version: 66.14
glider: 194
mission: 12
dive: 233
start: 2 10 118 12 40 33
data:
$ID,194
$MISSION,12
$DIVE,233
$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,41
$R_STBD_OVSHOOT,59
$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
$GPS1,100218,123501,4738.6631,-12253.3574,8,0.8,38,16.4,0.4,194.4,10,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,7.95
$_SM_ANGLEo,-73.6
$GPS2,100218,123955,4738.6016,-12253.3809,10,0.8,13,16.4,0.0,0.0,10,4.7
$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,236.6,1985,-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,-244.4,211,2086,363,372,0.0,0.0,0,17,0.00,0.00,-6.18,0.000,16386,0.000,0.000,211,2087,545,535,556,0,0,0,0,0,0,26.29,28.83,26.29,8.07,38.50
$GC,20,-0.81,-244.4,211,2087,535,556,7.9,0.0,1,125,10.95,2.17,-84.85,0.000,18692,0.245,0.056,2891,3469,3065,3141,2989,0,0,0,0,0,0,25.57,24.59,25.88,8.09,39.05
$GC,305,-0.81,-244.4,2890,3469,3141,2989,40.5,-13.4,39,309,0.00,2.08,0.00,0.000,1030,0.000,0.024,2891,2076,3065,3141,2989,0,0,0,0,0,0,26.22,26.16,26.25,8.30,39.99
$GC,437,-0.81,-244.4,2891,2076,3141,2989,57.8,-12.7,52,439,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2075,3065,3141,2989,0,0,0,0,0,0,26.50,26.51,26.51,8.30,40.39
$GC,557,-0.81,-244.4,2890,2075,3141,2989,72.1,-11.6,64,566,0.00,2.17,0.00,0.000,260,0.000,0.041,2891,3470,3065,3141,2989,0,0,0,0,0,0,26.55,26.20,26.55,8.30,39.68
$GC,583,-0.81,-244.4,2890,3470,3141,2989,74.5,-11.4,66,590,0.00,2.05,0.00,0.000,1030,0.000,0.024,2891,2079,3065,3142,2989,0,0,0,0,0,0,26.34,26.27,26.36,8.31,40.74
$GC,710,-0.81,-244.4,2891,2079,3141,2989,89.0,-10.8,79,711,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2079,3065,3141,2989,0,0,0,0,0,0,26.58,26.60,26.60,8.31,40.31
$GC,832,-0.81,-244.4,2890,2079,3141,2989,101.9,-10.8,91,842,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2079,3065,3141,2989,0,0,0,0,0,0,26.58,26.60,26.59,8.32,40.19
$GC,1024,-0.81,-244.4,2890,2079,3141,2989,122.8,-11.0,110,1037,0.00,2.12,0.00,0.000,260,0.000,0.041,2891,3463,3065,3141,2989,0,0,0,0,0,0,26.61,26.27,26.62,8.33,40.39
$GC,1058,-0.81,-244.4,2890,3462,3141,2989,125.7,-10.5,112,1069,0.00,2.03,0.00,0.000,1030,0.000,0.024,2891,2080,3065,3141,2989,0,0,0,0,0,0,26.41,26.34,26.43,8.32,40.43
$GC,1250,-0.81,-244.4,2890,2080,3141,2989,146.3,-10.6,131,1263,0.00,2.15,0.00,0.000,516,0.000,0.041,2891,683,3065,3141,2989,0,0,0,0,0,0,26.63,26.29,26.64,8.33,39.99
$GC,1283,-0.81,-244.4,2890,683,3141,2989,149.4,-10.4,133,1297,0.00,2.05,0.00,0.000,1030,0.000,0.026,2891,2074,3065,3141,2989,0,0,0,0,0,0,26.42,26.34,26.44,8.33,40.54
$GC,1480,-1.00,-244.4,2891,2075,3141,2989,166.8,-1.5,152,1493,0.10,2.12,0.00,0.000,4356,0.099,0.038,2835,3481,3065,3141,2989,0,0,0,0,0,0,26.39,26.32,26.41,8.33,40.78
$STATE,1609,end dive,NO_VERTICAL_VELOCITY
$STATE,1609,begin apogee
$GC,1618,-0.22,0.0,2835,2076,3141,2989,166.8,0.0,162,1819,0.68,0.00,195.05,0.742,10246,0.062,0.000,3092,2075,2064,2112,2016,0,0,0,0,0,0,26.31,24.82,24.29,8.34,40.27
$STATE,1822,end apogee,CONTROL_FINISHED_OK
$STATE,1822,begin climb
$GC,1825,0.81,244.4,3092,2075,2111,2016,166.9,0.0,183,2033,0.82,2.28,198.50,0.714,10756,0.059,0.041,3395,700,1066,1124,1009,0,0,0,0,0,0,24.96,24.47,24.10,8.26,38.30
