version: 66.14
glider: 194
mission: 12
dive: 41
start: 2 2 118 1 8 21
data:
$ID,194
$MISSION,12
$DIVE,41
$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,0
$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,40
$R_STBD_OVSHOOT,55
$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
$GPS1,020218,010248,4739.1187,-12252.5059,8,0.9,8,16.4,0.0,51.0,10,66.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-71.7
$GPS2,020218,010715,4739.1494,-12252.5156,5,1.1,5,16.4,0.5,37.2,6,64.9
$SPEED_LIMITS,0.173,0.325
$TGT_NAME,NW_SW1Q
$TGT_LATLONG,4738.840,-12253.440
$TGT_RADIUS,250.000
$KALMAN_CONTROL,-0.290888,-0.144512
$KALMAN_X,0.000000,0.000000,0.000000,0.000000,0.000000
$KALMAN_Y,0.000000,0.000000,0.000000,0.000000,0.000000
$MHEAD_RNG_PITCHd_Wd,227.2,1288,-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,5,begin dive
$GC,8,-0.81,-244.4,215,2101,393,388,0.0,0.0,0,27,0.00,0.00,-17.23,0.000,16386,0.000,0.000,215,2101,868,871,865,0,0,0,0,0,0,26.17,28.83,26.19,8.07,38.58
$GC,31,-0.81,-244.4,215,2101,871,868,2.0,-0.6,3,123,11.05,2.28,-70.20,0.000,19204,0.262,0.058,2792,687,3062,3135,2990,0,0,0,0,0,0,25.58,24.83,25.85,8.12,38.65
$GC,158,-0.59,-244.4,2792,687,3135,2991,17.6,-21.6,25,166,0.22,2.10,0.00,0.000,3078,0.151,0.030,2862,2071,3063,3135,2991,0,0,0,0,0,0,25.83,25.98,25.98,8.30,38.62
$GC,234,-0.51,-244.4,2861,2071,3136,2992,30.7,-16.0,33,243,0.10,2.17,0.00,0.000,2308,0.159,0.044,2897,3477,3063,3136,2991,0,0,0,0,0,0,25.94,26.01,26.01,8.30,38.85
$GC,319,-0.51,-244.4,2896,3477,3136,2991,41.4,-12.2,41,326,0.00,2.10,0.00,0.000,1030,0.000,0.027,2896,2074,3063,3136,2991,0,0,0,0,0,0,26.17,26.11,26.19,8.30,39.09
$GC,447,-0.51,-244.4,2896,2073,3135,2991,56.7,-11.7,54,448,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2073,3063,3135,2991,0,0,0,0,0,0,26.44,26.45,26.45,8.30,39.95
$GC,567,-0.51,-244.4,2896,2073,3135,2991,70.7,-11.3,66,568,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2073,3063,3135,2991,0,0,0,0,0,0,26.49,26.51,26.50,8.31,40.15
$GC,687,-0.51,-244.4,2896,2073,3136,2991,84.5,-10.9,78,688,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2073,3063,3136,2991,0,0,0,0,0,0,26.53,26.54,26.54,8.31,39.52
$GC,807,-0.51,-244.4,2896,2073,3136,2991,97.1,-11.0,90,808,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2073,3063,3135,2991,0,0,0,0,0,0,26.57,26.58,26.58,8.31,40.27
$GC,927,-0.51,-244.4,2896,2073,3136,2991,110.6,-10.8,102,935,0.00,2.15,0.00,0.000,516,0.000,0.045,2897,680,3063,3135,2991,0,0,0,0,0,0,26.60,26.29,26.61,8.31,40.19
$GC,959,-0.51,-244.4,2896,680,3135,2991,114.2,-11.1,105,967,0.00,2.10,0.00,0.000,1030,0.000,0.030,2897,2082,3063,3136,2991,0,0,0,0,0,0,26.40,26.33,26.42,8.32,40.31
$GC,1149,-0.51,-244.4,2896,2082,3136,2991,134.0,-10.3,124,1157,0.00,2.15,0.00,0.000,260,0.000,0.045,2897,3481,3063,3135,2991,0,0,0,0,0,0,26.65,26.33,26.65,8.32,39.68
$GC,1201,-0.51,-244.4,2896,3481,3135,2991,139.3,-10.0,129,1205,0.00,2.08,0.00,0.000,1030,0.000,0.026,2897,2069,3063,3135,2991,0,0,0,0,0,0,26.46,26.39,26.47,8.32,40.66
$STATE,1220,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1220,begin apogee
$GC,1226,-0.22,0.0,2897,2069,3136,2990,141.5,-10.1,131,1432,0.22,0.00,199.00,0.739,10246,0.120,0.000,2982,2069,2064,2118,2010,0,0,0,0,0,0,26.27,24.76,24.20,8.32,39.91
$STATE,1433,end apogee,CONTROL_FINISHED_OK
$STATE,1433,begin climb
$GC,1438,0.81,244.4,2982,2069,2117,2009,144.1,0.0,152,1655,0.93,2.35,202.18,0.709,11012,0.056,0.046,3322,688,1066,1131,1001,0,0,0,0,0,0,24.94,24.72,24.13,8.25,38.22
