version: 66.14
glider: 194
mission: 12
dive: 13
start: 2 1 118 7 0 16
data:
$ID,194
$MISSION,12
$DIVE,13
$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,75
$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,150
$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,20
$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,3060
$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,42
$R_STBD_OVSHOOT,54
$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,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,75
$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
$GPS1,010218,065510,4739.0371,-12253.3320,7,1.6,7,16.4,0.7,44.2,7,46.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-60.9
$GPS2,010218,065911,4739.0977,-12253.2471,5,1.6,5,16.4,0.0,0.0,7,68.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW_SW1Q
$TGT_LATLONG,4738.840,-12253.440
$TGT_RADIUS,250.000
$KALMAN_CONTROL,-0.114676,-0.227125
$KALMAN_X,58.777687,58.777687,58.777687,-174.787018,177.721313
$KALMAN_Y,116.414444,116.414444,116.414444,-683.888306,351.992859
$MHEAD_RNG_PITCHd_Wd,190.4,535,-17.9,-10.000,-21.46,2121
$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,-0.92,-139.7,211,2102,366,410,0.0,0.0,0,53,0.00,0.00,-42.62,0.000,16386,0.000,0.000,211,2103,1596,1615,1578,0,0,0,0,0,0,26.38,28.83,26.39,8.08,38.85
$GC,57,-0.93,-146.6,211,2103,1615,1579,2.1,-2.3,7,116,10.12,2.15,-40.78,0.000,18692,0.239,0.059,2754,3474,2662,2713,2612,0,0,0,0,0,0,25.80,25.55,26.06,8.18,38.97
$GC,145,-0.68,-146.6,2754,3474,2713,2612,5.9,-9.3,22,152,0.28,2.10,0.00,0.000,3078,0.169,0.028,2835,2067,2662,2713,2612,0,0,0,0,0,0,25.91,26.13,26.10,8.27,38.58
$GC,216,-0.57,-146.6,2835,2067,2714,2613,14.3,-12.7,35,223,0.10,2.17,0.00,0.000,2564,0.177,0.045,2868,680,2662,2713,2612,0,0,0,0,0,0,26.03,26.13,26.10,8.26,38.14
$GC,291,-0.57,-146.6,2867,680,2714,2613,24.4,-12.6,46,300,0.00,2.12,0.00,0.000,1030,0.000,0.031,2868,2079,2663,2714,2613,0,0,0,0,0,0,26.27,26.19,26.28,8.26,38.81
$GC,421,-0.57,-146.6,2867,2079,2713,2613,39.7,-11.3,59,430,0.00,2.20,0.00,0.000,260,0.000,0.047,2868,3485,2663,2713,2613,0,0,0,0,0,0,26.53,26.20,26.53,8.27,38.93
$GC,466,-0.57,-146.6,2867,3485,2714,2612,44.6,-11.7,63,473,0.00,2.10,0.00,0.000,1030,0.000,0.028,2868,2078,2662,2713,2612,0,0,0,0,0,0,26.34,26.27,26.35,8.27,39.09
$GC,594,-0.57,-146.6,2868,2077,2713,2612,59.5,-11.2,76,595,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2077,2662,2713,2612,0,0,0,0,0,0,26.58,26.59,26.59,8.27,39.88
$GC,714,-0.57,-146.6,2868,2077,2713,2613,72.7,-11.1,88,715,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2077,2662,2713,2612,0,0,0,0,0,0,26.61,26.63,26.63,8.28,39.05
$GC,833,-0.57,-146.6,2868,2077,2714,2612,85.8,-11.3,100,835,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2077,2662,2713,2612,0,0,0,0,0,0,26.64,26.65,26.65,8.28,39.91
$GC,953,-0.57,-146.6,2868,2077,2713,2612,99.4,-11.0,112,962,0.00,2.20,0.00,0.000,260,0.000,0.047,2868,3485,2662,2713,2612,0,0,0,0,0,0,26.67,26.34,26.67,8.28,39.76
$GC,976,-0.57,-146.6,2868,3485,2713,2612,101.7,-10.8,114,984,0.00,2.08,0.00,0.000,1030,0.000,0.028,2869,2080,2662,2713,2612,0,0,0,0,0,0,26.46,26.39,26.48,8.28,39.88
$GC,1166,-0.57,-146.6,2868,2080,2713,2612,122.3,-10.1,133,1167,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2080,2662,2713,2612,0,0,0,0,0,0,26.70,26.71,26.71,8.28,40.15
$STATE,1323,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1324,begin apogee
