version: 66.14
glider: 194
mission: 12
dive: 57
start: 2 2 118 16 24 14
data:
$ID,194
$MISSION,12
$DIVE,57
$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,54
$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
$GPS1,020218,161832,4739.2378,-12252.4111,5,0.9,19,16.4,0.5,32.0,9,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.42
$_SM_ANGLEo,-68.8
$GPS2,020218,162303,4739.2666,-12252.3701,5,1.2,28,16.4,0.3,50.3,8,5.0
$SPEED_LIMITS,0.173,0.325
$TGT_NAME,NW_NE
$TGT_LATLONG,4739.150,-12252.570
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.188876,-0.203067
$KALMAN_X,3450.664795,-1121.418701,14.526646,-2165.688477,433.339447
$KALMAN_Y,2879.066406,-1337.323730,196.990814,-1524.739136,518.320312
$MHEAD_RNG_PITCHd_Wd,206.5,330,-16.1,-10.000,-19.83,2569
$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,-0.87,-169.5,210,2091,337,396,0.0,0.0,0,16,0.00,0.00,-6.38,0.000,16386,0.000,0.000,210,2091,552,537,567,0,0,0,0,0,0,26.19,28.83,26.20,8.06,39.64
$GC,20,-0.87,-169.5,210,2091,537,568,2.5,0.0,1,128,10.32,2.17,-89.88,0.000,19204,0.239,0.057,2775,3471,2758,2805,2712,0,0,0,0,0,0,25.63,25.40,25.86,8.08,39.76
$GC,138,-0.58,-169.5,2774,3471,2806,2712,8.2,-17.9,21,146,0.32,2.10,0.00,0.000,3078,0.158,0.026,2872,2067,2759,2806,2712,0,0,0,0,0,0,25.78,25.98,25.96,8.27,38.58
$GC,209,-0.58,-169.5,2871,2067,2806,2712,19.8,-14.1,34,215,0.00,2.15,0.00,0.000,516,0.000,0.044,2872,691,2759,2806,2712,0,0,0,0,0,0,26.31,26.00,26.32,8.27,38.46
$GC,374,-0.58,-169.5,2872,691,2806,2712,43.1,-13.1,51,383,0.00,2.10,0.00,0.000,1030,0.000,0.028,2872,2083,2758,2805,2712,0,0,0,0,0,0,26.20,26.13,26.22,8.26,39.01
$GC,504,-0.58,-169.5,2871,2083,2806,2712,58.8,-12.1,64,513,0.00,2.17,0.00,0.000,260,0.000,0.044,2872,3476,2758,2805,2712,0,0,0,0,0,0,26.46,26.15,26.47,8.27,39.60
$GC,566,-0.58,-169.5,2871,3477,2806,2712,66.1,-11.5,70,575,0.00,2.05,0.00,0.000,1030,0.000,0.025,2872,2086,2759,2806,2712,0,0,0,0,0,0,26.29,26.22,26.31,8.28,39.28
$GC,696,-0.58,-169.5,2871,2086,2806,2712,81.0,-11.4,83,705,0.00,2.15,0.00,0.000,516,0.000,0.042,2872,687,2759,2806,2712,0,0,0,0,0,0,26.53,26.22,26.54,8.28,40.31
$GC,721,-0.58,-169.5,2871,687,2806,2712,83.7,-11.5,85,727,0.00,2.08,0.00,0.000,1030,0.000,0.028,2872,2083,2759,2806,2712,0,0,0,0,0,0,26.33,26.26,26.35,8.27,39.91
$GC,848,-0.58,-169.5,2872,2083,2806,2711,98.0,-10.3,98,857,0.00,2.17,0.00,0.000,260,0.000,0.044,2872,3483,2758,2805,2712,0,0,0,0,0,0,26.57,26.25,26.58,8.29,39.56
$GC,900,-0.58,-169.5,2871,3483,2806,2711,103.4,-10.1,103,904,0.00,2.08,0.00,0.000,1030,0.000,0.024,2872,2076,2758,2806,2711,0,0,0,0,0,0,26.39,26.32,26.40,8.29,40.27
$GC,1092,-0.58,-169.5,2872,2076,2806,2711,123.7,-10.3,122,1093,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,2076,2758,2806,2711,0,0,0,0,0,0,26.63,26.64,26.64,8.29,40.11
$STATE,1229,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1230,begin apogee
$GC,1236,-0.22,0.0,2872,2076,2806,2711,138.4,-10.5,136,1381,0.32,0.00,139.00,0.750,10246,0.124,0.000,2988,2075,2064,2106,2022,0,0,0,0,0,0,26.24,24.84,24.29,8.30,40.27
$STATE,1382,end apogee,CONTROL_FINISHED_OK
$STATE,1383,begin climb
$GC,1385,0.87,169.5,2987,2075,2107,2022,142.3,0.0,151,1537,0.98,2.33,140.93,0.721,11012,0.093,0.045,3317,695,1371,1425,1318,0,0,0,0,0,0,24.94,24.72,24.18,8.25,38.62
