version: 66.14
glider: 194
mission: 12
dive: 199
start: 2 8 118 20 5 23
data:
$ID,194
$MISSION,12
$DIVE,199
$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,1
$FERRY_MAX,45
$KALMAN_USE,1
$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,61
$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
$GPS1,080218,195823,4738.7490,-12253.1133,5,0.8,13,16.4,0.7,73.1,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,6.48
$_SM_ANGLEo,-72.4
$GPS2,080218,200414,4738.7983,-12252.9307,7,0.8,16,16.4,0.8,65.5,10,4.5
$SPEED_LIMITS,0.173,0.325
$TGT_NAME,NW2S
$TGT_LATLONG,4738.117,-12254.800
$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,226.4,2652,-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,-244.4,211,2080,362,375,0.0,0.0,0,16,0.00,0.00,-6.28,0.000,16386,0.000,0.000,211,2080,547,538,557,0,0,0,0,0,0,26.32,28.83,26.33,8.08,39.36
$GC,20,-0.81,-244.4,211,2080,538,558,6.5,0.0,1,122,10.88,0.00,-87.72,0.000,18694,0.243,0.000,2885,2080,3063,3142,2985,0,0,0,0,0,0,25.63,24.81,25.94,8.10,39.72
$GC,187,-0.66,-244.4,2884,2080,3142,2986,18.3,-13.7,31,194,0.15,2.15,0.00,0.000,2564,0.153,0.037,2936,693,3063,3141,2986,0,0,0,0,0,0,25.94,26.07,26.02,8.31,39.76
$GC,253,-0.66,-244.4,2936,692,3142,2986,26.9,-12.7,38,261,0.00,2.08,0.00,0.000,1030,0.000,0.026,2936,2075,3063,3141,2986,0,0,0,0,0,0,26.21,26.14,26.23,8.30,39.17
$GC,383,-0.66,-244.4,2936,2075,3142,2986,41.4,-11.1,51,391,0.00,2.17,0.00,0.000,260,0.000,0.043,2936,3476,3064,3142,2987,0,0,0,0,0,0,26.48,26.15,26.50,8.31,39.52
$GC,464,-0.66,-244.4,2935,3477,3142,2987,49.4,-9.5,59,473,0.00,2.08,0.00,0.000,1030,0.000,0.024,2936,2072,3064,3142,2986,0,0,0,0,0,0,26.32,26.25,26.33,8.31,39.40
$GC,595,-0.66,-244.4,2936,2072,3142,2986,61.9,-9.6,72,603,0.00,2.12,0.00,0.000,516,0.000,0.040,2936,692,3064,3142,2986,0,0,0,0,0,0,26.56,26.25,26.57,8.31,40.35
$GC,619,-0.66,-244.4,2935,691,3142,2987,64.0,-9.7,74,625,0.00,2.08,0.00,0.000,1030,0.000,0.026,2936,2090,3064,3142,2987,0,0,0,0,0,0,26.35,26.28,26.37,8.31,40.31
$GC,746,-0.66,-244.4,2936,2090,3142,2986,75.9,-8.9,87,755,0.00,2.15,0.00,0.000,260,0.000,0.042,2936,3481,3064,3142,2987,0,0,0,0,0,0,26.60,26.26,26.61,8.32,40.47
$GC,809,-0.73,-244.4,2936,3481,3142,2987,81.2,-8.3,93,817,0.00,2.05,0.00,0.000,1030,0.000,0.023,2936,2074,3064,3142,2986,0,0,0,0,0,0,26.38,26.34,26.40,8.31,40.03
$GC,939,-0.78,-244.4,2936,2074,3142,2986,92.1,-8.5,106,947,0.00,2.10,0.00,0.000,4612,0.000,0.039,2936,691,3064,3142,2986,0,0,0,0,0,0,26.65,26.32,26.65,8.32,40.58
$GC,973,-0.84,-244.4,2935,691,3142,2987,95.0,-8.9,109,981,0.10,2.05,0.00,0.000,5126,0.085,0.026,2871,2084,3064,3142,2986,0,0,0,0,0,0,26.34,26.36,26.41,8.31,40.07
$GC,1102,-0.84,-244.4,2871,2084,3142,2986,110.4,-12.3,122,1111,0.00,2.12,0.00,0.000,260,0.000,0.042,2871,3477,3064,3142,2986,0,0,0,0,0,0,26.67,26.34,26.67,8.32,40.66
$GC,1174,-0.84,-244.4,2871,3477,3142,2986,118.8,-11.1,129,1183,0.00,2.05,0.00,0.000,1030,0.000,0.023,2871,2081,3064,3142,2986,0,0,0,0,0,0,26.48,26.41,26.48,8.32,40.35
$GC,1364,-0.84,-244.4,2871,2080,3142,2986,141.7,-12.1,148,1373,0.00,2.17,0.00,0.000,260,0.000,0.041,2871,3486,3064,3142,2986,0,0,0,0,0,0,26.71,26.36,26.72,8.33,40.58
$GC,1396,-0.84,-244.4,2871,3487,3141,2986,145.4,-12.1,151,1405,0.00,2.08,0.00,0.000,1030,0.000,0.023,2871,2071,3064,3142,2986,0,0,0,0,0,0,26.51,26.44,26.52,8.33,40.27
$STATE,1474,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1474,begin apogee
$GC,1480,-0.22,0.0,2871,2071,3142,2986,155.0,-12.0,159,1685,0.57,0.00,196.55,0.746,10246,0.112,0.000,3075,2071,2063,2114,2013,0,0,0,0,0,0,26.25,24.81,24.29,8.33,39.95
