version: 66.14
glider: 194
mission: 12
dive: 98
start: 2 4 118 6 18 25
data:
$ID,194
$MISSION,12
$DIVE,98
$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,52
$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
$GPS1,040218,061228,4739.1763,-12252.3438,5,1.0,35,16.4,0.3,0.0,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.96
$_SM_ANGLEo,-73.7
$GPS2,040218,061714,4739.1890,-12252.3066,6,1.0,23,16.4,0.2,0.0,9,4.9
$SPEED_LIMITS,0.173,0.325
$TGT_NAME,NW_NE
$TGT_LATLONG,4739.150,-12252.570
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.244187,0.000153
$KALMAN_X,10331.315430,387.368164,6.734932,-10469.054688,554.179810
$KALMAN_Y,2956.458984,1287.006836,503.487030,-4674.507324,-71.724091
$MHEAD_RNG_PITCHd_Wd,253.6,337,-18.8,-10.000,-22.27,1939
$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,-0.95,-127.6,218,2091,344,392,0.0,0.0,0,17,0.00,0.00,-6.45,0.000,16386,0.000,0.000,218,2091,562,547,577,0,0,0,0,0,0,26.22,28.83,26.24,8.07,39.48
$GC,20,-0.95,-127.6,218,2091,548,577,3.9,0.0,1,106,10.60,2.20,-67.10,0.000,18948,0.253,0.051,2750,683,2587,2637,2538,0,0,0,0,0,0,25.58,25.39,25.87,8.08,39.72
$GC,338,-0.70,-127.6,2749,683,2638,2539,57.0,-19.7,43,347,0.28,2.05,0.00,0.000,3078,0.168,0.027,2831,2073,2588,2638,2539,0,0,0,0,0,0,25.90,26.13,26.03,8.26,39.56
$GC,468,-0.60,-127.6,2830,2073,2638,2539,76.4,-14.4,56,478,0.10,2.15,0.00,0.000,2308,0.184,0.043,2864,3472,2588,2638,2539,0,0,0,0,0,0,26.03,26.15,26.12,8.26,39.60
$GC,533,-0.60,-127.6,2863,3472,2638,2539,85.0,-12.8,62,540,0.00,2.05,0.00,0.000,1030,0.000,0.024,2864,2079,2588,2638,2538,0,0,0,0,0,0,26.29,26.22,26.30,8.25,39.52
$GC,661,-0.60,-127.6,2863,2079,2638,2539,101.7,-13.0,75,670,0.00,2.12,0.00,0.000,516,0.000,0.041,2864,691,2588,2637,2539,0,0,0,0,0,0,26.53,26.22,26.54,8.26,39.91
$GC,715,-0.54,-127.6,2864,691,2637,2538,108.7,-13.6,80,722,0.00,2.08,0.00,0.000,1030,0.000,0.027,2864,2089,2587,2637,2538,0,0,0,0,0,0,26.34,26.27,26.36,8.26,39.84
$GC,903,-0.54,-127.6,2863,2089,2638,2538,132.5,-12.7,99,904,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2089,2588,2638,2538,0,0,0,0,0,0,26.60,26.61,26.60,8.27,39.60
$STATE,970,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,970,begin apogee
$GC,976,-0.22,0.0,2863,2090,2638,2538,140.9,-11.9,106,1085,0.32,0.00,105.38,0.747,10246,0.096,0.000,2989,2090,2064,2110,2018,0,0,0,0,0,0,26.25,24.98,24.42,8.27,39.91
$STATE,1086,end apogee,CONTROL_FINISHED_OK
$STATE,1086,begin climb
$GC,1089,0.95,127.6,2989,2090,2109,2018,140.9,0.0,117,1205,1.02,2.30,106.12,0.724,10500,0.094,0.038,3336,3474,1543,1596,1490,0,0,0,0,0,0,25.03,24.77,24.22,8.24,39.80
$GC,1242,1.10,186.9,3335,3474,1596,1489,133.9,6.9,132,1299,0.15,2.15,48.17,0.705,11270,0.060,0.024,3429,2084,1301,1353,1250,0,0,0,0,0,0,25.25,25.22,24.31,8.20,38.81
