version: 66.14
glider: 194
mission: 12
dive: 101
start: 2 4 118 9 0 26
data:
$ID,194
$MISSION,12
$DIVE,101
$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,49
$R_STBD_OVSHOOT,63
$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
$GPS1,040218,085245,4739.2212,-12252.8750,5,0.9,16,16.4,0.0,0.0,9,4.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.98
$_SM_ANGLEo,-74.3
$GPS2,040218,085917,4739.2207,-12252.8789,6,0.9,17,16.4,0.0,0.0,9,4.6
$SPEED_LIMITS,0.173,0.325
$TGT_NAME,NW_NE
$TGT_LATLONG,4739.150,-12252.570
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.166398,-0.048081
$KALMAN_X,11044.603516,174.201553,868.852722,-12539.665039,143.928970
$KALMAN_Y,4737.451660,-86.473831,670.191711,-5193.069824,-57.609924
$MHEAD_RNG_PITCHd_Wd,89.7,407,-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,-63.1,217,2088,348,387,0.0,0.0,0,16,0.00,0.00,-6.45,0.000,16386,0.000,0.000,216,2088,560,546,575,0,0,0,0,0,0,26.21,28.83,26.22,8.07,39.36
$GC,20,-1.25,-63.1,217,2088,546,576,4.1,0.0,1,100,10.30,2.17,-60.65,0.000,18692,0.256,0.056,2654,3460,2324,2355,2293,0,0,0,0,0,0,25.56,24.72,25.86,8.09,39.40
$GC,215,-1.02,-63.1,2653,3460,2356,2293,34.4,-17.6,30,224,0.25,2.05,0.00,0.000,3078,0.188,0.024,2724,2066,2324,2356,2292,0,0,0,0,0,0,25.79,26.06,25.92,8.24,39.17
$GC,345,-0.90,-63.1,2724,2066,2355,2290,53.3,-15.8,43,347,0.15,0.00,0.00,0.000,2054,0.191,0.000,2766,2066,2323,2356,2290,0,0,0,0,0,0,25.91,26.15,26.09,8.24,39.32
$GC,466,-0.84,-63.1,2765,2065,2356,2289,70.5,-13.7,55,474,0.00,2.08,0.00,0.000,516,0.000,0.040,2766,697,2322,2356,2288,0,0,0,0,0,0,26.46,26.16,26.46,8.24,39.36
$GC,582,-0.76,-63.1,2765,697,2356,2287,87.1,-14.4,66,591,0.15,2.03,0.00,0.000,3078,0.177,0.027,2809,2072,2321,2356,2287,0,0,0,0,0,0,25.99,26.22,26.10,8.24,39.60
$GC,712,-0.76,-63.1,2809,2072,2356,2287,104.0,-12.8,79,721,0.00,2.15,0.00,0.000,260,0.000,0.043,2809,3471,2321,2356,2287,0,0,0,0,0,0,26.54,26.22,26.55,8.24,39.91
$GC,796,-0.76,-63.1,2809,3471,2356,2287,114.6,-13.1,87,803,0.00,2.03,0.00,0.000,1030,0.000,0.024,2810,2087,2321,2356,2287,0,0,0,0,0,0,26.36,26.30,26.38,8.24,40.35
$GC,984,-0.76,-63.1,2809,2087,2356,2286,138.5,-13.1,106,992,0.00,2.12,0.00,0.000,516,0.000,0.041,2810,690,2320,2356,2285,0,0,0,0,0,0,26.61,26.31,26.62,8.24,39.88
$STATE,996,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,996,begin apogee
$GC,1005,-0.22,0.0,2809,2086,2356,2286,139.7,-13.1,107,1062,0.50,0.00,54.03,0.747,10246,0.121,0.000,2982,2086,2064,2104,2025,0,0,0,0,0,0,26.17,25.45,24.86,8.25,39.84
$STATE,1063,end apogee,CONTROL_FINISHED_OK
$STATE,1063,begin climb
$GC,1066,1.25,63.1,2982,2086,2104,2025,141.0,0.0,113,1131,1.35,2.22,55.08,0.731,10500,0.101,0.039,3438,3476,1805,1851,1760,0,0,0,0,0,0,25.46,24.99,24.41,8.23,39.48
$GC,1195,1.41,103.3,3437,3477,1851,1760,136.4,5.7,126,1237,0.10,2.10,34.90,0.718,11270,0.053,0.023,3518,2088,1641,1687,1595,0,0,0,0,0,0,25.47,25.47,24.46,8.22,38.69