$GC,1589,0.97,220.5,3316,695,1425,1317,131.4,8.0,171,1638,0.10,2.15,41.53,0.698,11270,0.081,0.027,3379,2087,1164,1215,1114,0,0,0,0,0,0,25.26,25.26,24.34,8.20,38.22
$GC,1826,0.97,220.5,3379,2086,1215,1111,102.2,12.5,195,1835,0.00,2.17,0.00,0.000,260,0.000,0.041,3380,3472,1163,1214,1112,0,0,0,0,0,0,25.91,25.63,25.92,8.18,39.17
$GC,1858,0.97,220.5,3379,3472,1214,1111,98.0,13.0,198,1867,0.00,2.12,0.00,0.000,1030,0.000,0.025,3385,2088,1162,1214,1111,0,0,0,0,0,0,25.78,25.72,25.79,8.18,38.50
$GC,1988,0.97,220.5,3384,2088,1214,1111,81.8,12.6,211,1997,0.00,2.25,0.00,0.000,516,0.000,0.046,3387,671,1163,1215,1111,0,0,0,0,0,0,26.14,25.83,26.14,8.18,38.97
$GC,2070,0.97,220.5,3386,671,1214,1111,71.2,13.1,219,2079,0.00,2.15,0.00,0.000,1030,0.000,0.027,3387,2092,1162,1214,1111,0,0,0,0,0,0,26.02,25.96,26.03,8.18,39.48
$GC,2200,0.97,220.5,3385,2092,1214,1111,54.3,12.9,232,2209,0.00,2.22,0.00,0.000,516,0.000,0.045,3386,680,1162,1214,1111,0,0,0,0,0,0,26.31,26.01,26.32,8.17,39.72
$GC,2242,0.97,220.5,3386,680,1214,1111,49.1,12.3,236,2246,0.00,2.12,0.00,0.000,1030,0.000,0.028,3387,2076,1162,1214,1111,0,0,0,0,0,0,26.15,26.07,26.17,8.17,39.17
$GC,2375,0.97,220.5,3386,2076,1214,1111,32.6,12.5,249,2383,0.00,2.22,0.00,0.000,516,0.000,0.046,3387,674,1162,1214,1111,0,0,0,0,0,0,26.41,26.10,26.41,8.16,38.77
$GC,2409,0.97,220.5,3386,674,1214,1111,28.7,12.4,252,2416,0.00,2.10,0.00,0.000,1030,0.000,0.027,3387,2084,1162,1214,1111,0,0,0,0,0,0,26.22,26.16,26.25,8.16,39.40
$GC,2540,0.97,220.5,3386,2085,1214,1111,14.4,10.6,270,2547,0.00,2.12,0.00,0.000,260,0.000,0.039,3387,3476,1162,1214,1111,0,0,0,0,0,0,26.48,26.17,26.48,8.16,39.32
$GC,2560,0.97,220.5,3386,3476,1214,1111,11.8,11.2,273,2567,0.00,2.08,0.00,0.000,1030,0.000,0.024,3388,2079,1162,1214,1111,0,0,0,0,0,0,26.29,26.22,26.30,8.16,39.64
$GC,2630,1.16,406.9,3387,2079,1214,1111,7.7,2.6,286,2728,0.08,0.62,92.97,0.544,11011,0.105,0.044,3453,1674,403,394,413,0,0,0,0,0,0,26.29,25.29,24.81,8.16,39.01
$STATE,2729,end climb,SURFACE_DEPTH_REACHED
$STATE,2729,begin surface coast
$FINISH,1.5,1.018264
$STATE,2808,end surface coast,CONTROL_FINISHED_OK
$STATE,2808,begin surface
$SM_CCo,2828,1.02,0.074,0,0,391,410.14
$SM_GC,4.13,8.88,0.62,1.02,0.047,0.031,0.074,215,2102,391,-8.84,-1.58,410.14,0,0,0,0,0,0,25.60,25.69,25.60
$IRIDIUM_FIX,4737.86,-12251.79,020218,152546
$TT8_MAMPS,0.026964,0.280126
$HUMID,38.69
$INTERNAL_PRESSURE,8.04943
$TCM_TEMP,10.20
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.6,18.3
$ALTIM_BOTTOM_PING,75.3,73.0
$24V_AH,24.18,4.866
$10V_AH,10.36,1.609
$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,21.000,48.525,414.425,1.025,0.000,0.000,0.000,170.300,1.250,0.000,30.191,712.776,1019.543,497.854,774.413,124.798,33.426,1073.377,0.000,586.162,0.000,7.265,0.000
$DEVICE_MAMPS,238.680,57.375,749.700,74.205,0.000,0.000,0.000,80.325,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,69.640,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,213.962,419.621,423.783,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,21159,318
$CAP_FILE_SIZE,53392,0
$CFSIZE,2097872896,2088992768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020218,171237,4739.104,-12252.550,5,1.0,29,16.4,0.3,68.2,10,4.9