version: 66.14
glider: 194
mission: 12
dive: 56
start: 2 2 118 15 30 33
data:
$ID,194
$MISSION,12
$DIVE,56
$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,46
$R_STBD_OVSHOOT,59
$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
$GPS1,020218,152419,4739.2593,-12252.2617,5,0.9,16,16.4,0.0,81.3,8,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.92
$_SM_ANGLEo,-72.5
$GPS2,020218,152924,4739.2886,-12252.2207,6,1.1,46,16.4,0.3,40.4,7,3.0
$SPEED_LIMITS,0.173,0.325
$TGT_NAME,NW_NE
$TGT_LATLONG,4739.150,-12252.570
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.159612,-0.152612
$KALMAN_X,2829.895020,-854.802185,-31.275246,-1582.538086,144.792664
$KALMAN_Y,2316.035889,-1093.754150,-0.421341,-967.963684,296.777344
$MHEAD_RNG_PITCHd_Wd,209.9,506,-21.1,-10.000,-24.36,1564
$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,-1.02,-102.8,212,2093,353,422,0.0,0.0,0,16,0.00,0.00,-6.32,0.000,16386,0.000,0.000,212,2093,577,557,597,0,0,0,0,0,0,26.22,28.83,26.23,8.07,39.09
$GC,20,-1.02,-102.8,213,2093,557,597,2.9,0.0,1,105,10.48,0.00,-67.22,0.000,18950,0.252,0.000,2727,2094,2486,2520,2452,0,0,0,0,0,0,25.60,25.45,25.88,8.09,38.85
$GC,169,-0.81,-102.8,2726,2094,2520,2452,22.3,-24.3,27,178,0.20,2.20,0.00,0.000,2564,0.180,0.042,2787,682,2486,2520,2452,0,0,0,0,0,0,25.82,26.00,25.93,8.25,38.18
$GC,303,-0.68,-102.8,2787,682,2520,2452,44.8,-15.6,40,312,0.15,2.08,0.00,0.000,3078,0.168,0.028,2833,2071,2485,2520,2451,0,0,0,0,0,0,25.91,26.10,26.02,8.24,38.62
$GC,431,-0.68,-102.8,2832,2071,2520,2451,62.8,-13.4,53,440,0.00,2.20,0.00,0.000,260,0.000,0.044,2833,3487,2485,2520,2451,0,0,0,0,0,0,26.44,26.13,26.46,8.25,39.64
$GC,486,-0.68,-102.8,2832,3487,2520,2451,69.3,-12.4,58,493,0.00,2.10,0.00,0.000,1030,0.000,0.025,2833,2073,2485,2520,2451,0,0,0,0,0,0,26.27,26.20,26.28,8.25,38.97
$GC,613,-0.68,-102.8,2832,2072,2520,2451,85.2,-12.1,71,622,0.00,2.20,0.00,0.000,260,0.000,0.044,2833,3485,2485,2520,2450,0,0,0,0,0,0,26.51,26.19,26.52,8.26,40.23
$GC,705,-0.68,-102.8,2832,3486,2520,2451,96.8,-12.3,80,714,0.00,2.10,0.00,0.000,1030,0.000,0.024,2833,2072,2485,2520,2450,0,0,0,0,0,0,26.34,26.27,26.36,8.26,39.95
$GC,835,-0.68,-102.8,2832,2072,2520,2450,112.3,-12.1,93,836,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,2072,2485,2520,2450,0,0,0,0,0,0,26.58,26.58,26.58,8.26,40.15
$GC,1015,-0.68,-102.8,2832,2072,2520,2450,133.2,-11.5,111,1016,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,2072,2485,2520,2450,0,0,0,0,0,0,26.62,26.63,26.63,8.27,39.80
$STATE,1073,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1073,begin apogee
$GC,1079,-0.22,0.0,2833,2072,2520,2450,140.1,-11.3,117,1175,0.45,0.00,87.50,0.755,10246,0.134,0.000,2985,2072,2064,2106,2022,0,0,0,0,0,0,26.19,25.10,24.51,8.28,40.07
$STATE,1176,end apogee,CONTROL_FINISHED_OK
$STATE,1176,begin climb
