version: 66.14
glider: 194
mission: 12
dive: 68
start: 2 3 118 2 40 51
data:
$ID,194
$MISSION,12
$DIVE,68
$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,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
$GPS1,030218,023505,4739.0527,-12252.4668,8,1.0,27,16.4,0.5,56.3,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.51
$_SM_ANGLEo,-74.7
$GPS2,030218,023940,4739.0947,-12252.3848,10,1.0,23,16.4,0.5,51.4,9,4.8
$SPEED_LIMITS,0.173,0.325
$TGT_NAME,NW_NE
$TGT_LATLONG,4739.150,-12252.570
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.189977,-0.102975
$KALMAN_X,6169.388184,673.199402,-646.256897,-6038.803223,457.858582
$KALMAN_Y,3338.691162,854.755432,-521.826843,-3773.033936,473.396088
$MHEAD_RNG_PITCHd_Wd,225.1,254,-21.7,-10.000,-24.83,1495
$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,-1.04,-98.2,220,2081,352,384,0.0,0.0,0,16,0.00,0.00,-6.50,0.000,16386,0.000,0.000,220,2081,567,554,581,0,0,0,0,0,0,26.17,28.83,26.18,8.07,38.77
$GC,20,-1.04,-98.2,220,2081,554,582,3.5,0.0,1,100,10.55,0.00,-62.90,0.000,19206,0.255,0.000,2721,2080,2467,2504,2431,0,0,0,0,0,0,25.56,25.41,25.84,8.08,38.85
$GC,165,-0.83,-98.2,2721,2080,2504,2432,18.3,-17.1,27,172,0.22,0.00,0.00,0.000,2054,0.180,0.000,2788,2080,2468,2504,2432,0,0,0,0,0,0,25.77,25.96,25.90,8.24,38.97
$GC,240,-0.69,-98.2,2788,2080,2504,2431,27.3,-11.5,35,250,0.15,2.15,0.00,0.000,2564,0.177,0.039,2835,687,2467,2504,2431,0,0,0,0,0,0,25.86,26.03,25.96,8.25,38.81
$GC,355,-0.61,-98.2,2834,686,2504,2429,41.4,-12.7,46,364,0.00,2.08,0.00,0.000,1030,0.000,0.028,2835,2076,2466,2504,2429,0,0,0,0,0,0,26.15,26.12,26.17,8.25,39.52
$GC,483,-0.61,-98.2,2834,2077,2504,2429,57.1,-12.0,59,487,0.00,2.17,0.00,0.000,260,0.000,0.044,2835,3475,2466,2504,2429,0,0,0,0,0,0,26.45,26.13,26.46,8.25,39.52
$GC,537,-0.61,-98.2,2834,3474,2504,2429,63.3,-11.8,64,544,0.00,2.08,0.00,0.000,1030,0.000,0.024,2835,2069,2466,2504,2429,0,0,0,0,0,0,26.27,26.21,26.29,8.25,39.60
$GC,665,-0.61,-98.2,2834,2069,2504,2428,79.1,-12.6,77,666,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2069,2466,2504,2428,0,0,0,0,0,0,26.51,26.53,26.53,8.25,39.64
$GC,785,-0.61,-98.2,2834,2069,2504,2429,92.8,-11.1,89,786,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2069,2466,2503,2429,0,0,0,0,0,0,26.55,26.56,26.56,8.26,39.72
$GC,905,-0.61,-98.2,2834,2069,2504,2428,106.3,-11.2,101,913,0.00,2.20,0.00,0.000,260,0.000,0.043,2835,3482,2466,2504,2428,0,0,0,0,0,0,26.59,26.27,26.60,8.26,39.52
$GC,967,-0.61,-98.2,2834,3482,2504,2429,113.2,-11.0,107,970,0.00,2.05,0.00,0.000,1030,0.000,0.024,2835,2083,2466,2504,2428,0,0,0,0,0,0,26.40,26.34,26.42,8.27,39.88
$GC,1159,-0.61,-98.2,2834,2082,2504,2428,134.2,-11.1,126,1167,0.00,2.12,0.00,0.000,516,0.000,0.041,2835,690,2466,2504,2428,0,0,0,0,0,0,26.64,26.34,26.65,8.26,39.88
$STATE,1218,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1218,begin apogee
$GC,1227,-0.22,0.0,2835,2096,2504,2428,141.6,-12.1,132,1313,0.43,0.00,82.53,0.752,10246,0.133,0.000,2980,2096,2064,2103,2026,0,0,0,0,0,0,26.20,25.17,24.58,8.27,39.56
$STATE,1314,end apogee,CONTROL_FINISHED_OK
$STATE,1314,begin climb
