version: 66.14
glider: 194
mission: 12
dive: 14
start: 2 1 118 7 59 23
data:
$ID,194
$MISSION,12
$DIVE,14
$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,43
$R_STBD_OVSHOOT,47
$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
$GPS1,010218,075344,4738.7197,-12253.4316,5,0.9,5,16.4,2.1,173.8,9,45.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-70.5
$GPS2,010218,075817,4738.7739,-12253.3359,8,0.8,8,16.4,0.6,25.2,10,100.7
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW_SW
$TGT_LATLONG,4737.800,-12256.050
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.213620,-0.149077
$KALMAN_X,157.127533,169.020386,148.380157,-580.404785,203.742142
$KALMAN_Y,195.725311,201.745972,190.806580,-1508.303223,234.857315
$MHEAD_RNG_PITCHd_Wd,218.7,3838,-17.4,-10.000,-21.00,2234
$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,6,begin dive
$GC,9,-0.90,-146.6,220,2086,356,380,0.0,0.0,0,33,0.00,0.00,-22.15,0.000,16386,0.000,0.000,219,2086,1021,1025,1017,0,0,0,0,0,0,26.17,28.83,26.17,8.07,38.97
$GC,36,-0.90,-146.6,220,2086,1026,1018,2.0,-3.0,4,112,10.65,2.25,-55.08,0.000,19204,0.252,0.059,2765,682,2663,2714,2613,0,0,0,0,0,0,25.58,24.79,25.85,8.13,39.09
$GC,197,-0.67,-146.6,2764,682,2714,2614,15.3,-17.5,33,204,0.25,2.12,0.00,0.000,3078,0.173,0.031,2837,2082,2664,2714,2614,0,0,0,0,0,0,25.81,26.01,26.00,8.26,38.62
$GC,273,-0.57,-146.6,2836,2082,2714,2614,25.9,-13.2,43,282,0.10,2.17,0.00,0.000,2308,0.178,0.045,2870,3476,2663,2714,2613,0,0,0,0,0,0,25.94,26.03,26.02,8.26,38.89
$GC,336,-0.57,-146.6,2869,3477,2714,2613,34.0,-12.4,49,344,0.00,2.10,0.00,0.000,1030,0.000,0.028,2870,2081,2663,2714,2613,0,0,0,0,0,0,26.18,26.11,26.20,8.27,38.50
$GC,466,-0.57,-146.6,2869,2081,2714,2613,49.3,-11.7,62,474,0.00,2.20,0.00,0.000,260,0.000,0.046,2870,3478,2663,2714,2613,0,0,0,0,0,0,26.44,26.13,26.46,8.27,39.44
$GC,521,-0.57,-146.6,2869,3478,2714,2613,55.3,-11.8,67,528,0.00,2.10,0.00,0.000,1030,0.000,0.028,2870,2073,2663,2714,2613,0,0,0,0,0,0,26.27,26.20,26.28,8.27,39.28
$GC,648,-0.57,-146.6,2869,2072,2714,2613,69.9,-11.3,80,657,0.00,2.17,0.00,0.000,516,0.000,0.046,2870,680,2663,2714,2613,0,0,0,0,0,0,26.52,26.20,26.53,8.27,39.44
$GC,693,-0.57,-146.6,2869,680,2714,2613,74.8,-11.8,84,702,0.00,2.10,0.00,0.000,1030,0.000,0.031,2870,2082,2663,2714,2613,0,0,0,0,0,0,26.33,26.25,26.34,8.28,39.72
$GC,821,-0.57,-146.6,2869,2082,2714,2613,88.9,-10.6,97,829,0.00,2.17,0.00,0.000,260,0.000,0.047,2870,3500,2663,2714,2613,0,0,0,0,0,0,26.57,26.25,26.58,8.28,39.72
$GC,913,-0.63,-146.6,2869,3500,2714,2613,98.1,-9.8,106,921,0.00,2.10,0.00,0.000,1030,0.000,0.028,2870,2081,2663,2714,2613,0,0,0,0,0,0,26.36,26.32,26.37,8.29,39.68
$GC,1043,-0.63,-146.6,2869,2080,2714,2613,111.6,-10.4,119,1051,0.00,2.17,0.00,0.000,516,0.000,0.046,2870,687,2663,2714,2613,0,0,0,0,0,0,26.63,26.31,26.63,8.28,39.32
$GC,1095,-0.63,-146.6,2869,687,2714,2613,117.7,-11.6,124,1103,0.00,2.10,0.00,0.000,1030,0.000,0.031,2870,2090,2663,2714,2613,0,0,0,0,0,0,26.42,26.34,26.44,8.29,39.72
$GC,1285,-0.63,-146.6,2869,2090,2714,2613,137.3,-10.3,143,1286,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2090,2663,2714,2613,0,0,0,0,0,0,26.67,26.68,26.68,8.29,39.95
$STATE,1382,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1382,begin apogee
