version: 66.14
glider: 194
mission: 12
dive: 231
start: 2 10 118 10 23 30
data:
$ID,194
$MISSION,12
$DIVE,231
$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,49
$R_STBD_OVSHOOT,60
$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
$GPS1,100218,101701,4738.5239,-12253.3701,8,0.9,28,16.4,0.6,199.9,9,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,7.65
$_SM_ANGLEo,-73.1
$GPS2,100218,102243,4738.4409,-12253.4111,7,0.9,13,16.4,0.5,193.8,9,5.0
$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,356.3,401,-20.2,-10.000,-23.49,1706
$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,-0.99,-112.2,209,2089,357,376,0.0,0.0,0,17,0.00,0.00,-5.88,0.000,16386,0.000,0.000,209,2089,533,521,546,0,0,0,0,0,0,26.31,28.83,26.31,8.07,38.77
$GC,20,-0.99,-112.2,209,2089,521,546,7.6,0.0,1,112,10.65,2.20,-74.50,0.000,18948,0.243,0.054,2826,684,2524,2568,2480,0,0,0,0,0,0,25.60,24.60,25.91,8.09,39.09
$GC,142,-0.85,-112.2,2825,684,2568,2482,17.4,-19.4,21,151,0.17,2.08,0.00,0.000,3078,0.166,0.027,2878,2070,2525,2568,2482,0,0,0,0,0,0,25.82,26.06,26.01,8.26,38.58
$GC,221,-0.85,-112.2,2877,2070,2569,2482,28.4,-13.4,29,225,0.00,2.20,0.00,0.000,260,0.000,0.043,2878,3479,2525,2568,2482,0,0,0,0,0,0,26.40,26.06,26.41,8.25,39.44
$GC,336,-0.85,-112.2,2877,3479,2569,2481,41.4,-11.2,40,343,0.00,2.08,0.00,0.000,1030,0.000,0.024,2878,2074,2524,2568,2481,0,0,0,0,0,0,26.25,26.19,26.27,8.26,39.28
$GC,465,-0.85,-112.2,2877,2073,2568,2480,56.1,-11.1,53,472,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2074,2524,2568,2480,0,0,0,0,0,0,26.52,26.53,26.53,8.26,40.35
$GC,594,-0.85,-112.2,2877,2073,2569,2479,70.6,-10.8,66,595,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2073,2524,2568,2480,0,0,0,0,0,0,26.56,26.57,26.57,8.26,39.68
$GC,715,-0.85,-112.2,2878,2073,2568,2479,83.6,-10.8,78,721,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2073,2523,2568,2479,0,0,0,0,0,0,26.60,26.60,26.60,8.26,40.11
$GC,847,-0.90,-112.2,2877,2073,2569,2478,97.4,-10.4,91,856,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2073,2523,2568,2478,0,0,0,0,0,0,26.60,26.62,26.61,8.28,40.31
$GC,978,-0.96,-112.2,2877,2074,2568,2478,111.4,-10.6,104,987,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2073,2523,2569,2478,0,0,0,0,0,0,26.62,26.63,26.62,8.28,40.74
$GC,1170,-1.02,-112.2,2877,2073,2569,2478,130.6,-10.4,123,1182,0.10,2.10,0.00,0.000,4612,0.089,0.040,2805,693,2522,2568,2476,0,0,0,0,0,0,26.41,26.31,26.42,8.29,39.91
$GC,1189,-1.07,-112.2,2805,693,2568,2477,132.1,-10.5,124,1199,0.00,2.08,0.00,0.000,1030,0.000,0.026,2805,2102,2523,2569,2477,0,0,0,0,0,0,26.42,26.34,26.44,8.28,39.95
$GC,1380,-1.07,-112.2,2805,2102,2568,2477,159.2,-14.0,143,1384,0.00,2.12,0.00,0.000,260,0.000,0.042,2805,3481,2523,2569,2477,0,0,0,0,0,0,26.64,26.31,26.65,8.28,40.07
$GC,1425,-1.07,-112.2,2804,3481,2568,2477,165.0,-14.3,146,1435,0.00,2.05,0.00,0.000,1030,0.000,0.023,2805,2077,2522,2568,2477,0,0,0,0,0,0,26.45,26.39,26.47,8.29,40.31
$STATE,1604,end dive,NO_VERTICAL_VELOCITY
$STATE,1604,begin apogee
$GC,1610,-0.22,0.0,2805,2077,2568,2477,168.2,0.0,164,1712,0.77,0.00,94.30,0.753,10246,0.104,0.000,3077,2077,2064,2109,2020,0,0,0,0,0,0,26.19,24.95,24.55,8.29,40.58