$GC,1330,-0.22,0.0,2868,2080,2713,2612,139.2,-10.4,149,1456,0.32,0.00,121.45,0.762,10246,0.124,0.000,2984,2080,2064,2112,2017,0,0,0,0,0,0,26.32,24.93,24.36,8.30,39.68
$STATE,1457,end apogee,CONTROL_FINISHED_OK
$STATE,1457,begin climb
$GC,1460,0.93,146.6,2984,2080,2112,2016,146.0,0.0,162,1588,1.05,0.00,124.12,0.732,10758,0.101,0.000,3332,2080,1466,1523,1410,0,0,0,0,0,0,24.98,24.71,24.19,8.25,39.48
$GC,1767,0.98,146.6,3332,2080,1521,1406,124.7,8.9,193,1776,0.05,2.25,0.00,0.000,2564,0.147,0.048,3377,683,1463,1521,1405,0,0,0,0,0,0,25.71,25.62,25.75,8.21,39.05
$GC,1830,0.98,146.6,3377,683,1521,1405,117.7,11.7,199,1839,0.00,2.17,0.00,0.000,1030,0.000,0.031,3378,2093,1463,1521,1406,0,0,0,0,0,0,25.83,25.76,25.84,8.21,39.01
$GC,2020,0.98,146.6,3377,2093,1521,1405,96.2,11.3,218,2028,0.00,2.28,0.00,0.000,516,0.000,0.050,3378,670,1463,1521,1405,0,0,0,0,0,0,26.25,25.93,26.25,8.22,39.05
$GC,2112,0.98,146.6,3377,670,1521,1405,86.1,10.9,227,2121,0.00,2.15,0.00,0.000,1030,0.000,0.031,3378,2084,1463,1521,1406,0,0,0,0,0,0,26.11,26.04,26.13,8.20,39.60
$GC,2242,0.98,146.6,3377,2084,1521,1405,72.2,10.9,240,2243,0.00,0.00,0.00,0.000,6,0.000,0.000,3378,2084,1463,1521,1406,0,0,0,0,0,0,26.39,26.41,26.40,8.20,39.13
$GC,2362,0.98,146.6,3378,2084,1521,1406,59.4,10.6,252,2370,0.00,2.17,0.00,0.000,516,0.000,0.049,3386,690,1463,1521,1406,0,0,0,0,0,0,26.45,26.14,26.46,8.20,40.15
$GC,2416,0.98,146.6,3385,690,1521,1405,53.8,10.8,257,2423,0.00,2.10,0.00,0.000,1030,0.000,0.031,3386,2089,1463,1521,1406,0,0,0,0,0,0,26.27,26.20,26.29,8.20,39.09
$GC,2544,0.98,146.6,3385,2090,1521,1405,40.0,10.7,270,2545,0.00,0.00,0.00,0.000,6,0.000,0.000,3386,2090,1463,1521,1406,0,0,0,0,0,0,26.52,26.53,26.53,8.19,39.48
$GC,2664,0.98,146.6,3385,2090,1521,1406,27.6,9.9,282,2672,0.00,2.20,0.00,0.000,516,0.000,0.049,3391,688,1463,1521,1405,0,0,0,0,0,0,26.56,26.25,26.57,8.19,39.36
$GC,2726,0.98,146.6,3391,688,1521,1405,20.9,10.8,288,2735,0.00,2.10,0.00,0.000,1030,0.000,0.031,3391,2084,1463,1521,1406,0,0,0,0,0,0,26.37,26.30,26.39,8.19,39.72
$GC,2860,0.98,146.6,3390,2084,1521,1405,6.8,10.1,313,2866,0.00,0.00,0.00,0.000,6,0.000,0.000,3391,2084,1463,1521,1406,0,0,0,0,0,0,26.61,26.63,26.63,8.18,39.76
$STATE,2891,end climb,SURFACE_DEPTH_REACHED
$STATE,2892,begin surface coast
$FINISH,3.1,1.019604
$STATE,2918,end surface coast,CONTROL_FINISHED_OK
$STATE,2918,begin surface
$SM_CCo,2921,129.12,0.551,0,0,373,414.56
$SM_GC,2.16,8.75,0.00,0.00,0.046,0.000,0.000,220,2084,369,-8.83,0.06,415.78,0,0,0,0,0,0,25.38,25.66,25.46
$IRIDIUM_FIX,4738.80,-12300.63,010218,060659
$TT8_MAMPS,0.026215,0.279377
$HUMID,38.73
$INTERNAL_PRESSURE,8.04943
$TCM_TEMP,10.60
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.9,19.4
$ALTIM_BOTTOM_PING,76.1,77.4
$24V_AH,24.19,1.612
$10V_AH,10.37,0.600
$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,20.675,34.550,245.575,129.125,0.000,0.000,0.000,168.200,1.000,0.000,6.487,778.302,1325.747,487.263,717.219,115.941,30.289,1007.711,0.000,556.043,0.000,7.268,0.000
$DEVICE_MAMPS,239.445,58.905,761.940,550.800,0.000,0.000,0.000,78.030,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,69.640,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,221.550,428.864,433.025,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,311936
$DATA_FILE_SIZE,21089,324
$CAP_FILE_SIZE,52422,0
$CFSIZE,2097872896,2093318144
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,2946.20,0x2139aa,7,24
$GPS,010218,075344,4738.720,-12253.432,5,0.9,5,16.4,2.1,173.8,9,45.2