version: 66.14
glider: 194
mission: 12
dive: 16
start: 2 1 118 9 48 8
data:
$ID,194
$MISSION,12
$DIVE,16
$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,48
$R_STBD_OVSHOOT,49
$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
$GPS1,010218,094305,4738.2446,-12254.3447,7,0.9,7,16.4,0.5,66.2,9,11.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-70.7
$GPS2,010218,094700,4738.2715,-12254.2539,5,0.9,5,16.4,0.6,17.5,9,74.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW_SW
$TGT_LATLONG,4737.800,-12256.050
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.253014,-0.061982
$KALMAN_X,462.737183,319.379211,137.723175,-2172.339355,176.589203
$KALMAN_Y,100.909241,295.696350,245.671219,-2493.669922,-64.129410
$MHEAD_RNG_PITCHd_Wd,239.8,2406,-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,5,begin dive
$GC,8,-0.90,-146.6,213,2086,356,418,0.0,0.0,0,33,0.00,0.00,-22.42,0.000,16386,0.000,0.000,213,2086,1059,1060,1058,0,0,0,0,0,0,26.41,28.83,26.42,8.07,38.38
$GC,36,-0.90,-146.6,213,2086,1061,1060,2.2,-3.7,4,105,10.62,0.00,-51.10,0.000,18950,0.257,0.000,2759,2087,2662,2714,2611,0,0,0,0,0,0,25.79,25.61,26.07,8.13,39.28
$GC,171,-0.68,-146.6,2758,2087,2714,2612,12.7,-14.1,28,177,0.25,0.00,0.00,0.000,2054,0.171,0.000,2834,2087,2663,2714,2612,0,0,0,0,0,0,26.00,26.15,26.08,8.27,38.77
$GC,241,-0.58,-146.6,2834,2087,2714,2612,23.1,-13.9,39,250,0.10,2.12,0.00,0.000,2308,0.178,0.046,2869,3467,2663,2714,2612,0,0,0,0,0,0,26.07,26.16,26.15,8.27,39.01
$GC,313,-0.58,-146.6,2868,3467,2715,2612,32.1,-11.8,46,322,0.00,2.08,0.00,0.000,1030,0.000,0.029,2868,2087,2662,2714,2611,0,0,0,0,0,0,26.31,26.24,26.32,8.26,39.05
$GC,443,-0.58,-146.6,2868,2086,2714,2612,46.9,-11.2,59,445,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2086,2663,2714,2612,0,0,0,0,0,0,26.56,26.57,26.57,8.27,39.09
$GC,563,-0.58,-146.6,2867,2086,2713,2612,59.4,-10.5,71,572,0.00,2.17,0.00,0.000,516,0.000,0.047,2868,683,2663,2715,2611,0,0,0,0,0,0,26.60,26.28,26.60,8.27,39.48
$GC,625,-0.58,-146.6,2867,683,2714,2612,66.0,-10.9,77,629,0.00,2.08,0.00,0.000,1030,0.000,0.031,2868,2077,2663,2715,2612,0,0,0,0,0,0,26.40,26.32,26.41,8.28,39.60
$GC,757,-0.58,-146.6,2867,2078,2714,2611,79.7,-10.7,90,766,0.00,2.17,0.00,0.000,260,0.000,0.046,2868,3478,2662,2714,2611,0,0,0,0,0,0,26.64,26.32,26.65,8.27,39.80
$GC,882,-0.58,-146.6,2868,3478,2714,2612,92.6,-10.9,102,889,0.00,2.08,0.00,0.000,1030,0.000,0.028,2868,2080,2663,2714,2612,0,0,0,0,0,0,26.46,26.39,26.48,8.28,40.03
$GC,1009,-0.58,-146.6,2867,2079,2714,2611,107.0,-11.2,115,1010,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2079,2663,2714,2612,0,0,0,0,0,0,26.69,26.70,26.70,8.28,39.80
$GC,1189,-0.58,-146.6,2868,2079,2714,2611,126.1,-10.3,133,1198,0.00,2.17,0.00,0.000,260,0.000,0.046,2868,3503,2663,2714,2612,0,0,0,0,0,0,26.72,26.40,26.73,8.28,39.88
$GC,1224,-0.58,-146.6,2867,3503,2714,2611,128.9,-8.9,136,1231,0.00,2.10,0.00,0.000,1030,0.000,0.028,2868,2080,2663,2714,2612,0,0,0,0,0,0,26.52,26.45,26.53,8.29,40.35
$STATE,1319,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1319,begin apogee
$GC,1325,-0.22,0.0,2868,2079,2714,2611,137.6,-8.5,146,1451,0.32,0.00,121.47,0.758,10246,0.123,0.000,2984,2079,2064,2113,2015,0,0,0,0,0,0,26.32,24.94,24.37,8.28,39.88
$STATE,1452,end apogee,CONTROL_FINISHED_OK