$GC,1388,-0.22,0.0,2869,2090,2714,2613,147.4,-9.9,153,1515,0.32,0.00,121.55,0.761,10246,0.125,0.000,2985,2090,2064,2112,2016,0,0,0,0,0,0,26.27,24.90,24.34,8.29,39.84
$STATE,1516,end apogee,CONTROL_FINISHED_OK
$STATE,1516,begin climb
$GC,1518,0.90,146.6,2985,2090,2113,2016,153.8,0.0,166,1657,1.02,2.38,123.68,0.737,10756,0.105,0.050,3322,695,1466,1523,1410,0,0,0,0,0,0,24.95,24.74,24.18,8.25,38.77
$GC,1673,0.97,215.0,3322,695,1523,1409,146.9,6.9,181,1741,0.08,2.17,56.45,0.719,11270,0.099,0.030,3375,2085,1187,1242,1132,0,0,0,0,0,0,25.09,25.11,24.22,8.21,38.02
$GC,1920,0.97,215.0,3375,2085,1242,1129,118.1,12.3,206,1929,0.00,2.28,0.00,0.000,516,0.000,0.050,3381,678,1185,1242,1129,0,0,0,0,0,0,25.91,25.60,25.92,8.19,38.42
$GC,2015,0.97,215.0,3381,679,1242,1128,106.4,12.8,215,2022,0.00,2.15,0.00,0.000,1030,0.000,0.031,3382,2086,1185,1242,1129,0,0,0,0,0,0,25.87,25.80,25.89,8.19,39.05
$GC,2202,0.97,215.0,3381,2085,1241,1129,81.9,12.8,234,2212,0.00,2.25,0.00,0.000,516,0.000,0.050,3386,681,1185,1241,1129,0,0,0,0,0,0,26.26,25.94,26.27,8.18,39.48
$GC,2287,0.97,215.0,3386,681,1241,1129,71.1,12.8,242,2294,0.00,2.12,0.00,0.000,1030,0.000,0.031,3386,2086,1185,1241,1129,0,0,0,0,0,0,26.12,26.06,26.14,8.18,39.32
$GC,2415,0.97,215.0,3385,2086,1241,1129,54.5,12.4,255,2424,0.00,2.22,0.00,0.000,516,0.000,0.050,3386,684,1185,1241,1129,0,0,0,0,0,0,26.40,26.08,26.41,8.18,38.97
$GC,2477,0.97,215.0,3386,684,1241,1129,46.6,13.2,261,2485,0.00,2.12,0.00,0.000,1030,0.000,0.031,3386,2088,1185,1242,1129,0,0,0,0,0,0,26.22,26.16,26.25,8.17,39.36
$GC,2607,0.97,215.0,3386,2088,1241,1129,29.9,12.5,274,2616,0.00,2.22,0.00,0.000,516,0.000,0.050,3386,686,1185,1241,1129,0,0,0,0,0,0,26.48,26.17,26.49,8.17,39.28
$GC,2639,0.97,215.0,3386,686,1241,1129,25.9,12.4,277,2648,0.00,2.10,0.00,0.000,1030,0.000,0.030,3386,2086,1185,1241,1129,0,0,0,0,0,0,26.29,26.22,26.31,8.17,39.01
$GC,2773,0.97,215.0,3386,2086,1241,1129,10.3,11.4,298,2778,0.00,0.00,0.00,0.000,6,0.000,0.000,3386,2086,1185,1242,1129,0,0,0,0,0,0,26.54,26.55,26.55,8.16,39.76
$STATE,2835,end climb,SURFACE_DEPTH_REACHED
$STATE,2835,begin surface coast
$FINISH,0.9,1.018706
$STATE,2856,end surface coast,CONTROL_FINISHED_OK
$STATE,2856,begin surface
$SM_CCo,2875,90.90,0.074,0,0,390,410.14
$SM_GC,1.84,8.73,0.00,90.90,0.065,0.000,0.074,216,2086,390,-8.84,0.11,410.14,0,0,0,0,0,0,26.22,26.58,26.11
$IRIDIUM_FIX,4741.52,-12250.84,010218,065625
$TT8_MAMPS,0.026215,0.280126
$HUMID,38.69
$INTERNAL_PRESSURE,8.04943
$TCM_TEMP,10.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,999.0
$ALTIM_BOTTOM_PING,80.4,81.4
$24V_AH,24.18,1.682
$10V_AH,10.35,0.626
$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,21.150,47.800,301.675,90.900,0.000,0.000,0.000,193.750,1.250,0.000,9.641,740.902,1115.137,498.135,788.891,121.945,31.522,1089.822,0.000,593.562,0.000,11.825,0.000
$DEVICE_MAMPS,252.450,58.905,761.175,74.205,0.000,0.000,0.000,80.325,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,69.640,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,213.394,415.060,419.117,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,311924
$DATA_FILE_SIZE,21086,314
$CAP_FILE_SIZE,53983,0
$CFSIZE,2097872896,2093219840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,010218,085005,4738.478,-12253.988,30,0.9,30,16.4,0.5,70.0,9,24.2