$GC,1426,1.41,103.3,3518,2088,1687,1594,112.3,12.0,149,1427,0.00,0.00,0.00,0.000,6,0.000,0.000,3518,2088,1640,1687,1594,0,0,0,0,0,0,26.00,26.01,26.01,8.20,39.48
$GC,1606,1.41,103.3,3518,2088,1686,1593,91.2,11.9,167,1614,0.00,2.17,0.00,0.000,260,0.000,0.038,3518,3477,1640,1687,1593,0,0,0,0,0,0,26.22,25.92,26.22,8.20,39.64
$GC,1688,1.41,103.3,3518,3477,1687,1593,80.8,13.1,175,1696,0.00,2.08,0.00,0.000,1030,0.000,0.024,3528,2080,1639,1686,1592,0,0,0,0,0,0,26.09,26.03,26.10,8.21,39.84
$GC,1818,1.41,103.3,3528,2080,1687,1592,64.6,12.6,188,1826,0.00,2.17,0.00,0.000,516,0.000,0.042,3538,676,1639,1687,1592,0,0,0,0,0,0,26.37,26.06,26.38,8.20,39.60
$GC,1922,1.41,103.3,3538,676,1686,1592,52.1,12.3,198,1929,0.00,2.10,0.00,0.000,1030,0.000,0.026,3539,2089,1639,1686,1592,0,0,0,0,0,0,26.22,26.16,26.24,8.20,39.99
$GC,2050,1.41,103.3,3538,2089,1686,1592,37.1,11.9,211,2058,0.00,2.10,0.00,0.000,260,0.000,0.038,3538,3471,1639,1686,1592,0,0,0,0,0,0,26.48,26.17,26.48,8.20,40.51
$GC,2174,1.41,103.3,3538,3471,1686,1592,21.5,11.7,223,2181,0.12,2.05,0.00,0.000,5126,0.172,0.024,3514,2078,1639,1686,1592,0,0,0,0,0,0,26.06,26.27,26.22,8.20,39.95
$GC,2305,1.56,180.8,3513,2078,1686,1591,12.6,1.8,247,2353,0.08,2.17,40.05,0.584,10500,0.098,0.036,3570,3473,1325,1372,1279,0,0,0,0,0,0,26.36,25.56,25.19,8.20,39.64
$GC,2361,1.63,249.3,3570,3472,1372,1279,12.1,2.7,256,2402,0.00,2.08,34.95,0.562,9222,0.000,0.023,3581,2077,1046,1087,1005,0,0,0,0,0,0,25.91,25.85,24.91,8.17,39.21
$GC,2468,1.79,324.1,3580,2077,1087,1001,7.6,2.1,275,2515,0.10,2.25,37.53,0.537,10756,0.079,0.042,3660,690,740,769,711,0,0,0,0,0,0,25.72,25.31,24.80,8.15,39.21
$GC,2548,1.82,351.5,3659,690,768,710,4.1,7.1,289,2567,0.00,2.12,13.40,0.489,9222,0.000,0.025,3660,2090,629,652,607,0,0,0,0,0,0,25.60,25.55,24.87,8.12,39.05
$STATE,2572,end climb,SURFACE_DEPTH_REACHED
$STATE,2572,begin surface coast
$FINISH,2.9,1.018089
$STATE,2636,end surface coast,CONTROL_FINISHED_OK
$STATE,2636,begin surface
$SM_CCo,2640,31.73,0.512,0,0,373,414.56
$SM_GC,3.61,9.70,0.00,0.00,0.060,0.000,0.000,213,2090,371,-8.85,0.23,415.54,0,0,0,0,0,0,25.48,25.78,25.57
$IRIDIUM_FIX,4739.20,-12253.53,040218,085411
$TT8_MAMPS,0.026215,0.279377
$HUMID,38.81
$INTERNAL_PRESSURE,8.03967
$TCM_TEMP,10.30
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.4,17.1
$ALTIM_BOTTOM_PING,85.4,63.4
$24V_AH,24.41,7.474
$10V_AH,10.32,2.757
$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,22.800,42.375,269.925,31.725,0.000,0.000,0.000,238.750,1.750,0.000,19.035,727.344,1144.531,379.699,819.855,125.943,33.429,990.770,0.000,577.168,0.000,13.360,0.000
$DEVICE_MAMPS,255.510,55.845,747.405,511.785,0.000,0.000,0.000,79.560,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,69.640,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,206.604,403.059,407.008,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,311952
$DATA_FILE_SIZE,21212,305
$CAP_FILE_SIZE,54397,0
$CFSIZE,2097872896,2084667392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,040218,094815,4739.102,-12252.541,5,0.8,45,16.4,0.0,0.0,10,19.2