version: 66.14
glider: 194
mission: 12
dive: 221
start: 2 9 118 23 2 36
data:
$ID,194
$MISSION,12
$DIVE,221
$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,48
$R_STBD_OVSHOOT,67
$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
$GPS1,090218,225609,4738.2329,-12254.6846,5,0.9,14,16.4,0.0,0.0,9,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,7.30
$_SM_ANGLEo,-70.8
$GPS2,090218,230159,4738.2271,-12254.6875,7,0.9,15,16.4,0.0,0.0,9,4.7
$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,47.0,1779,-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,-244.4,216,2075,377,361,0.0,0.0,0,17,0.00,0.00,-6.18,0.000,16386,0.000,0.000,216,2075,547,543,551,0,0,0,0,0,0,26.26,28.83,26.27,8.09,39.21
$GC,20,-0.81,-244.4,216,2075,543,552,7.4,0.0,1,125,10.77,2.17,-85.28,0.000,18692,0.239,0.057,2884,3460,3064,3141,2988,0,0,0,0,0,0,25.57,24.57,25.86,8.10,39.72
$GC,165,-0.75,-244.4,2883,3460,3141,2989,20.6,-14.9,25,170,0.00,2.10,0.00,0.000,1030,0.000,0.023,2884,2073,3065,3141,2989,0,0,0,0,0,0,26.10,26.07,26.12,8.31,39.60
$GC,299,-0.68,-244.4,2883,2072,3141,2989,39.4,-13.3,38,301,0.15,0.00,0.00,0.000,2054,0.141,0.000,2932,2072,3065,3142,2989,0,0,0,0,0,0,25.97,26.15,26.11,8.32,39.40
$GC,419,-0.68,-244.4,2931,2072,3142,2989,52.1,-9.9,50,420,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2072,3065,3142,2989,0,0,0,0,0,0,26.48,26.48,26.48,8.31,39.72
$GC,541,-0.68,-244.4,2931,2072,3142,2989,64.0,-9.6,62,546,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2072,3065,3142,2989,0,0,0,0,0,0,26.53,26.54,26.53,8.32,39.52
$GC,669,-0.68,-244.4,2932,2072,3142,2989,76.8,-10.0,75,670,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2072,3065,3142,2989,0,0,0,0,0,0,26.57,26.58,26.58,8.31,39.84
$GC,791,-0.68,-244.4,2932,2072,3141,2989,88.7,-9.6,87,797,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2072,3065,3142,2989,0,0,0,0,0,0,26.60,26.62,26.61,8.31,40.62
$GC,922,-0.68,-244.4,2931,2072,3141,2989,101.6,-10.0,100,932,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2072,3065,3142,2989,0,0,0,0,0,0,26.60,26.61,26.61,8.32,40.27
$GC,1113,-0.68,-244.4,2931,2072,3142,2989,119.6,-9.3,119,1127,0.00,2.12,0.00,0.000,260,0.000,0.041,2932,3457,3065,3142,2989,0,0,0,0,0,0,26.63,26.29,26.63,8.32,40.15
$GC,1157,-0.68,-244.4,2931,3458,3141,2989,123.4,-9.0,122,1168,0.00,2.03,0.00,0.000,1030,0.000,0.023,2931,2072,3065,3142,2989,0,0,0,0,0,0,26.39,26.35,26.42,8.32,40.35
$GC,1350,-0.68,-244.4,2931,2072,3142,2989,141.1,-9.4,141,1354,0.00,2.12,0.00,0.000,516,0.000,0.040,2932,688,3065,3142,2989,0,0,0,0,0,0,26.64,26.32,26.65,8.32,40.54
$GC,1380,-0.68,-244.4,2931,689,3142,2989,143.6,-9.1,143,1390,0.00,2.03,0.00,0.000,1030,0.000,0.026,2932,2062,3065,3142,2989,0,0,0,0,0,0,26.44,26.36,26.46,8.32,40.35
$GC,1572,-0.68,-244.4,2932,2062,3142,2990,161.6,-9.6,162,1583,0.00,2.15,0.00,0.000,260,0.000,0.042,2932,3483,3065,3142,2989,0,0,0,0,0,0,26.66,26.32,26.67,8.33,40.07
$STATE,1819,end dive,NO_VERTICAL_VELOCITY
$STATE,1819,begin apogee
$GC,1828,-0.22,0.0,2932,2080,3142,2989,167.5,0.0,181,2028,0.43,0.00,193.75,0.742,10246,0.090,0.000,3089,2080,2064,2113,2015,0,0,0,0,0,0,26.27,24.82,24.30,8.33,40.27
$STATE,2031,end apogee,CONTROL_FINISHED_OK
$STATE,2031,begin climb
