version: 66.14
glider: 194
mission: 12
dive: 53
start: 2 2 118 12 45 42
data:
$ID,194
$MISSION,12
$DIVE,53
$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
$GPS1,020218,123942,4739.1572,-12252.6436,6,0.8,16,16.4,0.0,0.0,9,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.64
$_SM_ANGLEo,-73.8
$GPS2,020218,124431,4739.1699,-12252.6182,5,0.8,18,16.4,0.0,0.0,9,4.7
$SPEED_LIMITS,0.173,0.325
$TGT_NAME,NW_NE
$TGT_LATLONG,4739.150,-12252.570
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.097455,0.143187
$KALMAN_X,2084.033203,47.994625,-144.228943,-2114.905518,-223.422745
$KALMAN_Y,1258.783203,26.770638,-270.951935,-976.958923,-450.705536
$MHEAD_RNG_PITCHd_Wd,17.8,70,-27.2,-10.000,-30.00,962
$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,-1.25,-63.1,218,2093,358,417,0.0,0.0,0,16,0.00,0.00,-6.38,0.000,16386,0.000,0.000,217,2093,577,560,594,0,0,0,0,0,0,26.20,28.83,26.20,8.06,38.58
$GC,20,-1.25,-63.1,218,2093,560,594,2.6,0.0,1,101,10.12,2.15,-62.97,0.000,19204,0.251,0.057,2650,3459,2324,2352,2297,0,0,0,0,0,0,25.58,25.39,25.86,8.09,38.97
$GC,114,-1.01,-63.1,2649,3460,2352,2298,9.7,-19.2,17,122,0.28,2.08,0.00,0.000,3078,0.181,0.027,2729,2076,2325,2352,2298,0,0,0,0,0,0,25.73,25.97,25.94,8.24,38.62
$GC,190,-0.91,-63.1,2728,2075,2352,2296,22.9,-15.2,29,199,0.10,2.12,0.00,0.000,2564,0.198,0.040,2759,691,2323,2352,2295,0,0,0,0,0,0,25.85,26.01,25.95,8.23,38.38
$GC,493,-0.91,-63.1,2759,691,2351,2292,66.1,-13.8,59,502,0.00,2.05,0.00,0.000,1030,0.000,0.028,2760,2064,2322,2352,2292,0,0,0,0,0,0,26.26,26.18,26.28,8.24,39.56
$GC,623,-0.91,-63.1,2759,2065,2352,2291,84.7,-14.8,72,626,0.00,2.15,0.00,0.000,516,0.000,0.041,2760,678,2321,2352,2291,0,0,0,0,0,0,26.51,26.21,26.53,8.24,39.52
$GC,665,-0.91,-63.1,2759,677,2352,2291,91.0,-15.2,76,673,0.00,2.10,0.00,0.000,1030,0.000,0.029,2760,2088,2321,2352,2291,0,0,0,0,0,0,26.32,26.24,26.34,8.24,40.19
$GC,795,-0.91,-63.1,2759,2088,2352,2291,109.3,-14.2,89,804,0.00,2.20,0.00,0.000,516,0.000,0.042,2760,680,2321,2352,2290,0,0,0,0,0,0,26.57,26.27,26.58,8.25,40.35
$GC,821,-0.91,-63.1,2759,680,2352,2290,112.6,-14.6,91,828,0.00,2.10,0.00,0.000,1030,0.000,0.028,2760,2090,2321,2352,2290,0,0,0,0,0,0,26.36,26.29,26.38,8.25,39.40
$GC,1007,-0.91,-63.1,2759,2090,2352,2290,138.8,-13.6,110,1010,0.00,2.15,0.00,0.000,260,0.000,0.045,2760,3482,2321,2352,2290,0,0,0,0,0,0,26.62,26.29,26.63,8.26,39.99
$STATE,1016,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1016,begin apogee
$GC,1024,-0.22,0.0,2759,2073,2352,2290,140.2,-13.0,111,1088,0.70,0.00,55.30,0.755,10246,0.152,0.000,2982,2072,2064,2105,2024,0,0,0,0,0,0,26.13,25.43,24.83,8.26,40.11
$STATE,1089,end apogee,CONTROL_FINISHED_OK
$STATE,1089,begin climb
$GC,1092,1.25,63.1,2981,2071,2104,2024,142.5,0.0,118,1159,1.30,2.28,56.10,0.737,10756,0.083,0.042,3447,695,1806,1851,1761,0,0,0,0,0,0,25.48,24.97,24.38,8.24,40.27
$GC,1208,1.27,88.1,3447,695,1850,1761,137.1,7.3,129,1241,0.00,2.12,22.67,0.708,9222,0.000,0.027,3447,2083,1703,1750,1657,0,0,0,0,0,0,25.47,25.41,24.50,8.23,39.25