$STATE,1452,begin climb
$GC,1455,0.90,146.6,2984,2079,2113,2015,143.7,0.0,159,1593,1.02,2.35,123.18,0.731,10500,0.100,0.041,3326,3478,1466,1523,1410,0,0,0,0,0,0,25.00,24.75,24.20,8.25,38.73
$GC,1609,0.90,146.6,3325,3478,1523,1408,135.6,8.4,174,1616,0.00,2.17,0.00,0.000,1030,0.000,0.028,3329,2090,1465,1523,1408,0,0,0,0,0,0,25.19,25.13,25.20,8.21,38.73
$GC,1796,0.90,146.6,3329,2089,1523,1406,118.4,8.4,193,1805,0.00,2.25,0.00,0.000,516,0.000,0.048,3329,686,1464,1523,1406,0,0,0,0,0,0,25.98,25.70,25.99,8.21,39.32
$GC,1961,0.90,146.6,3329,685,1523,1405,103.5,9.3,209,1968,0.00,2.12,0.00,0.000,1030,0.000,0.030,3329,2087,1464,1523,1406,0,0,0,0,0,0,26.01,25.94,26.02,8.21,39.36
$GC,2148,0.90,146.6,3329,2087,1522,1406,87.4,8.4,228,2157,0.00,2.22,0.00,0.000,516,0.000,0.048,3329,677,1463,1522,1405,0,0,0,0,0,0,26.34,26.03,26.36,8.20,38.97
$GC,2201,0.96,146.6,3329,677,1522,1405,83.1,8.4,233,2204,0.00,2.12,0.00,0.000,3078,0.000,0.030,3329,2089,1463,1522,1405,0,0,0,0,0,0,26.19,26.10,26.20,8.20,39.01
$GC,2333,0.96,146.6,3329,2089,1522,1405,72.4,8.2,246,2334,0.00,0.00,0.00,0.000,2054,0.000,0.000,3329,2089,1464,1522,1406,0,0,0,0,0,0,26.45,26.46,26.46,8.20,39.84
$GC,2453,1.05,193.1,3329,2089,1523,1405,62.8,7.9,258,2503,0.10,2.33,38.42,0.692,10756,0.086,0.049,3415,681,1276,1332,1220,0,0,0,0,0,0,26.28,25.63,25.05,8.20,39.09
$GC,2590,1.00,193.1,3414,681,1330,1220,45.5,14.5,271,2598,0.10,2.15,0.00,0.000,5126,0.150,0.030,3385,2091,1275,1330,1220,0,0,0,0,0,0,25.75,25.86,25.87,8.18,38.97
$GC,2717,1.00,193.1,3385,2091,1330,1220,29.2,12.0,284,2726,0.00,2.25,0.00,0.000,516,0.000,0.049,3388,682,1274,1330,1219,0,0,0,0,0,0,26.27,25.96,26.28,8.18,39.21
$GC,2769,1.00,193.1,3387,682,1330,1219,23.2,11.7,289,2778,0.00,2.12,0.00,0.000,1030,0.000,0.030,3388,2083,1274,1330,1219,0,0,0,0,0,0,26.11,26.04,26.13,8.18,39.88
$GC,2902,1.00,193.1,3388,2083,1330,1219,8.7,9.3,312,2908,0.00,0.00,0.00,0.000,6,0.000,0.000,3388,2083,1274,1330,1219,0,0,0,0,0,0,26.40,26.41,26.41,8.17,39.13
$STATE,2943,end climb,SURFACE_DEPTH_REACHED
$STATE,2943,begin surface coast
$FINISH,0.9,1.019010
$STATE,2964,end surface coast,CONTROL_FINISHED_OK
$STATE,2965,begin surface
$SM_CCo,2984,101.07,0.073,0,0,391,410.14
$SM_GC,1.66,8.62,0.00,101.07,0.056,0.000,0.073,216,2083,391,-8.84,0.03,410.14,0,0,0,0,0,0,26.11,26.45,26.00
$IRIDIUM_FIX,4737.86,-12251.79,010218,085127
$TT8_MAMPS,0.026964,0.315329
$HUMID,38.62
$INTERNAL_PRESSURE,8.03967
$TCM_TEMP,10.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,19.2
$ALTIM_BOTTOM_PING,75.5,76.4
$24V_AH,24.20,1.806
$10V_AH,10.36,0.678
$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,21.150,39.075,283.075,101.075,0.000,0.000,0.000,161.375,0.750,0.000,6.561,779.289,1196.777,472.772,775.297,121.106,33.439,1029.219,0.000,618.225,0.000,7.272,0.000
$DEVICE_MAMPS,257.040,48.960,758.115,73.440,0.000,0.000,0.000,79.560,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,69.640,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,221.042,428.602,432.774,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,311916
$DATA_FILE_SIZE,21062,324
$CAP_FILE_SIZE,54304,0
$CFSIZE,2097872896,2093023232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,010218,104025,4738.190,-12255.038,8,0.9,8,16.4,0.6,48.4,9,27.7