$STATE,1686,end apogee,CONTROL_FINISHED_OK
$STATE,1687,begin climb
$GC,1691,0.81,244.4,3075,2071,2114,2013,158.6,0.0,180,1901,0.88,2.20,200.90,0.715,10756,0.068,0.041,3390,695,1065,1123,1008,0,0,0,0,0,0,24.95,24.51,24.13,8.26,39.13
$GC,1969,0.74,244.4,3389,695,1123,1010,134.5,12.6,208,1978,0.00,2.12,0.00,0.000,1030,0.000,0.024,3390,2083,1066,1123,1009,0,0,0,0,0,0,25.28,25.25,25.30,8.18,38.34
$GC,2160,0.68,244.4,3389,2083,1123,1008,110.9,12.5,227,2168,0.00,2.20,0.00,0.000,516,0.000,0.041,3390,695,1065,1123,1008,0,0,0,0,0,0,25.98,25.71,25.98,8.18,39.17
$GC,2202,0.63,244.4,3390,696,1122,1008,105.5,12.9,231,2211,0.10,2.08,0.00,0.000,5126,0.122,0.024,3357,2089,1065,1123,1008,0,0,0,0,0,0,25.65,25.79,25.75,8.18,38.77
$GC,2393,0.63,244.4,3357,2089,1123,1008,85.1,10.5,250,2402,0.00,2.20,0.00,0.000,516,0.000,0.042,3357,691,1065,1123,1008,0,0,0,0,0,0,26.26,25.95,26.26,8.18,39.01
$GC,2475,0.63,244.4,3357,691,1123,1008,76.6,10.3,258,2484,0.00,2.08,0.00,0.000,1030,0.000,0.025,3357,2082,1065,1123,1008,0,0,0,0,0,0,26.12,26.06,26.14,8.17,39.21
$GC,2605,0.63,244.4,3357,2082,1123,1008,63.9,9.7,271,2614,0.00,2.20,0.00,0.000,516,0.000,0.042,3357,686,1065,1123,1008,0,0,0,0,0,0,26.40,26.08,26.41,8.17,39.72
$GC,2647,0.63,244.4,3357,685,1123,1008,59.8,9.8,275,2655,0.00,2.08,0.00,0.000,1030,0.000,0.025,3357,2083,1065,1123,1008,0,0,0,0,0,0,26.22,26.16,26.24,8.16,39.72
$GC,2777,0.63,244.4,3357,2083,1123,1008,47.9,8.9,288,2786,0.00,2.17,0.00,0.000,516,0.000,0.042,3357,693,1065,1123,1008,0,0,0,0,0,0,26.48,26.15,26.49,8.16,39.44
$GC,2821,0.63,244.4,3357,693,1123,1008,44.0,9.1,292,2828,0.00,2.05,0.00,0.000,1030,0.000,0.025,3357,2086,1065,1123,1008,0,0,0,0,0,0,26.29,26.23,26.31,8.16,39.36
$GC,2949,0.63,244.4,3356,2086,1123,1008,32.2,9.1,305,2950,0.00,0.00,0.00,0.000,6,0.000,0.000,3357,2086,1065,1123,1008,0,0,0,0,0,0,26.54,26.55,26.55,8.16,39.60
$GC,3069,0.73,341.8,3357,2086,1123,1008,22.7,7.3,317,3129,0.00,2.22,52.25,0.603,8708,0.000,0.042,3357,695,670,718,623,0,0,0,0,0,0,26.58,25.43,25.06,8.16,39.60
$GC,3179,0.91,455.9,3357,695,717,623,14.4,6.8,333,3226,0.17,2.08,37.88,0.543,11270,0.058,0.024,3457,2086,372,370,374,0,0,0,0,0,0,25.82,25.81,24.90,8.12,38.93
$GC,3292,1.44,780.8,3456,2088,370,373,5.1,1.0,353,3299,0.32,2.17,0.00,0.000,2308,0.059,0.036,3596,3478,371,370,373,0,0,0,0,0,0,25.67,25.67,25.71,8.10,38.65
$STATE,3411,end climb,NO_VERTICAL_VELOCITY
$STATE,3412,begin surface
$SM_CCo,3742,0.00,0.000,0,0,368,416.27
$SM_GC,6.20,9.10,2.15,0.00,0.047,0.028,0.000,211,2084,368,-9.14,1.70,416.27,0,0,0,0,0,0,26.03,26.08,26.11
$IRIDIUM_FIX,4736.40,-12251.79,080218,184759
$TT8_MAMPS,0.026964,0.279377
$HUMID,40.19
$INTERNAL_PRESSURE,8.04943
$TCM_TEMP,10.50
$XPDR_PINGS,14
$ALTIM_TOP_PING,19.8,14.2
$ALTIM_BOTTOM_PING,100.7,63.5
$24V_AH,24.13,13.703
$10V_AH,10.29,5.629
$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,22.275,59.450,487.575,0.000,0.000,0.000,0.000,253.075,4.250,0.000,17.680,843.700,1585.665,581.976,953.536,147.468,33.469,1321.061,0.000,697.897,0.000,7.228,0.000
$DEVICE_MAMPS,242.505,42.840,745.875,0.000,0.000,0.000,0.000,78.795,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,69.640,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,252.765,496.349,501.222,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312276
$DATA_FILE_SIZE,28007,376
$CAP_FILE_SIZE,63107,0
$CFSIZE,2097872896,2074968064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,080218,210846,4738.707,-12253.146,5,0.9,20,16.4,0.8,79.0,10,4.9