version: 66.14
glider: 194
mission: 12
dive: 58
start: 2 2 118 17 18 31
data:
$ID,194
$MISSION,12
$DIVE,58
$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,37
$R_STBD_OVSHOOT,70
$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
$GPS1,020218,171237,4739.1045,-12252.5498,5,1.0,29,16.4,0.3,68.2,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.83
$_SM_ANGLEo,-70.8
$GPS2,020218,171722,4739.1255,-12252.4727,9,0.9,19,16.4,0.0,69.0,10,4.7
$SPEED_LIMITS,0.173,0.325
$TGT_NAME,NW_NE
$TGT_LATLONG,4739.150,-12252.570
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.213010,-0.137346
$KALMAN_X,4066.238525,-1269.473511,106.262054,-2850.972900,646.250305
$KALMAN_Y,3207.096924,-1415.522461,418.748871,-2253.803711,539.196045
$MHEAD_RNG_PITCHd_Wd,220.8,130,-18.0,-10.000,-21.53,2103
$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,-0.92,-138.5,214,2105,376,408,0.0,0.0,0,16,0.00,0.00,-6.10,0.000,16386,0.000,0.000,214,2105,572,563,582,0,0,0,0,0,0,26.20,28.83,26.21,8.07,38.69
$GC,20,-0.92,-138.5,215,2105,563,582,2.8,0.0,1,112,10.50,2.17,-74.15,0.000,18692,0.249,0.057,2757,3461,2632,2678,2586,0,0,0,0,0,0,25.59,24.79,25.86,8.08,39.13
$GC,132,-0.67,-138.5,2756,3461,2679,2586,10.7,-19.1,20,140,0.28,2.08,0.00,0.000,3078,0.159,0.025,2840,2070,2632,2679,2586,0,0,0,0,0,0,25.79,25.99,25.96,8.25,38.22
$GC,208,-0.57,-138.5,2839,2070,2679,2586,23.5,-16.0,32,218,0.10,2.12,0.00,0.000,2564,0.176,0.041,2873,689,2632,2679,2586,0,0,0,0,0,0,25.91,26.03,25.99,8.26,38.46
$GC,314,-0.57,-138.5,2872,689,2679,2586,38.2,-13.0,42,321,0.00,2.05,0.00,0.000,1030,0.000,0.027,2872,2056,2632,2679,2586,0,0,0,0,0,0,26.17,26.10,26.19,8.26,39.17
$GC,441,-0.57,-138.5,2872,2057,2679,2585,54.2,-11.9,55,450,0.00,2.20,0.00,0.000,260,0.000,0.044,2872,3478,2632,2679,2585,0,0,0,0,0,0,26.44,26.12,26.45,8.26,39.40
$GC,503,-0.57,-138.5,2872,3478,2679,2585,61.3,-11.0,61,507,0.00,2.08,0.00,0.000,1030,0.000,0.024,2873,2079,2632,2679,2585,0,0,0,0,0,0,26.27,26.21,26.29,8.27,39.09
$GC,639,-0.57,-138.5,2872,2078,2679,2585,75.8,-10.8,74,645,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,2077,2631,2678,2585,0,0,0,0,0,0,26.50,26.51,26.51,8.27,39.88
$GC,765,-0.57,-138.5,2872,2077,2679,2585,88.9,-10.2,87,773,0.00,2.15,0.00,0.000,516,0.000,0.043,2873,682,2632,2679,2585,0,0,0,0,0,0,26.55,26.25,26.56,8.27,40.19
$GC,799,-0.57,-138.5,2872,682,2679,2584,92.4,-10.7,90,806,0.00,2.10,0.00,0.000,1030,0.000,0.028,2873,2093,2632,2679,2585,0,0,0,0,0,0,26.36,26.28,26.37,8.27,39.80
$GC,927,-0.57,-138.5,2872,2093,2679,2584,105.8,-9.8,103,928,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,2093,2631,2679,2584,0,0,0,0,0,0,26.60,26.60,26.60,8.27,39.52
$GC,1107,-0.57,-138.5,2872,2093,2679,2584,124.1,-10.0,121,1115,0.00,2.15,0.00,0.000,260,0.000,0.045,2873,3478,2631,2679,2584,0,0,0,0,0,0,26.64,26.32,26.65,8.28,39.99
$GC,1149,-0.57,-138.5,2872,3478,2679,2584,128.4,-10.4,125,1157,0.00,2.08,0.00,0.000,1030,0.000,0.024,2873,2077,2631,2679,2584,0,0,0,0,0,0,26.44,26.38,26.46,8.29,40.19
$STATE,1266,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1266,begin apogee
$GC,1272,-0.22,0.0,2873,2077,2680,2584,140.3,-9.9,137,1391,0.30,0.00,115.05,0.751,10246,0.125,0.000,2980,2077,2065,2108,2022,0,0,0,0,0,0,26.24,24.94,24.38,8.29,40.03
$STATE,1392,end apogee,CONTROL_FINISHED_OK
$STATE,1392,begin climb