$GC,1681,0.81,244.4,3322,688,1131,1002,130.7,8.5,176,1688,0.00,2.20,0.00,0.000,1030,0.000,0.028,3323,2094,1066,1131,1001,0,0,0,0,0,0,25.16,25.10,25.18,8.19,37.79
$GC,1868,0.81,244.4,3322,2094,1130,1000,114.7,8.3,195,1877,0.00,2.25,0.00,0.000,516,0.000,0.046,3323,694,1065,1131,1000,0,0,0,0,0,0,25.92,25.63,25.92,8.18,39.05
$GC,1950,0.81,244.4,3322,694,1131,1000,107.6,8.6,203,1959,0.00,2.12,0.00,0.000,1030,0.000,0.028,3323,2086,1065,1131,1000,0,0,0,0,0,0,25.86,25.79,25.86,8.18,38.97
$GC,2140,0.81,244.4,3322,2086,1130,1000,92.2,8.0,222,2149,0.00,2.20,0.00,0.000,516,0.000,0.046,3323,690,1065,1130,1000,0,0,0,0,0,0,26.25,25.94,26.25,8.18,39.52
$GC,2205,0.81,244.4,3322,689,1130,1000,87.3,8.0,228,2211,0.00,2.10,0.00,0.000,1030,0.000,0.028,3323,2086,1065,1130,1000,0,0,0,0,0,0,26.10,26.03,26.11,8.17,39.40
$GC,2332,0.88,316.9,3322,2085,1130,1000,76.9,8.0,241,2401,0.00,2.33,58.75,0.685,8708,0.000,0.046,3323,689,772,835,710,0,0,0,0,0,0,26.37,25.31,24.75,8.17,39.88
$GC,2457,0.95,316.9,3322,689,834,710,67.1,8.3,253,2466,0.03,2.12,0.00,0.000,3078,0.140,0.028,3360,2086,772,835,710,0,0,0,0,0,0,25.53,25.60,25.58,8.14,38.89
$GC,2585,0.95,316.9,3359,2086,834,709,54.7,9.7,266,2593,0.00,2.25,0.00,0.000,516,0.000,0.047,3360,686,771,834,709,0,0,0,0,0,0,26.09,25.79,26.10,8.14,39.05
$GC,2627,0.95,316.9,3359,686,834,709,50.4,10.1,270,2635,0.00,2.12,0.00,0.000,1030,0.000,0.028,3360,2082,771,834,709,0,0,0,0,0,0,25.96,25.89,25.97,8.14,38.65
$GC,2757,0.95,316.9,3359,2082,834,708,37.1,10.2,283,2765,0.00,2.20,0.00,0.000,516,0.000,0.046,3360,694,771,834,708,0,0,0,0,0,0,26.27,25.96,26.28,8.13,39.32
$GC,2781,0.95,316.9,3359,693,834,708,34.9,10.0,285,2788,0.00,2.10,0.00,0.000,1030,0.000,0.028,3360,2096,771,834,708,0,0,0,0,0,0,26.09,26.03,26.11,8.13,39.01
$GC,2909,0.95,316.9,3359,2096,833,708,21.8,10.0,298,2917,0.00,2.22,0.00,0.000,516,0.000,0.046,3360,691,771,834,708,0,0,0,0,0,0,26.37,26.07,26.38,8.13,39.44
$GC,2957,0.95,316.9,3360,691,835,708,17.2,8.6,305,2964,0.00,2.08,0.00,0.000,1030,0.000,0.028,3360,2084,771,834,708,0,0,0,0,0,0,26.20,26.14,26.22,8.13,39.56
$GC,3029,1.06,429.8,3359,2084,834,709,11.7,6.9,318,3087,0.05,2.20,50.20,0.571,10500,0.147,0.040,3414,3475,372,394,350,0,0,0,0,0,0,26.22,25.39,25.05,8.12,39.80
$STATE,3130,end climb,SURFACE_DEPTH_REACHED
$STATE,3130,begin surface coast
$FINISH,1.0,1.011064
$STATE,3166,end surface coast,CONTROL_FINISHED_OK
$STATE,3166,begin surface
$SM_CCo,3247,0.00,0.000,0,0,370,415.78
$SM_GC,2.43,8.62,2.17,0.00,0.043,0.026,0.000,216,2104,370,-8.84,1.41,415.78,0,0,0,0,0,0,25.78,25.82,25.85
$IRIDIUM_FIX,4741.04,-12246.42,020218,001038
$TT8_MAMPS,0.026964,0.279377
$HUMID,38.97
$INTERNAL_PRESSURE,8.03967
$TCM_TEMP,10.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,19.3
$ALTIM_BOTTOM_PING,75.4,75.1
$24V_AH,24.13,3.721
$10V_AH,10.38,1.173
$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,21.225,52.150,510.125,0.000,0.000,0.000,0.000,190.950,0.750,0.000,6.663,756.112,1261.475,598.225,793.317,129.875,29.324,1210.509,0.000,609.573,0.000,7.270,0.000
$DEVICE_MAMPS,261.630,58.140,738.990,0.000,0.000,0.000,0.000,78.795,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,69.640,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,230.881,452.555,457.026,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,311976
$DATA_FILE_SIZE,24599,343
$CAP_FILE_SIZE,56370,0
$CFSIZE,2097872896,2090565632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020218,020335,4739.062,-12253.058,25,0.8,25,16.4,0.4,57.5,10,16.4