version: 66.14
glider: 194
mission: 12
dive: 71
start: 2 3 118 5 26 14
data:
$ID,194
$MISSION,12
$DIVE,71
$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,48
$R_STBD_OVSHOOT,62
$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
$GPS1,030218,052102,4739.1816,-12252.7646,4,0.9,13,16.4,0.0,0.0,10,4.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.14
$_SM_ANGLEo,-72.8
$GPS2,030218,052503,4739.1694,-12252.7471,7,0.9,16,16.4,0.0,0.0,9,4.7
$SPEED_LIMITS,0.173,0.325
$TGT_NAME,NW_NE
$TGT_LATLONG,4739.150,-12252.570
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.165803,-0.050092
$KALMAN_X,7113.688477,834.926636,48.354408,-8282.920898,641.288574
$KALMAN_Y,3117.481689,1081.752930,488.011963,-4650.437500,92.520996
$MHEAD_RNG_PITCHd_Wd,236.8,223,-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,-63.1,211,2095,351,422,0.0,0.0,0,15,0.00,0.00,-5.60,0.000,16386,0.000,0.000,211,2096,556,536,576,0,0,0,0,0,0,26.24,28.83,26.25,8.07,38.81
$GC,19,-1.25,-63.1,211,2095,535,577,3.2,0.0,1,99,10.05,2.15,-62.15,0.000,19204,0.247,0.057,2654,3464,2324,2357,2291,0,0,0,0,0,0,25.62,25.41,25.89,8.08,39.13
$GC,135,-1.06,-63.1,2653,3464,2357,2291,15.8,-25.1,21,142,0.20,2.08,0.00,0.000,3078,0.197,0.024,2709,2068,2324,2357,2292,0,0,0,0,0,0,25.76,26.03,25.97,8.24,39.13
$GC,206,-0.93,-63.1,2709,2067,2357,2290,26.9,-12.4,29,215,0.15,2.17,0.00,0.000,2308,0.190,0.041,2754,3462,2323,2357,2290,0,0,0,0,0,0,25.85,26.03,25.97,8.23,39.17
$GC,448,-0.93,-63.1,2754,3462,2357,2289,57.6,-12.8,53,457,0.00,2.05,0.00,0.000,1030,0.000,0.024,2754,2080,2322,2357,2288,0,0,0,0,0,0,26.27,26.21,26.29,8.24,39.52
$GC,581,-0.93,-63.1,2754,2079,2357,2287,75.2,-14.2,66,590,0.00,2.12,0.00,0.000,260,0.000,0.042,2754,3457,2322,2357,2287,0,0,0,0,0,0,26.50,26.20,26.51,8.24,39.28
$GC,646,-0.93,-63.1,2754,3456,2357,2287,84.4,-13.7,72,655,0.00,2.03,0.00,0.000,1030,0.000,0.024,2754,2082,2321,2357,2286,0,0,0,0,0,0,26.34,26.28,26.36,8.25,39.28
$GC,776,-0.93,-63.1,2755,2082,2357,2286,102.4,-13.7,85,785,0.00,2.15,0.00,0.000,516,0.000,0.041,2754,690,2321,2357,2285,0,0,0,0,0,0,26.57,26.27,26.58,8.25,40.03
$GC,891,-0.93,-63.1,2754,690,2357,2285,118.3,-14.8,96,898,0.00,2.05,0.00,0.000,1030,0.000,0.027,2754,2071,2321,2357,2285,0,0,0,0,0,0,26.39,26.32,26.41,8.25,39.48
$STATE,1036,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1036,begin apogee
$GC,1042,-0.22,0.0,2754,2070,2357,2285,136.7,-11.8,111,1101,0.70,0.00,54.67,0.755,10246,0.149,0.000,2979,2070,2064,2102,2026,0,0,0,0,0,0,26.15,25.46,24.86,8.26,40.47
$STATE,1102,end apogee,CONTROL_FINISHED_OK
$STATE,1102,begin climb
$GC,1104,1.25,63.1,2978,2070,2102,2026,140.4,0.0,117,1168,1.30,0.00,55.22,0.737,10502,0.086,0.000,3434,2070,1806,1848,1764,0,0,0,0,0,0,25.48,24.81,24.41,8.24,40.07
$GC,1348,1.25,63.1,3433,2070,1847,1762,122.8,10.4,142,1357,0.00,2.20,0.00,0.000,516,0.000,0.043,3443,684,1804,1846,1762,0,0,0,0,0,0,25.98,25.70,25.99,8.23,39.36
$GC,1650,1.25,63.1,3443,684,1844,1762,91.8,10.5,172,1659,0.00,2.12,0.00,0.000,1030,0.000,0.027,3443,2096,1803,1844,1762,0,0,0,0,0,0,26.11,26.05,26.13,8.23,39.64