$GC,1178,1.02,102.8,2985,2072,2106,2022,143.1,0.0,127,1276,1.10,2.30,87.70,0.733,10500,0.092,0.038,3361,3477,1645,1695,1596,0,0,0,0,0,0,25.16,24.62,24.22,8.25,39.88
$GC,1311,1.07,147.6,3360,3478,1694,1595,136.9,7.1,140,1354,0.00,2.15,38.22,0.711,11270,0.000,0.024,3367,2085,1462,1517,1407,0,0,0,0,0,0,25.29,25.24,24.33,8.22,38.89
$GC,1536,1.13,147.6,3366,2085,1515,1403,114.4,10.2,162,1545,0.10,2.22,0.00,0.000,2564,0.083,0.044,3451,686,1458,1515,1402,0,0,0,0,0,0,25.72,25.64,25.73,8.21,39.52
$GC,1730,1.08,147.6,3450,685,1515,1403,85.5,14.8,181,1739,0.12,2.10,0.00,0.000,5126,0.142,0.028,3412,2084,1459,1515,1403,0,0,0,0,0,0,25.77,25.93,25.84,8.20,39.72
$GC,1858,1.08,147.6,3412,2084,1515,1403,68.7,12.7,194,1867,0.00,2.17,0.00,0.000,260,0.000,0.041,3413,3481,1458,1514,1403,0,0,0,0,0,0,26.29,25.99,26.30,8.19,39.68
$GC,1890,1.08,147.6,3412,3481,1516,1403,64.6,12.7,197,1899,0.00,2.12,0.00,0.000,1030,0.000,0.025,3418,2077,1459,1515,1403,0,0,0,0,0,0,26.12,26.06,26.13,8.20,39.13
$GC,2020,1.08,147.6,3418,2077,1515,1403,48.8,12.2,210,2025,0.00,2.20,0.00,0.000,516,0.000,0.044,3428,673,1459,1515,1403,0,0,0,0,0,0,26.39,26.08,26.40,8.19,39.17
$GC,2093,1.08,147.6,3427,673,1515,1403,39.2,13.7,217,2102,0.00,2.12,0.00,0.000,1030,0.000,0.027,3428,2087,1459,1515,1403,0,0,0,0,0,0,26.22,26.16,26.25,8.19,39.60
$GC,2223,1.08,147.6,3427,2088,1515,1403,21.8,13.0,230,2232,0.00,2.10,0.00,0.000,260,0.000,0.040,3428,3473,1459,1515,1403,0,0,0,0,0,0,26.48,26.17,26.48,8.19,39.13
$GC,2265,1.08,147.6,3427,3473,1515,1403,16.7,11.8,236,2272,0.00,2.08,0.00,0.000,1030,0.000,0.024,3435,2071,1459,1515,1403,0,0,0,0,0,0,26.30,26.24,26.32,8.18,39.13
$GC,2336,1.17,239.5,3435,2071,1515,1403,11.1,4.0,249,2388,0.00,2.25,46.85,0.574,8708,0.000,0.044,3443,684,1085,1134,1037,0,0,0,0,0,0,26.52,25.65,25.12,8.18,39.99
$STATE,2614,end climb,NO_VERTICAL_VELOCITY
$STATE,2614,begin surface
$SM_CCo,2618,87.75,0.539,0,0,372,414.56
$SM_GC,2.61,8.95,2.22,0.00,0.049,0.027,0.000,211,2088,369,-8.86,-1.47,416.03,0,0,0,0,0,0,25.42,25.45,25.50
$IRIDIUM_FIX,4741.04,-12246.42,020218,143403
$TT8_MAMPS,0.026215,0.278628
$HUMID,38.62
$INTERNAL_PRESSURE,8.03967
$TCM_TEMP,10.50
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.2,17.7
$ALTIM_BOTTOM_PING,75.5,74.3
$24V_AH,24.22,4.781
$10V_AH,10.37,1.583
$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,21.550,38.925,260.275,87.750,0.000,0.000,0.000,181.900,1.000,0.000,47.576,726.846,1079.175,430.885,789.559,118.732,33.437,981.302,0.000,574.642,0.000,7.266,0.000
$DEVICE_MAMPS,251.685,44.370,755.055,539.325,0.000,0.000,0.000,81.090,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,69.640,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,206.406,400.751,404.679,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,311964
$DATA_FILE_SIZE,21036,303
$CAP_FILE_SIZE,51004,0
$CFSIZE,2097872896,2089091072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020218,161832,4739.238,-12252.411,5,0.9,19,16.4,0.5,32.0,9,4.7