0,0,0,26.51,26.15,26.53,8.17,39.21
$GC,2584,0.90,146.6,3329,684,1527,1401,29.0,8.8,267,2591,0.00,2.12,0.00,0.000,1030,0.000,0.034,3330,2090,1464,1527,1401,0,0,0,0,0,0,26.31,26.23,26.32,8.18,38.89
$GC,2711,0.90,146.6,3329,2090,1527,1402,17.3,9.5,282,2718,0.00,2.25,0.00,0.000,516,0.000,0.054,3330,680,1464,1527,1402,0,0,0,0,0,0,26.55,26.20,26.56,8.18,39.52
$GC,2807,1.08,269.6,3329,680,1527,1402,10.8,4.4,300,2876,0.15,2.12,60.33,0.599,11270,0.065,0.034,3417,2097,962,1014,910,0,0,0,0,0,0,26.31,26.29,25.02,8.16,38.77
$STATE,2920,end climb,SURFACE_DEPTH_REACHED
$STATE,2920,begin surface coast
$FINISH,1.5,1.018735
$STATE,2957,end surface coast,CONTROL_FINISHED_OK
$STATE,2957,begin surface
$SM_CCo,2977,65.18,0.077,0,0,392,410.14
$SM_GC,1.35,9.15,0.00,65.18,0.074,0.000,0.077,222,2096,392,-8.84,0.42,410.14,0,0,0,0,0,0,25.67,26.06,25.70
$IRIDIUM_FIX,4741.52,-12250.84,310118,224154
$TT8_MAMPS,0.026964,0.282373
$HUMID,37.43
$INTERNAL_PRESSURE,8.03967
$TCM_TEMP,9.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.2,18.7
$ALTIM_BOTTOM_PING,80.2,66.1
$24V_AH,24.10,1.020
$10V_AH,10.30,0.376
$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,21.800,56.975,310.975,65.175,0.000,0.000,0.000,0.000,1.250,0.000,19.770,763.406,1157.942,483.044,635.663,89.325,0.000,885.316,0.000,607.850,0.000,11.754,0.000
$DEVICE_MAMPS,250.920,65.025,776.475,77.265,0.000,0.000,0.000,0.000,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,222.328,432.011,436.241,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312224
$DATA_FILE_SIZE,24575,327
$CAP_FILE_SIZE,97841,0
$CFSIZE,2097872896,2094170112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310118,234120,4739.358,-12252.354,3,0.9,3,16.4,0.7,42.6,9,124.0