$GC,1780,1.25,63.1,3442,2096,1844,1761,79.1,10.0,185,1782,0.00,0.00,0.00,0.000,6,0.000,0.000,3443,2096,1803,1845,1761,0,0,0,0,0,0,26.39,26.40,26.40,8.22,40.23
$GC,1900,1.25,63.1,3442,2095,1844,1762,67.5,9.9,197,1909,0.00,2.17,0.00,0.000,516,0.000,0.043,3453,692,1802,1844,1761,0,0,0,0,0,0,26.45,26.15,26.46,8.22,39.88
$GC,1935,1.25,63.1,3453,692,1844,1761,64.5,9.7,200,1941,0.00,2.08,0.00,0.000,1030,0.000,0.027,3453,2090,1803,1844,1762,0,0,0,0,0,0,26.26,26.20,26.28,8.22,40.27
$GC,2062,1.25,63.1,3453,2090,1844,1761,51.4,10.9,213,2071,0.00,2.12,0.00,0.000,260,0.000,0.040,3453,3474,1802,1844,1761,0,0,0,0,0,0,26.51,26.20,26.52,8.22,39.91
$GC,2107,1.25,63.1,3453,3474,1845,1761,47.1,10.3,217,2114,0.00,2.05,0.00,0.000,1030,0.000,0.024,3464,2084,1802,1844,1761,0,0,0,0,0,0,26.33,26.27,26.34,8.22,39.68
$GC,2234,1.25,63.1,3463,2084,1844,1761,34.0,9.3,230,2243,0.00,2.15,0.00,0.000,260,0.000,0.038,3464,3478,1802,1844,1761,0,0,0,0,0,0,26.56,26.26,26.57,8.22,39.44
$GC,2347,1.25,63.1,3463,3478,1844,1761,23.2,9.5,241,2356,0.00,2.08,0.00,0.000,1030,0.000,0.024,3474,2078,1802,1844,1761,0,0,0,0,0,0,26.40,26.34,26.41,8.22,39.72
$GC,2478,1.29,104.0,3473,2078,1844,1762,14.4,5.6,263,2508,0.00,2.17,21.75,0.587,8708,0.000,0.042,3483,677,1638,1681,1595,0,0,0,0,0,0,26.62,26.00,25.42,8.21,39.76
$GC,2571,1.37,189.6,3483,677,1681,1595,12.0,0.9,280,2624,0.00,2.10,44.12,0.581,9222,0.000,0.025,3484,2101,1289,1331,1247,0,0,0,0,0,0,26.20,26.15,25.03,8.20,38.85
$GC,2689,1.52,235.9,3483,2101,1330,1245,8.3,5.1,301,2720,0.10,2.15,22.83,0.541,10500,0.077,0.037,3564,3467,1100,1138,1063,0,0,0,0,0,0,25.84,25.33,24.98,8.16,38.69
$GC,2758,1.58,299.8,3564,3467,1138,1063,5.6,3.2,313,2799,0.00,2.10,31.60,0.529,9222,0.000,0.023,3575,2073,839,871,807,0,0,0,0,0,0,25.75,25.70,24.87,8.14,38.34
$STATE,2820,end climb,SURFACE_DEPTH_REACHED
$STATE,2820,begin surface coast
$FINISH,1.8,1.018292
$STATE,2878,end surface coast,CONTROL_FINISHED_OK
$STATE,2878,begin surface
$SM_CCo,2898,54.20,0.073,0,0,392,410.14
$SM_GC,4.28,9.65,0.00,54.20,0.074,0.000,0.073,212,2073,392,-8.86,-0.25,410.14,0,0,0,0,0,0,25.61,25.94,25.63
$IRIDIUM_FIX,4739.20,-12253.53,030218,043328
$TT8_MAMPS,0.026964,0.280126
$HUMID,38.26
$INTERNAL_PRESSURE,8.03967
$TCM_TEMP,10.40
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.6,18.2
$ALTIM_BOTTOM_PING,81.2,64.7
$24V_AH,24.41,5.684
$10V_AH,10.38,1.979
$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,22.150,42.300,230.200,54.200,0.000,0.000,0.000,154.900,1.500,0.000,17.211,802.030,1098.540,387.126,809.620,124.544,33.437,938.788,0.000,648.384,0.000,11.761,0.000
$DEVICE_MAMPS,247.095,57.375,755.055,73.440,0.000,0.000,0.000,79.560,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,69.640,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,227.740,443.023,447.348,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,311916
$DATA_FILE_SIZE,24528,335
$CAP_FILE_SIZE,54404,0
$CFSIZE,2097872896,2087616512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030218,061630,4739.210,-12252.936,5,1.0,20,16.4,0.0,0.0,9,4.8