$GC,1395,0.92,138.5,2979,2076,2107,2021,145.6,0.0,149,1518,1.02,0.00,115.45,0.728,10502,0.090,0.000,3329,2076,1498,1553,1444,0,0,0,0,0,0,25.01,24.72,24.19,8.25,39.32
$GC,1699,0.98,138.5,3329,2077,1553,1441,125.0,8.9,180,1701,0.08,0.00,0.00,0.000,2054,0.105,0.000,3383,2076,1497,1553,1441,0,0,0,0,0,0,25.70,25.74,25.72,8.21,39.64
$GC,1879,0.98,138.5,3383,2076,1553,1441,105.2,10.8,198,1888,0.00,2.20,0.00,0.000,516,0.000,0.046,3384,688,1496,1552,1441,0,0,0,0,0,0,26.16,25.86,26.17,8.21,39.48
$GC,1933,0.98,138.5,3384,688,1552,1440,99.3,11.1,203,1940,0.00,2.10,0.00,0.000,1030,0.000,0.028,3384,2085,1497,1553,1441,0,0,0,0,0,0,26.02,25.95,26.03,8.21,39.56
$GC,2061,0.98,138.5,3384,2086,1553,1441,85.4,10.5,216,2070,0.00,2.22,0.00,0.000,516,0.000,0.045,3384,685,1497,1553,1441,0,0,0,0,0,0,26.31,26.01,26.32,8.20,39.84
$GC,2143,0.98,138.5,3383,685,1553,1441,76.3,11.5,224,2152,0.00,2.10,0.00,0.000,1030,0.000,0.027,3384,2083,1497,1553,1441,0,0,0,0,0,0,26.17,26.10,26.18,8.20,39.40
$GC,2273,0.98,138.5,3384,2083,1553,1441,61.9,10.5,237,2282,0.00,2.12,0.00,0.000,260,0.000,0.040,3384,3475,1497,1553,1441,0,0,0,0,0,0,26.43,26.13,26.44,8.20,39.60
$GC,2335,0.98,138.5,3383,3475,1553,1441,55.2,11.2,243,2344,0.00,2.08,0.00,0.000,1030,0.000,0.025,3389,2090,1497,1553,1441,0,0,0,0,0,0,26.26,26.20,26.28,8.20,38.89
$GC,2465,0.98,138.5,3389,2090,1553,1440,41.6,10.3,256,2474,0.00,2.22,0.00,0.000,516,0.000,0.045,3390,672,1497,1553,1441,0,0,0,0,0,0,26.51,26.20,26.51,8.20,39.48
$GC,2540,0.98,138.5,3389,672,1553,1441,34.2,10.2,263,2547,0.00,2.10,0.00,0.000,1030,0.000,0.027,3389,2087,1497,1553,1441,0,0,0,0,0,0,26.34,26.27,26.35,8.19,39.05
$GC,2667,0.98,138.5,3389,2087,1553,1441,21.3,9.0,276,2668,0.00,0.00,0.00,0.000,6,0.000,0.000,3390,2087,1497,1553,1441,0,0,0,0,0,0,26.57,26.58,26.58,8.19,39.64
$GC,2791,1.04,197.3,3388,2087,1553,1441,10.8,7.1,298,2827,0.00,2.28,30.02,0.567,8708,0.000,0.044,3390,679,1257,1311,1204,0,0,0,0,0,0,26.60,25.91,25.36,8.18,39.60
$GC,3124,1.29,387.6,3389,679,1308,1204,6.4,0.7,362,3226,0.15,2.10,94.68,0.548,11270,0.061,0.026,3488,2104,481,484,478,0,0,0,0,0,0,26.21,26.20,24.76,8.16,40.11
$STATE,3243,end climb,SURFACE_DEPTH_REACHED
$STATE,3243,begin surface coast
$FINISH,1.5,1.008918
$STATE,3309,end surface coast,CONTROL_FINISHED_OK
$STATE,3310,begin surface
$SM_CCo,3329,10.85,0.072,0,0,390,410.14
$SM_GC,5.23,8.93,0.00,10.85,0.045,0.000,0.072,214,2104,390,-8.84,0.62,410.14,0,0,0,0,0,0,25.61,25.91,25.59
$IRIDIUM_FIX,4740.65,-12253.53,020218,162000
$TT8_MAMPS,0.026964,0.306341
$HUMID,38.65
$INTERNAL_PRESSURE,8.03967
$TCM_TEMP,10.40
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.6,18.0
$ALTIM_BOTTOM_PING,75.8,74.4
$24V_AH,24.19,4.938
$10V_AH,10.32,1.638
$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,21.350,42.700,355.200,10.850,0.000,0.000,0.000,189.825,1.000,0.000,20.245,904.303,1281.187,447.105,886.116,131.822,33.424,1074.300,0.000,690.611,0.000,7.265,0.000
$DEVICE_MAMPS,248.625,57.375,751.230,71.910,0.000,0.000,0.000,80.325,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,69.640,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,269.435,523.669,528.787,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,311968
$DATA_FILE_SIZE,28017,396
$CAP_FILE_SIZE,57911,0
$CFSIZE,2097872896,2088894464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,020218,181532,4739.028,-12252.770,14,0.9,37,16.4,0.4,68.7,9,4.3