version: 66.14
glider: 194
mission: 12
dive: 391
start: 2 18 118 11 52 41
data:
$ID,194
$MISSION,12
$DIVE,391
$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,51
$R_STBD_OVSHOOT,53
$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
$GPS1,180218,114621,4738.6685,-12253.4492,4,0.8,23,16.4,0.4,83.6,10,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,12.65
$_SM_ANGLEo,-67.8
$GPS2,180218,115202,4738.6611,-12253.4111,9,0.9,42,16.4,0.3,80.6,9,4.8
$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,187.5,7,-27.2,-10.000,-30.00,962
$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,-1.25,-63.1,209,2085,335,398,0.0,0.0,0,17,0.00,0.00,-6.28,0.000,16386,0.000,0.000,209,2086,535,509,561,0,0,0,0,0,0,26.29,28.83,26.30,8.06,40.47
$GC,20,-1.25,-63.1,209,2086,510,561,12.6,0.0,1,122,10.15,2.22,-85.25,0.000,18692,0.230,0.054,2746,3484,2324,2366,2283,0,0,0,0,0,0,25.56,24.27,25.83,8.08,40.70
$GC,281,-1.17,-63.1,2745,3484,2365,2280,26.2,-21.4,46,289,0.10,2.08,0.00,0.000,3078,0.194,0.023,2773,2077,2322,2365,2279,0,0,0,0,0,0,25.79,26.13,25.98,8.23,40.19
$GC,408,-1.17,-63.1,2773,2077,2366,2277,49.3,-17.1,59,416,0.00,2.15,0.00,0.000,260,0.000,0.040,2773,3467,2322,2366,2278,0,0,0,0,0,0,26.49,26.08,26.50,8.23,40.66
$GC,531,-1.17,-63.1,2772,3467,2366,2278,68.3,-15.6,71,539,0.00,2.03,0.00,0.000,1030,0.000,0.023,2773,2091,2321,2365,2277,0,0,0,0,0,0,26.25,26.23,26.29,8.23,41.06
$GC,660,-1.17,-63.1,2773,2090,2366,2275,86.8,-13.9,84,670,0.00,2.15,0.00,0.000,260,0.000,0.041,2773,3474,2321,2366,2276,0,0,0,0,0,0,26.58,26.16,26.58,8.24,41.10
$GC,735,-1.17,-63.1,2773,3474,2366,2275,97.6,-15.0,91,742,0.00,2.05,0.00,0.000,1030,0.000,0.023,2773,2080,2320,2365,2275,0,0,0,0,0,0,26.35,26.28,26.36,8.25,40.86
$GC,865,-1.17,-63.1,2773,2080,2365,2274,115.9,-13.2,104,875,0.00,2.15,0.00,0.000,516,0.000,0.039,2773,684,2319,2366,2273,0,0,0,0,0,0,26.61,26.23,26.62,8.25,41.77
$GC,953,-1.17,-63.1,2773,684,2366,2273,128.6,-14.9,112,960,0.00,2.08,0.00,0.000,1030,0.000,0.025,2773,2090,2319,2366,2273,0,0,0,0,0,0,26.37,26.29,26.39,8.26,41.49
$GC,1140,-1.17,-63.1,2773,2090,2366,2273,152.2,-12.1,131,1142,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2090,2319,2366,2273,0,0,0,0,0,0,26.67,26.68,26.68,8.26,41.06
$STATE,1319,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1319,begin apogee
$GC,1325,-0.22,0.0,2773,2090,2365,2272,174.7,-12.3,149,1383,0.93,0.00,54.08,0.767,10246,0.132,0.000,3077,2090,2064,2105,2024,0,0,0,0,0,0,25.96,25.48,24.84,8.27,42.32
$STATE,1384,end apogee,CONTROL_FINISHED_OK
$STATE,1384,begin climb
$GC,1387,1.25,63.1,3076,2090,2104,2024,175.0,0.0,155,1450,1.40,0.00,55.50,0.747,10246,0.121,0.000,3527,2090,1806,1856,1757,0,0,0,0,0,0,25.45,24.82,24.42,8.25,41.65
$GC,1630,1.25,63.1,3527,2090,1855,1757,161.6,10.1,180,1635,0.00,2.22,0.00,0.000,516,0.000,0.038,3538,687,1806,1855,1757,0,0,0,0,0,0,26.06,25.71,26.06,8.24,40.74
$GC,1703,1.25,63.1,3537,687,1854,1757,154.0,10.5,187,1712,0.00,2.10,0.00,0.000,1030,0.000,0.024,3538,2087,1805,1854,1757,0,0,0,0,0,0,25.94,25.86,25.95,8.23,41.17
