version: 66.14
glider: 194
mission: 12
dive: 37
start: 2 1 118 21 20 14
data:
$ID,194
$MISSION,12
$DIVE,37
$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,250
$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,39
$R_STBD_OVSHOOT,45
$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,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
$GPS1,010218,211436,4738.2295,-12254.3232,18,0.9,18,16.4,0.0,0.0,9,20.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-72.3
$GPS2,010218,211906,4738.2495,-12254.2910,19,1.0,19,16.4,0.0,0.0,8,21.1
$SPEED_LIMITS,0.173,0.325
$TGT_NAME,NW_NE
$TGT_LATLONG,4739.150,-12252.570
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.252091,0.204816
$KALMAN_X,-142.710480,-134.967010,-115.735382,1765.913086,-159.899216
$KALMAN_Y,-141.168564,-134.662445,-118.171341,1402.499390,-156.651337
$MHEAD_RNG_PITCHd_Wd,34.5,2718,-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,6,begin dive
$GC,9,-0.81,-244.4,210,2080,400,338,0.0,0.0,0,27,0.00,0.00,-16.65,0.000,16386,0.000,0.000,210,2081,835,846,824,0,0,0,0,0,0,26.33,28.83,26.34,8.07,38.97
$GC,31,-0.81,-244.4,210,2081,846,826,2.1,-2.1,3,123,10.77,2.20,-72.68,0.000,19204,0.255,0.056,2793,677,3061,3135,2988,0,0,0,0,0,0,25.74,25.52,26.00,8.11,39.36
$GC,132,-0.48,-244.4,2793,677,3136,2989,9.6,-15.7,20,140,0.35,2.12,0.00,0.000,3078,0.151,0.031,2901,2080,3062,3136,2989,0,0,0,0,0,0,25.91,26.08,26.07,8.30,39.05
$GC,204,-0.43,-244.4,2900,2080,3136,2989,20.2,-12.6,33,208,0.00,2.20,0.00,0.000,516,0.000,0.044,2901,682,3062,3136,2989,0,0,0,0,0,0,26.39,26.09,26.40,8.29,38.81
$GC,366,-0.43,-244.4,2900,682,3136,2989,40.7,-12.5,49,375,0.00,2.10,0.00,0.000,1030,0.000,0.029,2901,2088,3062,3136,2989,0,0,0,0,0,0,26.27,26.20,26.29,8.30,39.40
$GC,496,-0.43,-244.4,2900,2088,3136,2989,56.2,-11.4,62,505,0.00,2.15,0.00,0.000,260,0.000,0.046,2901,3478,3062,3136,2988,0,0,0,0,0,0,26.52,26.21,26.53,8.30,39.17
$GC,521,-0.43,-244.4,2900,3478,3136,2989,58.9,-11.6,64,527,0.00,2.10,0.00,0.000,1030,0.000,0.027,2901,2067,3062,3136,2989,0,0,0,0,0,0,26.33,26.27,26.35,8.31,39.68
$GC,648,-0.43,-244.4,2900,2067,3136,2989,73.3,-11.3,77,649,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2067,3062,3136,2989,0,0,0,0,0,0,26.57,26.58,26.58,8.31,39.44
$GC,768,-0.43,-244.4,2900,2067,3136,2989,86.4,-11.3,89,776,0.00,2.12,0.00,0.000,516,0.000,0.045,2901,687,3062,3136,2988,0,0,0,0,0,0,26.60,26.29,26.61,8.31,40.15
$GC,812,-0.43,-244.4,2900,687,3137,2988,91.2,-11.6,93,819,0.00,2.08,0.00,0.000,1030,0.000,0.029,2901,2081,3062,3136,2988,0,0,0,0,0,0,26.41,26.33,26.42,8.31,39.64
$GC,940,-0.43,-244.4,2900,2080,3136,2988,105.2,-10.5,106,948,0.00,2.17,0.00,0.000,260,0.000,0.045,2901,3481,3062,3136,2988,0,0,0,0,0,0,26.63,26.32,26.64,8.32,39.88
$GC,1014,-0.43,-244.4,2901,3481,3135,2988,112.8,-10.3,113,1021,0.00,2.08,0.00,0.000,1030,0.000,0.027,2901,2077,3062,3136,2988,0,0,0,0,0,0,26.45,26.39,26.47,8.32,40.31
$GC,1202,-0.43,-244.4,2900,2076,3136,2988,132.2,-10.4,132,1210,0.00,2.15,0.00,0.000,516,0.000,0.045,2901,680,3062,3136,2988,0,0,0,0,0,0,26.68,26.38,26.69,8.32,40.54
$GC,1264,-0.43,-244.4,2900,680,3136,2988,139.0,-10.8,138,1273,0.00,2.08,0.00,0.000,1030,0.000,0.029,2901,2081,3062,3136,2988,0,0,0,0,0,0,26.48,26.41,26.51,8.33,40.27
$STATE,1291,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1291,begin apogee
$GC,1297,-0.22,0.0,2901,2080,3136,2988,141.9,-10.3,141,1503,0.22,0.00,199.38,0.746,10246,0.124,0.000,2985,2081,2064,2118,2010,0,0,0,0,0,0,26.30,24.75,24.20,8.33,39.91
