version: 66.14
glider: 194
mission: 12
dive: 52
start: 2 2 118 11 44 30
data:
$ID,194
$MISSION,12
$DIVE,52
$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,50840
$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,45
$R_STBD_OVSHOOT,63
$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
$GPS1,020218,113837,4739.0830,-12252.7354,5,1.1,15,16.4,0.0,0.0,9,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.37
$_SM_ANGLEo,-73.0
$GPS2,020218,114321,4739.0918,-12252.7178,10,1.0,17,16.4,0.0,0.0,9,4.6
$SPEED_LIMITS,0.173,0.325
$TGT_NAME,NW_NE
$TGT_LATLONG,4739.150,-12252.570
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.112985,0.175327
$KALMAN_X,2090.096191,327.188782,-144.278625,-2522.918701,-225.363480
$KALMAN_Y,1358.093140,386.991974,-242.664703,-1607.348633,-524.976929
$MHEAD_RNG_PITCHd_Wd,16.4,213,-22.5,-10.000,-25.61,1390
$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,-1.07,-91.2,211,2075,349,429,0.0,0.0,0,16,0.00,0.00,-6.43,0.000,16386,0.000,0.000,210,2075,575,549,601,0,0,0,0,0,0,26.19,28.83,26.20,8.07,38.89
$GC,20,-1.07,-91.2,211,2075,549,601,2.4,0.0,1,106,10.38,2.17,-68.50,0.000,18948,0.249,0.054,2712,686,2438,2467,2410,0,0,0,0,0,0,25.60,25.37,25.86,8.09,39.36
$GC,126,-0.81,-91.2,2711,686,2467,2410,10.5,-21.4,19,133,0.30,2.08,0.00,0.000,3078,0.185,0.028,2797,2064,2438,2467,2410,0,0,0,0,0,0,25.74,25.97,25.94,8.24,38.50
$GC,202,-0.73,-91.2,2796,2065,2468,2410,24.9,-16.1,30,211,0.00,2.15,0.00,0.000,516,0.000,0.042,2797,687,2438,2467,2410,0,0,0,0,0,0,26.30,26.00,26.31,8.25,38.46
$GC,268,-0.61,-91.2,2796,687,2467,2409,34.4,-15.7,36,275,0.22,2.10,0.00,0.000,3078,0.171,0.027,2863,2089,2438,2468,2409,0,0,0,0,0,0,25.86,26.07,26.04,8.25,38.89
$GC,394,-0.61,-91.2,2862,2090,2467,2409,51.1,-11.2,49,403,0.00,2.17,0.00,0.000,516,0.000,0.041,2863,686,2438,2467,2409,0,0,0,0,0,0,26.41,26.11,26.42,8.25,38.89
$GC,673,-0.66,-91.2,2862,686,2467,2408,82.4,-11.8,76,680,0.00,2.08,0.00,0.000,1030,0.000,0.028,2863,2082,2438,2468,2408,0,0,0,0,0,0,26.32,26.25,26.34,8.25,39.88
$GC,801,-0.74,-91.2,2862,2082,2468,2408,96.2,-10.4,89,803,0.08,0.00,0.00,0.000,4102,0.111,0.000,2804,2082,2437,2467,2407,0,0,0,0,0,0,26.34,26.39,26.38,8.26,39.48
$GC,921,-0.74,-91.2,2804,2082,2468,2407,112.1,-13.6,101,930,0.00,2.17,0.00,0.000,516,0.000,0.043,2804,676,2437,2467,2407,0,0,0,0,0,0,26.60,26.29,26.60,8.26,39.95
$GC,986,-0.74,-91.2,2804,676,2467,2406,121.2,-15.0,107,993,0.00,2.10,0.00,0.000,1030,0.000,0.028,2804,2087,2436,2467,2406,0,0,0,0,0,0,26.41,26.33,26.42,8.27,40.47
$STATE,1130,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1131,begin apogee
$GC,1137,-0.22,0.0,2804,2087,2467,2406,140.9,-12.8,122,1222,0.55,0.00,78.18,0.753,10246,0.142,0.000,2982,2087,2064,2105,2023,0,0,0,0,0,0,26.20,25.02,24.60,8.27,40.51
$STATE,1223,end apogee,CONTROL_FINISHED_OK
$STATE,1224,begin climb
$GC,1226,1.07,91.2,2982,2087,2104,2023,143.8,0.0,131,1312,1.12,0.00,79.03,0.731,10246,0.082,0.000,3377,2087,1692,1740,1644,0,0,0,0,0,0,25.26,24.79,24.24,8.25,40.11
$GC,1493,1.07,91.2,3376,2087,1740,1642,124.3,9.3,158,1494,0.00,0.00,0.00,0.000,6,0.000,0.000,3377,2087,1691,1740,1642,0,0,0,0,0,0,25.94,25.96,25.95,8.22,39.40