$GC,1893,1.25,63.1,3537,2087,1854,1757,133.0,11.5,206,1894,0.00,0.00,0.00,0.000,6,0.000,0.000,3538,2087,1805,1854,1757,0,0,0,0,0,0,26.34,26.34,26.34,8.23,41.33
$GC,2073,1.25,63.1,3537,2087,1854,1755,113.5,10.0,224,2078,0.00,2.20,0.00,0.000,516,0.000,0.038,3549,681,1805,1854,1756,0,0,0,0,0,0,26.44,26.07,26.45,8.23,40.94
$GC,2159,1.25,63.1,3549,681,1854,1756,104.5,11.1,232,2165,0.00,2.08,0.00,0.000,1030,0.000,0.024,3549,2089,1805,1854,1756,0,0,0,0,0,0,26.25,26.17,26.26,8.23,41.33
$GC,2346,1.25,63.1,3548,2089,1854,1756,85.6,9.8,251,2350,0.00,2.20,0.00,0.000,516,0.000,0.038,3560,677,1805,1854,1756,0,0,0,0,0,0,26.55,26.16,26.55,8.23,41.25
$GC,2412,1.19,63.1,3559,677,1854,1756,79.3,10.1,257,2419,0.00,2.08,0.00,0.000,1030,0.000,0.024,3560,2088,1805,1854,1756,0,0,0,0,0,0,26.32,26.25,26.34,8.23,41.02
$GC,2539,1.19,63.1,3559,2088,1854,1756,67.2,9.1,270,2540,0.00,0.00,0.00,0.000,6,0.000,0.000,3560,2089,1805,1854,1756,0,0,0,0,0,0,26.60,26.61,26.61,8.23,41.29
$GC,2659,1.22,85.4,3559,2089,1854,1756,57.0,7.6,282,2688,0.00,2.22,19.85,0.667,8708,0.000,0.038,3570,684,1714,1761,1668,0,0,0,0,0,0,26.63,25.94,25.26,8.23,41.02
$GC,2724,1.22,85.4,3570,684,1761,1668,51.5,9.2,288,2731,0.00,2.08,0.00,0.000,1030,0.000,0.024,3570,2087,1714,1761,1668,0,0,0,0,0,0,26.15,26.08,26.17,8.22,41.21
$GC,2852,1.24,112.5,3570,2087,1761,1667,39.6,7.1,301,2871,0.00,0.00,16.27,0.637,8198,0.000,0.000,3571,2087,1605,1655,1555,0,0,0,0,0,0,26.46,25.78,25.15,8.22,40.51
$GC,2992,1.28,147.9,3570,2087,1654,1553,29.3,6.2,315,3021,0.00,2.25,19.12,0.591,8708,0.000,0.037,3581,687,1458,1511,1406,0,0,0,0,0,0,26.36,25.72,25.08,8.20,40.78
$GC,3233,1.35,215.8,3581,687,1510,1405,16.1,2.8,346,3275,0.00,2.08,33.67,0.535,9222,0.000,0.024,3581,2096,1181,1233,1129,0,0,0,0,0,0,26.13,26.07,25.06,8.19,40.70
$GC,3341,1.88,307.7,3580,2096,1233,1126,11.7,0.2,365,3395,0.38,2.17,45.45,0.513,10500,0.046,0.037,3748,3471,806,856,757,0,0,0,0,0,0,25.86,25.19,24.85,8.16,40.78
$STATE,3458,end climb,NO_VERTICAL_VELOCITY
$STATE,3458,begin surface
$SM_CCo,3462,54.38,0.512,0,0,374,414.56
$SM_GC,12.71,9.57,2.17,0.00,0.044,0.024,0.000,206,2059,367,-9.15,1.22,416.52,0,0,0,0,0,0,25.82,25.86,25.91
$IRIDIUM_FIX,4739.20,-12253.53,180218,103856
$TT8_MAMPS,0.026215,0.280875
$HUMID,40.74
$INTERNAL_PRESSURE,8.03967
$TCM_TEMP,9.90
$XPDR_PINGS,8
$ALTIM_TOP_PING,19.5,7.4
$ALTIM_BOTTOM_PING,120.8,62.9
$24V_AH,24.27,31.048
$10V_AH,10.21,12.253
$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,22.525,42.750,243.950,54.375,0.000,0.000,0.000,216.200,3.750,0.000,43.490,989.590,1730.253,416.378,937.801,136.386,0.000,1050.534,0.000,693.908,0.000,16.806,0.000
$DEVICE_MAMPS,229.500,53.550,766.530,511.785,0.000,0.000,0.000,81.855,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,263.690,511.125,516.116,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312176
$DATA_FILE_SIZE,28106,386
$CAP_FILE_SIZE,59592,0
$CFSIZE,2097872896,2052259840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.048,148.76,1
$GPS,180218,125744,4738.354,-12253.562,5,0.9,15,16.4,0.0,0.0,8,4.7