$GC,1479,1.10,186.9,3428,2084,1353,1247,104.2,13.4,156,1488,0.00,2.22,0.00,0.000,516,0.000,0.044,3438,683,1299,1352,1247,0,0,0,0,0,0,25.91,25.62,25.91,8.18,38.85
$GC,1612,1.10,186.9,3437,683,1352,1247,86.2,13.5,169,1621,0.00,2.10,0.00,0.000,1030,0.000,0.026,3438,2080,1299,1352,1247,0,0,0,0,0,0,25.89,25.89,25.91,8.18,39.09
$GC,1741,1.10,186.9,3437,2080,1351,1247,69.0,13.3,182,1742,0.00,0.00,0.00,0.000,6,0.000,0.000,3438,2080,1299,1352,1247,0,0,0,0,0,0,26.23,26.25,26.24,8.18,39.68
$GC,1861,1.10,186.9,3437,2080,1352,1248,53.4,12.6,194,1870,0.00,2.15,0.00,0.000,260,0.000,0.040,3438,3487,1299,1352,1247,0,0,0,0,0,0,26.32,26.00,26.33,8.18,39.99
$GC,1895,1.10,186.9,3437,3487,1351,1247,48.8,13.7,197,1903,0.10,2.10,0.00,0.000,5126,0.157,0.024,3415,2084,1298,1351,1246,0,0,0,0,0,0,25.94,26.08,26.07,8.18,39.80
$GC,2023,1.10,186.9,3414,2083,1351,1247,33.3,12.0,210,2031,0.00,2.17,0.00,0.000,516,0.000,0.044,3421,681,1299,1352,1247,0,0,0,0,0,0,26.41,26.10,26.42,8.17,40.11
$GC,2047,1.10,186.9,3421,681,1351,1247,30.8,11.9,212,2054,0.00,2.10,0.00,0.000,1030,0.000,0.026,3422,2093,1299,1352,1247,0,0,0,0,0,0,26.22,26.16,26.24,8.18,39.95
$GC,2177,1.10,186.9,3421,2092,1351,1247,15.5,11.7,228,2183,0.00,2.12,0.00,0.000,260,0.000,0.039,3422,3479,1299,1351,1247,0,0,0,0,0,0,26.48,26.17,26.48,8.17,39.88
$GC,2206,1.10,186.9,3421,3479,1352,1247,12.6,10.3,233,2213,0.00,2.08,0.00,0.000,1030,0.000,0.024,3429,2082,1299,1351,1247,0,0,0,0,0,0,26.29,26.23,26.31,8.17,39.56
$GC,2277,1.33,347.8,3428,2082,1351,1247,9.1,1.5,246,2368,0.10,2.28,81.53,0.563,10756,0.083,0.044,3514,688,643,670,616,0,0,0,0,0,0,26.31,25.34,24.84,8.17,39.72
$STATE,2450,end climb,SURFACE_DEPTH_REACHED
$STATE,2450,begin surface coast
$FINISH,3.1,1.016754
$STATE,2536,end surface coast,CONTROL_FINISHED_OK
$STATE,2536,begin surface
$SM_CCo,2539,33.00,0.516,0,0,374,414.56
$SM_GC,3.66,9.23,2.20,0.00,0.059,0.024,0.000,215,2101,370,-8.84,-1.39,415.78,0,0,0,0,0,0,25.58,25.65,25.67
$IRIDIUM_FIX,4737.86,-12251.79,040218,051921
$TT8_MAMPS,0.026964,0.280875
$HUMID,38.65
$INTERNAL_PRESSURE,8.03967
$TCM_TEMP,10.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.2,16.5
$ALTIM_BOTTOM_PING,75.1,75.1
$24V_AH,24.22,7.295
$10V_AH,10.32,2.680
$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,21.900,38.625,341.200,33.000,0.000,0.000,0.000,188.600,0.750,0.000,25.224,680.291,1013.025,435.376,751.483,116.616,33.434,989.570,0.000,551.231,0.000,7.264,0.000
$DEVICE_MAMPS,253.215,51.255,746.640,515.610,0.000,0.000,0.000,75.735,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,69.640,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,199.186,389.593,393.426,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,311980
$DATA_FILE_SIZE,21093,295
$CAP_FILE_SIZE,49080,0
$CFSIZE,2097872896,2084962304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,040218,070425,4739.280,-12252.501,5,0.9,33,16.4,0.0,0.0,9,4.4