version: 66.14
glider: 194
mission: 12
dive: 55
start: 2 2 118 14 38 13
data:
$ID,194
$MISSION,12
$DIVE,55
$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,44
$R_STBD_OVSHOOT,57
$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
$GPS1,020218,142420,4739.2808,-12252.2090,37,1.1,77,16.4,0.2,338.5,7,4.6
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.94
$_SM_ANGLEo,-72.0
$GPS2,020218,143702,4739.3848,-12252.1143,5,1.1,45,16.4,0.3,41.5,7,2.6
$SPEED_LIMITS,0.173,0.325
$TGT_NAME,NW_NE
$TGT_LATLONG,4739.150,-12252.570
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.120365,-0.124548
$KALMAN_X,2216.486328,-519.661133,-54.000080,-1141.923950,-137.296783
$KALMAN_Y,1865.795654,-757.641724,-163.447632,-515.292114,19.008545
$MHEAD_RNG_PITCHd_Wd,207.6,716,-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,-63.1,217,2088,344,433,0.0,0.0,0,16,0.00,0.00,-6.22,0.000,16386,0.000,0.000,216,2088,574,551,598,0,0,0,0,0,0,26.30,28.83,26.31,8.07,38.97
$GC,20,-1.25,-63.1,216,2088,551,599,3.2,0.0,1,95,10.20,0.00,-60.05,0.000,18438,0.256,0.000,2651,2089,2324,2354,2295,0,0,0,0,0,0,25.65,24.91,25.94,8.09,39.05
$GC,160,-1.04,-63.1,2651,2088,2356,2295,23.2,-23.0,25,166,0.22,0.00,0.00,0.000,2054,0.196,0.000,2718,2089,2324,2355,2294,0,0,0,0,0,0,25.86,26.03,25.95,8.24,38.14
$GC,288,-0.92,-63.1,2716,2089,2355,2292,43.4,-14.1,38,290,0.15,0.00,0.00,0.000,2054,0.187,0.000,2760,2089,2323,2355,2292,0,0,0,0,0,0,25.94,26.17,26.12,8.23,38.93
$GC,409,-0.87,-63.1,2759,2089,2355,2290,59.9,-13.6,50,417,0.00,2.17,0.00,0.000,516,0.000,0.043,2760,690,2322,2355,2290,0,0,0,0,0,0,26.47,26.17,26.48,8.24,39.68
$GC,474,-0.79,-63.1,2760,690,2355,2289,69.2,-15.7,56,481,0.15,2.08,0.00,0.000,3078,0.184,0.028,2803,2080,2322,2355,2289,0,0,0,0,0,0,26.01,26.22,26.19,8.23,38.69
$GC,600,-0.79,-63.1,2803,2080,2355,2289,86.4,-12.1,69,602,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2080,2322,2355,2289,0,0,0,0,0,0,26.53,26.55,26.54,8.23,39.32
$GC,720,-0.79,-63.1,2803,2080,2355,2289,101.2,-12.6,81,724,0.00,2.20,0.00,0.000,260,0.000,0.045,2803,3495,2322,2355,2289,0,0,0,0,0,0,26.58,26.25,26.58,8.24,39.17
$GC,803,-0.79,-63.1,2803,3495,2355,2289,110.8,-11.9,89,811,0.00,2.08,0.00,0.000,1030,0.000,0.025,2804,2077,2322,2355,2290,0,0,0,0,0,0,26.39,26.32,26.41,8.24,39.56
$GC,993,-0.79,-63.1,2803,2077,2355,2288,133.8,-12.1,108,1001,0.00,2.12,0.00,0.000,516,0.000,0.044,2803,690,2321,2355,2287,0,0,0,0,0,0,26.63,26.32,26.64,8.24,39.52
$STATE,1005,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1005,begin apogee
$GC,1013,-0.22,0.0,2803,2090,2355,2287,134.8,-12.0,109,1072,0.55,0.00,55.45,0.756,10246,0.151,0.000,2981,2091,2064,2105,2023,0,0,0,0,0,0,26.15,25.44,24.82,8.25,39.88
$STATE,1073,end apogee,CONTROL_FINISHED_OK
$STATE,1073,begin climb
$GC,1076,1.25,63.1,2980,2090,2105,2023,140.0,0.0,115,1140,1.27,2.28,55.58,0.737,10500,0.075,0.040,3437,3474,1806,1853,1759,0,0,0,0,0,0,25.48,24.96,24.37,8.23,38.93
$GC,1207,1.27,85.2,3436,3474,1852,1758,134.0,7.6,128,1235,0.00,2.12,20.10,0.682,9222,0.000,0.024,3447,2082,1715,1764,1667,0,0,0,0,0,0,25.52,25.46,24.56,8.22,39.52