$GC,1673,1.07,91.2,3376,2087,1740,1641,108.4,8.2,176,1682,0.00,2.22,0.00,0.000,516,0.000,0.044,3384,670,1690,1740,1641,0,0,0,0,0,0,26.19,25.89,26.20,8.22,39.64
$GC,1715,1.07,91.2,3384,670,1740,1641,104.7,8.9,180,1724,0.00,2.12,0.00,0.000,1030,0.000,0.028,3384,2090,1690,1740,1641,0,0,0,0,0,0,26.03,25.96,26.05,8.23,39.99
$GC,1905,1.07,91.2,3384,2090,1740,1641,87.4,9.3,199,1914,0.00,2.20,0.00,0.000,516,0.000,0.045,3393,687,1690,1740,1641,0,0,0,0,0,0,26.36,26.06,26.37,8.22,39.72
$GC,1960,1.07,91.2,3393,687,1740,1641,82.5,9.3,204,1967,0.00,2.10,0.00,0.000,1030,0.000,0.027,3393,2093,1690,1739,1641,0,0,0,0,0,0,26.20,26.13,26.21,8.22,39.72
$GC,2087,1.07,91.2,3393,2093,1740,1641,70.8,9.2,217,2088,0.00,0.00,0.00,0.000,6,0.000,0.000,3393,2093,1690,1740,1641,0,0,0,0,0,0,26.45,26.46,26.46,8.22,39.88
$GC,2207,1.07,91.2,3393,2093,1740,1641,60.4,8.9,229,2216,0.00,2.20,0.00,0.000,516,0.000,0.045,3402,683,1690,1740,1641,0,0,0,0,0,0,26.50,26.19,26.51,8.21,39.68
$GC,2343,1.07,91.2,3402,683,1740,1641,49.2,8.4,242,2350,0.00,2.08,0.00,0.000,1030,0.000,0.028,3402,2083,1690,1740,1641,0,0,0,0,0,0,26.34,26.28,26.36,8.21,39.91
$GC,2469,1.07,91.2,3402,2084,1740,1641,37.7,9.7,255,2478,0.00,2.17,0.00,0.000,516,0.000,0.044,3411,682,1690,1739,1641,0,0,0,0,0,0,26.58,26.27,26.59,8.20,39.95
$GC,2543,1.07,91.2,3410,681,1740,1641,30.5,10.1,262,2550,0.00,2.08,0.00,0.000,1030,0.000,0.028,3411,2084,1690,1740,1641,0,0,0,0,0,0,26.40,26.33,26.41,8.20,39.76
$GC,2671,1.12,138.1,3411,2084,1740,1641,22.1,6.5,275,2702,0.00,2.22,25.85,0.620,8708,0.000,0.044,3415,682,1499,1551,1447,0,0,0,0,0,0,26.63,25.75,25.34,8.20,39.56
$GC,2998,1.34,299.3,3414,682,1550,1446,9.5,-1.9,336,3089,0.12,2.08,81.68,0.569,11270,0.067,0.027,3505,2092,840,881,799,0,0,0,0,0,0,26.22,26.22,24.82,8.18,39.80
$STATE,3141,end climb,SURFACE_DEPTH_REACHED
$STATE,3141,begin surface coast
$FINISH,1.3,1.018384
$STATE,3178,end surface coast,CONTROL_FINISHED_OK
$STATE,3178,begin surface
$SM_CCo,3197,54.28,0.074,0,0,390,410.14
$SM_GC,2.65,9.23,0.00,54.28,0.062,0.000,0.074,218,2092,390,-8.84,0.28,410.14,0,0,0,0,0,0,25.64,25.96,25.65
$IRIDIUM_FIX,4741.52,-12250.84,020218,104431
$TT8_MAMPS,0.026215,0.280126
$HUMID,38.34
$INTERNAL_PRESSURE,8.03967
$TCM_TEMP,10.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,18.4
$ALTIM_BOTTOM_PING,76.1,74.6
$24V_AH,24.24,4.544
$10V_AH,10.36,1.475
$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,22.000,38.500,264.725,54.275,0.000,0.000,0.000,193.025,0.750,0.000,18.942,872.451,1282.500,421.178,861.187,123.484,33.427,1012.592,0.000,665.577,0.000,7.263,0.000
$DEVICE_MAMPS,248.625,53.550,752.760,74.205,0.000,0.000,0.000,80.325,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,69.640,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,251.953,488.386,493.160,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,311984
$DATA_FILE_SIZE,24539,369
$CAP_FILE_SIZE,54716,0
$CFSIZE,2097872896,2089484288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,020218,123942,4739.157,-12252.644,6,0.8,16,16.4,0.0,0.0,9,4.8