$GC,1317,1.04,98.2,2980,2096,2103,2026,145.7,0.0,141,1410,1.12,0.00,83.95,0.731,10502,0.085,0.000,3369,2097,1663,1706,1621,0,0,0,0,0,0,25.20,24.77,24.25,8.25,39.44
$GC,1591,1.09,98.2,3369,2096,1706,1619,126.7,9.4,169,1600,0.05,2.22,0.00,0.000,2564,0.141,0.041,3430,695,1662,1706,1618,0,0,0,0,0,0,25.74,25.65,25.77,8.22,39.36
$GC,1753,1.09,98.2,3430,695,1706,1619,107.2,11.7,185,1762,0.00,2.10,0.00,0.000,1030,0.000,0.027,3430,2087,1662,1706,1619,0,0,0,0,0,0,25.97,25.91,25.99,8.22,39.13
$GC,1943,1.09,98.2,3430,2088,1706,1618,85.3,11.6,204,1952,0.00,2.20,0.00,0.000,516,0.000,0.043,3440,692,1662,1706,1618,0,0,0,0,0,0,26.32,26.03,26.33,8.21,39.64
$GC,2029,1.03,98.2,3440,692,1706,1619,75.4,12.3,212,2036,0.15,2.08,0.00,0.000,5126,0.151,0.026,3396,2087,1662,1706,1618,0,0,0,0,0,0,25.94,26.11,26.09,8.22,39.44
$GC,2155,1.03,98.2,3395,2087,1706,1618,62.6,10.0,225,2164,0.00,2.12,0.00,0.000,260,0.000,0.040,3396,3476,1662,1706,1618,0,0,0,0,0,0,26.44,26.14,26.45,8.21,39.64
$GC,2207,1.03,98.2,3395,3476,1706,1618,56.5,12.2,230,2211,0.00,2.05,0.00,0.000,1030,0.000,0.024,3403,2089,1662,1706,1618,0,0,0,0,0,0,26.27,26.21,26.28,8.21,39.40
$GC,2339,1.03,98.2,3402,2089,1706,1618,41.1,11.2,243,2340,0.00,0.00,0.00,0.000,6,0.000,0.000,3403,2089,1661,1705,1618,0,0,0,0,0,0,26.51,26.52,26.52,8.21,39.95
$GC,2459,1.03,98.2,3402,2089,1706,1618,28.3,9.8,255,2468,0.00,2.20,0.00,0.000,516,0.000,0.043,3412,676,1662,1706,1618,0,0,0,0,0,0,26.55,26.24,26.55,8.21,39.91
$GC,2617,1.07,136.1,3412,676,1706,1617,13.1,7.4,277,2642,0.00,2.08,20.02,0.570,9222,0.000,0.026,3412,2090,1508,1554,1463,0,0,0,0,0,0,26.39,26.33,25.42,8.20,39.09
$GC,2706,1.16,227.3,3412,2090,1553,1462,9.8,3.8,293,2758,0.00,2.20,45.72,0.560,8452,0.000,0.038,3412,3465,1136,1177,1095,0,0,0,0,0,0,26.39,25.57,25.05,8.18,39.25
$GC,2818,1.28,268.0,3412,3465,1176,1093,3.0,7.2,313,2827,0.10,2.10,3.33,0.311,11266,0.078,0.029,3501,2087,1107,1151,1063,0,0,0,0,0,0,25.79,25.77,25.84,8.15,38.46
$STATE,2828,end climb,SURFACE_DEPTH_REACHED
$STATE,2828,begin surface coast
$FINISH,1.7,1.017015
$STATE,2864,end surface coast,CONTROL_FINISHED_OK
$STATE,2865,begin surface
$SM_CCo,2884,85.38,0.069,0,0,391,410.14
$SM_GC,3.06,9.40,0.00,85.38,0.075,0.000,0.069,210,2087,391,-8.86,0.14,410.14,0,0,0,0,0,0,25.77,26.11,25.75
$IRIDIUM_FIX,4744.94,-12030.37,030218,014420
$TT8_MAMPS,0.026964,0.280126
$HUMID,38.18
$INTERNAL_PRESSURE,8.04943
$TCM_TEMP,10.30
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.2,17.2
$ALTIM_BOTTOM_PING,75.3,75.2
$24V_AH,24.25,5.506
$10V_AH,10.36,1.900
$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,22.175,38.350,235.550,85.375,0.000,0.000,0.000,181.450,1.000,0.000,24.676,784.906,1169.769,413.945,787.283,118.893,33.427,962.909,0.000,592.810,0.000,7.269,0.000
$DEVICE_MAMPS,254.745,43.605,751.995,68.850,0.000,0.000,0.000,78.030,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,69.640,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,218.907,424.776,428.909,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,311912
$DATA_FILE_SIZE,21093,321
$CAP_FILE_SIZE,53928,0
$CFSIZE,2097872896,2087911424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,030218,033138,4739.092,-12252.576,3,0.8,32,16.4,0.5,72.0,9,4.8