$STATE,1713,end apogee,CONTROL_FINISHED_OK
$STATE,1714,begin climb
$GC,1716,0.99,112.2,3077,2077,2109,2020,168.1,0.0,175,1823,1.08,2.28,94.72,0.732,10500,0.086,0.037,3447,3463,1605,1659,1551,0,0,0,0,0,0,25.18,24.84,24.30,8.26,38.85
$GC,1913,1.20,196.1,3446,3463,1658,1549,163.5,5.0,194,1990,0.17,2.10,67.95,0.724,11270,0.054,0.022,3555,2080,1264,1320,1208,0,0,0,0,0,0,25.51,25.50,24.35,8.23,38.54
$GC,2170,1.11,196.1,3555,2079,1319,1205,129.5,16.4,220,2179,0.12,2.20,0.00,0.000,4612,0.158,0.040,3525,690,1262,1320,1204,0,0,0,0,0,0,25.53,25.65,25.61,8.20,39.88
$GC,2254,1.06,196.1,3524,689,1320,1204,116.8,14.8,228,2263,0.10,2.10,0.00,0.000,5126,0.158,0.025,3496,2091,1262,1320,1204,0,0,0,0,0,0,25.65,25.83,25.81,8.20,39.13
$GC,2446,1.06,196.1,3495,2092,1320,1203,92.1,12.5,247,2452,0.00,0.00,0.00,0.000,6,0.000,0.000,3496,2091,1261,1320,1203,0,0,0,0,0,0,26.29,26.31,26.30,8.20,39.60
$GC,2573,1.06,196.1,3495,2091,1320,1204,75.3,12.5,260,2581,0.00,2.17,0.00,0.000,516,0.000,0.042,3504,687,1261,1320,1203,0,0,0,0,0,0,26.38,26.06,26.39,8.20,39.56
$GC,2595,1.06,196.1,3503,687,1320,1203,72.5,12.6,262,2598,0.00,2.08,0.00,0.000,1030,0.000,0.025,3504,2083,1261,1320,1203,0,0,0,0,0,0,26.18,26.12,26.20,8.19,40.39
$GC,2728,1.06,196.1,3503,2083,1320,1203,55.1,13.2,275,2733,0.00,2.15,0.00,0.000,260,0.000,0.038,3504,3479,1261,1320,1203,0,0,0,0,0,0,26.46,26.14,26.46,8.19,39.56
$GC,2783,1.06,196.1,3503,3479,1320,1203,47.5,14.7,280,2790,0.00,2.08,0.00,0.000,1030,0.000,0.024,3513,2084,1261,1320,1203,0,0,0,0,0,0,26.27,26.22,26.29,8.19,39.32
$GC,2911,1.06,196.1,3512,2084,1320,1203,30.3,12.4,293,2915,0.00,2.17,0.00,0.000,516,0.000,0.043,3513,680,1261,1320,1203,0,0,0,0,0,0,26.53,26.19,26.54,8.19,39.88
$GC,3031,1.06,196.1,3512,680,1320,1203,18.3,8.1,303,3041,0.00,2.08,0.00,0.000,1030,0.000,0.025,3513,2094,1261,1320,1203,0,0,0,0,0,0,26.34,26.28,26.36,8.18,39.88
$GC,3133,1.25,392.7,3512,2094,1320,1203,17.3,-1.8,316,3248,0.05,2.17,102.12,0.578,10500,0.142,0.035,3581,3465,461,461,462,0,0,0,0,0,0,26.35,25.08,24.75,8.18,39.80
$STATE,3477,end climb,NO_VERTICAL_VELOCITY
$STATE,3477,begin surface
$SM_CCo,3480,10.68,0.481,0,0,375,414.56
$SM_GC,7.89,9.02,2.15,0.00,0.044,0.025,0.000,213,2069,371,-9.12,1.27,415.78,0,0,0,0,0,0,26.01,26.06,26.08
$IRIDIUM_FIX,4739.20,-12253.53,100218,091530
$TT8_MAMPS,0.026215,0.280875
$HUMID,39.21
$INTERNAL_PRESSURE,8.03967
$TCM_TEMP,10.50
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.5,999.0
$24V_AH,24.30,16.581
$10V_AH,10.26,6.774
$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,22.250,42.625,359.100,10.675,0.000,0.000,0.000,249.775,78.000,0.000,14.540,915.113,1317.616,417.992,1363.539,180.460,0.000,1147.982,0.000,641.289,0.000,796.604,0.000
$DEVICE_MAMPS,242.505,53.550,752.760,481.185,0.000,0.000,0.000,75.735,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,243.942,474.991,479.615,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312252
$DATA_FILE_SIZE,24509,359
$CAP_FILE_SIZE,83487,0
$CFSIZE,2097872896,2071756800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.105,177.67,1
$GPS,100218,112806,4738.545,-12253.250,8,0.9,13,16.4,0.6,189.2,9,4.8