$STATE,1504,end apogee,CONTROL_FINISHED_OK
$STATE,1504,begin climb
$GC,1507,0.81,244.4,2985,2081,2117,2010,153.3,0.0,162,1723,0.95,2.33,201.93,0.718,10756,0.103,0.046,3297,692,1067,1134,1000,0,0,0,0,0,0,24.84,24.49,24.12,8.26,38.34
$GC,1791,0.97,342.4,3297,692,1132,999,138.3,7.3,190,1879,0.15,2.17,80.25,0.699,11270,0.064,0.028,3382,2093,667,731,603,0,0,0,0,0,0,25.30,25.29,24.18,8.18,37.91
$GC,2068,0.97,342.4,3382,2093,732,601,104.5,12.9,218,2076,0.00,2.25,0.00,0.000,516,0.000,0.047,3383,690,666,731,601,0,0,0,0,0,0,25.86,25.56,25.86,8.15,38.26
$GC,2112,0.97,342.4,3382,690,730,601,99.1,13.1,222,2119,0.00,2.12,0.00,0.000,1030,0.000,0.029,3383,2078,665,730,601,0,0,0,0,0,0,25.75,25.68,25.77,8.15,39.05
$GC,2240,0.97,342.4,3382,2078,730,601,83.5,11.7,235,2248,0.00,2.22,0.00,0.000,516,0.000,0.047,3383,681,665,730,601,0,0,0,0,0,0,26.11,25.81,26.12,8.14,39.28
$GC,2292,0.97,342.4,3382,681,730,601,77.4,11.7,240,2300,0.00,2.15,0.00,0.000,1030,0.000,0.029,3383,2090,665,730,601,0,0,0,0,0,0,25.98,25.91,25.99,8.14,38.81
$GC,2422,0.97,342.4,3382,2090,730,601,61.4,11.5,253,2430,0.00,2.22,0.00,0.000,516,0.000,0.047,3383,685,665,730,601,0,0,0,0,0,0,26.28,25.97,26.28,8.14,38.77
$GC,2463,0.97,342.4,3382,685,730,601,56.3,12.2,257,2472,0.00,2.12,0.00,0.000,1030,0.000,0.029,3383,2084,665,730,601,0,0,0,0,0,0,26.10,26.04,26.13,8.14,39.09
$GC,2594,0.97,342.4,3382,2084,731,601,40.6,11.3,270,2595,0.00,0.00,0.00,0.000,6,0.000,0.000,3382,2084,665,730,601,0,0,0,0,0,0,26.39,26.39,26.39,8.13,38.81
$GC,2714,0.97,342.4,3382,2084,730,601,26.6,11.6,282,2722,0.00,2.22,0.00,0.000,516,0.000,0.047,3382,681,665,730,601,0,0,0,0,0,0,26.44,26.13,26.45,8.12,39.25
$GC,2801,0.97,342.4,3382,681,730,601,16.6,11.8,293,2808,0.00,2.10,0.00,0.000,1030,0.000,0.029,3383,2084,665,730,601,0,0,0,0,0,0,26.28,26.22,26.29,8.12,39.13
$GC,2871,0.97,342.4,3382,2084,730,601,9.4,8.9,306,2877,0.00,2.20,0.00,0.000,516,0.000,0.047,3383,687,665,730,601,0,0,0,0,0,0,26.50,26.19,26.51,8.12,39.21
$GC,2891,1.12,440.9,3382,687,730,601,8.0,7.3,309,2933,0.03,2.10,36.17,0.560,11270,0.239,0.028,3427,2102,374,411,337,0,0,0,0,0,0,26.19,26.25,25.24,8.12,39.01
$STATE,2975,end climb,SURFACE_DEPTH_REACHED
$STATE,2975,begin surface coast
$FINISH,0.8,1.019032
$STATE,3042,end surface coast,CONTROL_FINISHED_OK
$STATE,3042,begin surface
$SM_CCo,3122,0.00,0.000,0,0,370,415.78
$SM_GC,2.27,8.68,0.00,0.00,0.047,0.000,0.000,213,2103,370,-8.85,0.59,415.78,0,0,0,0,0,0,25.93,26.24,26.01
$IRIDIUM_FIX,4737.86,-12251.79,010218,201829
$TT8_MAMPS,0.026215,0.279377
$HUMID,39.01
$INTERNAL_PRESSURE,8.04943
$TCM_TEMP,10.50
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.5,18.8
$ALTIM_BOTTOM_PING,75.4,76.0
$24V_AH,24.12,3.306
$10V_AH,10.35,1.062
$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,21.150,51.775,517.725,0.000,0.000,0.000,0.000,178.000,1.000,0.000,20.886,742.758,1133.617,573.973,838.433,126.957,31.524,1208.038,0.000,648.810,0.000,7.271,0.000
$DEVICE_MAMPS,254.745,55.845,745.875,0.000,0.000,0.000,0.000,79.560,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,69.640,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,226.729,444.543,449.194,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,311920
$DATA_FILE_SIZE,24442,337
$CAP_FILE_SIZE,56279,0
$CFSIZE,2097872896,2090958848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,010218,221318,4738.444,-12253.899,21,0.8,21,16.4,0.0,0.0,10,80.3