$GC,1417,1.33,85.2,3447,2082,1764,1665,112.5,10.9,149,1426,0.05,2.17,0.00,0.000,2564,0.143,0.042,3507,693,1714,1764,1665,0,0,0,0,0,0,25.82,25.72,25.84,8.21,39.25
$GC,1592,1.33,85.2,3506,693,1763,1665,88.3,12.9,166,1599,0.00,2.10,0.00,0.000,1030,0.000,0.027,3507,2091,1714,1763,1665,0,0,0,0,0,0,26.03,25.96,26.05,8.21,39.76
$GC,1719,1.33,85.2,3506,2091,1762,1665,71.6,12.6,179,1721,0.00,0.00,0.00,0.000,6,0.000,0.000,3507,2091,1714,1763,1665,0,0,0,0,0,0,26.32,26.34,26.33,8.21,39.80
$GC,1839,1.33,85.2,3506,2091,1763,1665,56.7,11.9,191,1848,0.00,2.22,0.00,0.000,516,0.000,0.044,3518,684,1714,1763,1665,0,0,0,0,0,0,26.39,26.08,26.40,8.20,39.84
$GC,1871,1.33,85.2,3518,684,1763,1665,52.6,12.4,194,1881,0.10,2.08,0.00,0.000,5126,0.182,0.028,3491,2083,1714,1763,1665,0,0,0,0,0,0,25.95,26.14,26.12,8.21,39.84
$GC,2001,1.33,85.2,3491,2083,1762,1664,37.2,12.2,207,2003,0.00,0.00,0.00,0.000,6,0.000,0.000,3491,2083,1713,1763,1664,0,0,0,0,0,0,26.46,26.48,26.47,8.20,39.56
$GC,2121,1.33,85.2,3490,2083,1762,1664,23.0,11.6,219,2130,0.00,2.17,0.00,0.000,516,0.000,0.044,3500,685,1713,1763,1664,0,0,0,0,0,0,26.51,26.20,26.52,8.20,40.07
$GC,2164,1.33,85.2,3499,686,1763,1664,18.4,11.0,224,2171,0.00,2.08,0.00,0.000,1030,0.000,0.028,3500,2082,1713,1763,1664,0,0,0,0,0,0,26.32,26.25,26.34,8.20,39.99
$GC,2234,1.39,148.7,3499,2082,1762,1664,13.9,3.2,237,2275,0.00,2.17,33.30,0.591,8452,0.000,0.037,3499,3479,1456,1510,1403,0,0,0,0,0,0,26.54,25.61,25.22,8.20,39.91
$GC,2355,1.47,223.3,3499,3479,1510,1402,10.0,2.1,259,2401,0.00,2.10,37.75,0.566,9222,0.000,0.024,3509,2074,1151,1200,1102,0,0,0,0,0,0,26.05,25.98,24.96,8.18,39.76
$GC,2467,1.67,306.6,3508,2074,1200,1100,7.7,1.1,279,2520,0.15,2.30,41.83,0.549,10756,0.063,0.044,3618,680,812,846,778,0,0,0,0,0,0,25.79,25.30,24.79,8.15,38.85
$STATE,2612,end climb,SURFACE_DEPTH_REACHED
$STATE,2612,begin surface coast
$FINISH,2.3,1.019258
$STATE,2633,end surface coast,CONTROL_FINISHED_OK
$STATE,2633,begin surface
$SM_CCo,2655,51.00,0.072,0,0,392,410.14
$SM_GC,2.77,9.90,2.20,51.00,0.082,0.025,0.072,213,2091,392,-8.86,-1.53,410.14,0,0,0,0,0,0,25.64,25.73,25.66
$IRIDIUM_FIX,4741.99,-12255.26,020218,143212
$TT8_MAMPS,0.026964,0.280126
$HUMID,38.30
$INTERNAL_PRESSURE,8.03967
$TCM_TEMP,10.40
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.5,18.2
$ALTIM_BOTTOM_PING,80.2,63.8
$24V_AH,24.37,4.712
$10V_AH,10.36,1.557
$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,22.750,38.800,244.000,51.000,0.000,0.000,0.000,463.125,1.250,0.000,46.698,741.773,1206.911,377.638,1036.919,133.389,33.441,1193.395,0.000,552.441,0.000,8.846,0.000
$DEVICE_MAMPS,255.510,45.135,755.820,71.910,0.000,0.000,0.000,81.855,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,69.640,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,210.915,409.904,413.925,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,311900
$DATA_FILE_SIZE,21031,310
$CAP_FILE_SIZE,56127,0
$CFSIZE,2097872896,2089189376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020218,152419,4739.259,-12252.262,5,0.9,16,16.4,0.0,81.3,8,4.6