$GC,2136,0.74,244.4,3394,699,1123,1009,138.7,12.7,214,2141,0.00,2.15,0.00,0.000,1030,0.000,0.025,3395,2095,1065,1123,1008,0,0,0,0,0,0,25.43,25.37,25.44,8.19,38.73
$GC,2330,0.68,244.4,3394,2096,1123,1008,114.6,12.5,233,2334,0.00,2.25,0.00,0.000,516,0.000,0.043,3396,690,1065,1123,1008,0,0,0,0,0,0,26.04,25.72,26.05,8.19,39.28
$GC,2433,0.61,244.4,3395,690,1123,1008,101.7,12.3,243,2438,0.15,2.10,0.00,0.000,5126,0.129,0.024,3348,2094,1065,1123,1008,0,0,0,0,0,0,25.75,25.91,25.89,8.18,39.36
$GC,2630,0.61,244.4,3347,2094,1123,1007,82.9,9.3,262,2634,0.00,2.22,0.00,0.000,516,0.000,0.043,3348,690,1065,1123,1007,0,0,0,0,0,0,26.34,26.01,26.35,8.18,39.64
$GC,2702,0.61,244.4,3347,690,1123,1007,76.0,9.0,269,2706,0.00,2.08,0.00,0.000,1030,0.000,0.025,3348,2093,1065,1123,1008,0,0,0,0,0,0,26.18,26.12,26.20,8.18,39.36
$GC,2836,0.61,244.4,3347,2093,1123,1007,63.9,8.5,282,2843,0.00,0.00,0.00,0.000,6,0.000,0.000,3348,2093,1065,1123,1007,0,0,0,0,0,0,26.46,26.46,26.46,8.17,39.72
$GC,2965,0.61,244.4,3347,2092,1123,1008,52.0,8.9,295,2973,0.00,2.20,0.00,0.000,516,0.000,0.044,3348,691,1065,1123,1007,0,0,0,0,0,0,26.51,26.17,26.51,8.17,39.52
$GC,3029,0.61,244.4,3348,691,1123,1008,46.5,8.9,301,3036,0.00,2.05,0.00,0.000,1030,0.000,0.025,3348,2083,1065,1123,1008,0,0,0,0,0,0,26.32,26.26,26.34,8.17,39.52
$GC,3158,0.61,244.4,3347,2083,1123,1008,34.6,8.7,314,3168,0.00,2.10,0.00,0.000,260,0.000,0.038,3348,3464,1066,1124,1008,0,0,0,0,0,0,26.57,26.25,26.58,8.16,39.68
$GC,3173,0.61,244.4,3347,3464,1123,1008,33.6,9.0,315,3180,0.00,2.03,0.00,0.000,1030,0.000,0.023,3347,2096,1065,1123,1008,0,0,0,0,0,0,26.36,26.30,26.38,8.16,39.17
$GC,3305,0.69,322.0,3348,2096,1123,1008,22.5,7.8,328,3352,0.00,2.25,41.42,0.590,8708,0.000,0.043,3348,680,750,801,699,0,0,0,0,0,0,26.58,25.56,25.20,8.16,39.25
$GC,3453,1.04,559.6,3347,680,799,699,14.4,3.4,345,3513,0.32,2.10,47.55,0.545,11270,0.043,0.024,3507,2103,371,360,383,0,0,0,0,0,0,25.98,25.97,24.92,8.13,39.32
$GC,3605,1.58,918.0,3506,2103,360,379,6.7,0.1,363,3615,0.32,2.12,0.00,0.000,2308,0.047,0.035,3664,3467,369,360,379,0,0,0,0,0,0,25.79,25.73,25.82,8.09,38.97
$STATE,3703,end climb,NO_VERTICAL_VELOCITY
$STATE,3703,begin surface
$SM_CCo,4034,0.00,0.000,0,0,367,416.52
$SM_GC,8.06,9.27,2.15,0.00,0.047,0.024,0.000,214,2074,367,-9.12,1.16,416.52,0,0,0,0,0,0,26.05,26.12,26.13
$IRIDIUM_FIX,4735.92,-12247.38,100218,112942
$TT8_MAMPS,0.026215,0.30709
$HUMID,39.99
$INTERNAL_PRESSURE,8.03967
$TCM_TEMP,10.60
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.9,999.0
$24V_AH,24.10,16.767
$10V_AH,10.26,6.852
$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,22.625,51.150,482.525,0.000,0.000,0.000,0.000,202.875,75.000,0.000,15.145,929.627,1358.050,520.831,1364.313,177.611,0.000,1250.099,0.000,704.151,0.000,760.290,0.000
$DEVICE_MAMPS,244.800,55.845,742.050,0.000,0.000,0.000,0.000,78.030,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,254.566,497.109,501.965,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312260
$DATA_FILE_SIZE,28000,376
$CAP_FILE_SIZE,85145,0
$CFSIZE,2097872896,2071560192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.040,152.41,1
$GPS,100218,134841,4738.516,-12254.034,4,1.0,13,16.4,0.0,0.0,8,4.6