$GC,1424,1.27,88.1,3447,2083,1750,1655,112.0,11.7,151,1432,0.00,2.15,0.00,0.000,260,0.000,0.040,3447,3475,1702,1750,1655,0,0,0,0,0,0,26.01,25.72,26.01,8.22,39.76
$GC,1456,1.27,88.1,3447,3475,1750,1655,108.0,11.9,154,1464,0.00,2.10,0.00,0.000,1030,0.000,0.024,3457,2088,1702,1750,1655,0,0,0,0,0,0,25.86,25.80,25.88,8.22,40.11
$GC,1646,1.27,88.1,3456,2088,1750,1654,86.7,11.5,173,1654,0.00,2.22,0.00,0.000,516,0.000,0.044,3467,679,1702,1750,1654,0,0,0,0,0,0,26.26,25.95,26.27,8.22,39.99
$GC,1760,1.27,88.1,3466,679,1749,1654,73.8,11.3,184,1767,0.00,2.10,0.00,0.000,1030,0.000,0.028,3467,2086,1702,1750,1655,0,0,0,0,0,0,26.14,26.08,26.15,8.21,40.31
$GC,1888,1.27,88.1,3466,2085,1750,1654,58.2,12.0,197,1889,0.00,0.00,0.00,0.000,6,0.000,0.000,3467,2085,1702,1750,1654,0,0,0,0,0,0,26.41,26.41,26.41,8.21,39.40
$GC,2008,1.27,88.1,3467,2085,1750,1654,44.3,11.6,209,2016,0.00,2.22,0.00,0.000,516,0.000,0.044,3478,675,1702,1750,1654,0,0,0,0,0,0,26.46,26.15,26.47,8.21,39.80
$GC,2121,1.27,88.1,3477,674,1750,1654,30.0,12.1,220,2129,0.00,2.05,0.00,0.000,1030,0.000,0.028,3478,2074,1702,1750,1654,0,0,0,0,0,0,26.28,26.25,26.30,8.20,39.68
$GC,2251,1.27,88.1,3477,2075,1750,1654,15.9,10.5,236,2258,0.00,2.17,0.00,0.000,516,0.000,0.045,3489,684,1702,1750,1654,0,0,0,0,0,0,26.55,26.24,26.55,8.20,39.44
$GC,2388,1.35,167.4,3488,684,1750,1654,9.2,1.6,262,2435,0.00,2.08,40.80,0.568,9222,0.000,0.027,3488,2094,1379,1429,1330,0,0,0,0,0,0,26.39,26.33,25.22,8.19,40.23
$GC,2501,1.51,242.1,3487,2094,1428,1328,7.7,2.1,282,2548,0.10,2.30,37.30,0.552,10756,0.083,0.044,3575,686,1075,1119,1032,0,0,0,0,0,0,25.98,25.49,24.96,8.17,38.85
$GC,2586,1.56,298.7,3574,685,1117,1032,5.7,4.0,297,2621,0.00,2.10,27.95,0.525,9222,0.000,0.026,3575,2082,844,882,807,0,0,0,0,0,0,25.75,25.70,24.88,8.14,39.25
$STATE,2632,end climb,SURFACE_DEPTH_REACHED
$STATE,2632,begin surface coast
$FINISH,1.7,1.018987
$STATE,2675,end surface coast,CONTROL_FINISHED_OK
$STATE,2675,begin surface
$SM_CCo,2695,54.97,0.073,0,0,391,410.14
$SM_GC,2.80,9.73,0.00,54.97,0.078,0.000,0.073,216,2082,391,-8.85,0.00,410.14,0,0,0,0,0,0,25.57,25.90,25.60
$IRIDIUM_FIX,4739.20,-12253.53,020218,113959
$TT8_MAMPS,0.026964,0.29211
$HUMID,38.26
$INTERNAL_PRESSURE,8.03967
$TCM_TEMP,10.20
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.4,17.9
$ALTIM_BOTTOM_PING,75.8,73.3
$24V_AH,24.38,4.595
$10V_AH,10.36,1.501
$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,22.325,47.150,240.125,54.975,0.000,0.000,0.000,196.950,1.000,0.000,21.841,750.627,1009.357,399.937,784.509,121.524,33.427,964.676,0.000,582.231,0.000,7.262,0.000
$DEVICE_MAMPS,250.920,57.375,755.055,72.675,0.000,0.000,0.000,83.385,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,69.640,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,212.552,413.768,417.831,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,311956
$DATA_FILE_SIZE,20953,313
$CAP_FILE_SIZE,52353,0
$CFSIZE,2097872896,2089385984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020218,133255,4739.292,-12252.509,5,0.9,38,16.4,0.0,0.0,8,4.5