$GC,2034,0.81,244.4,3088,2080,2113,2014,167.4,0.0,202,2244,0.88,2.30,199.95,0.715,10756,0.083,0.041,3391,687,1067,1127,1007,0,0,0,0,0,0,24.94,24.49,24.12,8.26,39.01
$GC,2288,0.81,244.4,3390,687,1125,1007,151.2,11.6,227,2298,0.00,2.17,0.00,0.000,1030,0.000,0.024,3391,2097,1065,1125,1006,0,0,0,0,0,0,25.19,25.13,25.21,8.19,38.10
$GC,2479,0.81,244.4,3390,2097,1125,1005,128.6,11.8,246,2488,0.00,2.25,0.00,0.000,516,0.000,0.042,3391,687,1065,1125,1005,0,0,0,0,0,0,25.94,25.64,25.95,8.19,39.44
$GC,2532,0.81,244.4,3390,687,1125,1005,122.3,11.5,251,2541,0.00,2.08,0.00,0.000,1030,0.000,0.024,3391,2075,1065,1125,1005,0,0,0,0,0,0,25.81,25.78,25.83,8.18,39.44
$GC,2722,0.81,244.4,3391,2075,1125,1005,100.3,11.6,270,2731,0.00,2.17,0.00,0.000,516,0.000,0.041,3391,688,1065,1125,1005,0,0,0,0,0,0,26.25,25.94,26.26,8.18,40.35
$GC,2794,0.81,244.4,3391,689,1125,1005,92.0,11.7,277,2804,0.00,2.10,0.00,0.000,1030,0.000,0.025,3391,2092,1065,1125,1005,0,0,0,0,0,0,26.10,26.05,26.13,8.17,40.03
$GC,2925,0.81,244.4,3391,2092,1125,1005,77.8,10.8,290,2933,0.00,2.17,0.00,0.000,516,0.000,0.042,3391,685,1065,1125,1005,0,0,0,0,0,0,26.39,26.07,26.40,8.18,40.35
$GC,2976,0.81,244.4,3391,685,1126,1006,72.0,11.1,295,2980,0.00,2.08,0.00,0.000,1030,0.000,0.025,3392,2089,1065,1125,1006,0,0,0,0,0,0,26.22,26.15,26.23,8.18,39.48
$GC,3110,0.81,244.4,3391,2089,1125,1005,57.6,10.6,308,3116,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,2089,1065,1125,1005,0,0,0,0,0,0,26.48,26.49,26.49,8.17,39.95
$GC,3238,0.81,244.4,3391,2089,1125,1005,44.2,10.0,321,3247,0.00,2.20,0.00,0.000,516,0.000,0.042,3392,685,1065,1125,1005,0,0,0,0,0,0,26.53,26.20,26.54,8.17,40.07
$GC,3353,0.81,244.4,3391,686,1125,1006,33.0,9.9,332,3360,0.00,2.05,0.00,0.000,1030,0.000,0.024,3391,2083,1065,1125,1005,0,0,0,0,0,0,26.36,26.29,26.37,8.17,40.58
$GC,3484,0.81,244.4,3391,2083,1125,1005,20.7,8.8,345,3497,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,2083,1065,1125,1005,0,0,0,0,0,0,26.57,26.58,26.58,8.17,40.11
$GC,3679,1.12,554.9,3391,2083,1125,1005,10.8,1.4,370,3777,0.22,2.28,85.85,0.547,10756,0.050,0.041,3530,692,371,363,380,0,0,0,0,0,0,26.37,25.25,24.92,8.16,40.51
$STATE,3938,end climb,NO_VERTICAL_VELOCITY
$STATE,3938,begin surface
$SM_CCo,4269,0.00,0.000,0,0,366,416.52
$SM_GC,7.22,8.85,2.15,0.00,0.041,0.025,0.000,208,2094,366,-9.14,-1.47,416.52,0,0,0,0,0,0,26.04,26.11,26.11
$IRIDIUM_FIX,4737.86,-12251.79,090218,214256
$TT8_MAMPS,0.026215,0.280875
$HUMID,39.99
$INTERNAL_PRESSURE,8.04943
$TCM_TEMP,10.70
$XPDR_PINGS,5
$ALTIM_TOP_PING,19.8,999.0
$24V_AH,24.12,15.796
$10V_AH,10.26,6.381
$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,21.300,42.850,479.550,0.000,0.000,0.000,0.000,253.350,85.500,0.000,16.744,972.876,1459.790,548.181,1454.401,203.011,0.000,1309.775,0.000,703.873,0.000,869.294,0.000
$DEVICE_MAMPS,238.680,56.610,742.050,0.000,0.000,0.000,0.000,81.855,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,272.312,531.625,536.810,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312292
$DATA_FILE_SIZE,28027,402
$CAP_FILE_SIZE,86019,0
$CFSIZE,2097872896,2072674304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.037,85.51,1
$GPS,100218,001506,4738.371,-12253.827,4,1.0,40,16.4,0.0,0.0,9,4.7