version: 66.14
glider: 194
mission: 12
dive: 102
start: 2 4 118 9 53 57
data:
$ID,194
$MISSION,12
$DIVE,102
$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,53
$R_STBD_OVSHOOT,59
$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
$GPS1,040218,094815,4739.1021,-12252.5410,5,0.8,45,16.4,0.0,0.0,10,19.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.97
$_SM_ANGLEo,-73.4
$GPS2,040218,095248,4739.1406,-12252.5469,7,0.8,13,16.4,0.0,0.0,10,5.0
$SPEED_LIMITS,0.173,0.325
$TGT_NAME,NW_NE
$TGT_LATLONG,4739.150,-12252.570
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.170240,0.031912
$KALMAN_X,10737.839844,229.332428,934.686401,-11936.442383,-272.181702
$KALMAN_Y,5273.046875,-421.922302,498.914215,-5367.261230,-26.164337
$MHEAD_RNG_PITCHd_Wd,63.0,34,-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,-63.1,212,2092,365,375,0.0,0.0,0,17,0.00,0.00,-6.35,0.000,16386,0.000,0.000,212,2092,557,550,565,0,0,0,0,0,0,26.20,28.83,26.21,8.08,39.52
$GC,20,-1.25,-63.1,212,2092,550,565,4.0,0.0,1,100,10.15,2.17,-62.22,0.000,18692,0.250,0.058,2654,3469,2323,2356,2291,0,0,0,0,0,0,25.56,25.37,25.85,8.09,39.17
$GC,396,-1.05,-63.1,2653,3469,2357,2289,65.4,-18.1,48,405,0.20,2.08,0.00,0.000,3078,0.186,0.024,2711,2064,2322,2356,2288,0,0,0,0,0,0,25.89,26.16,26.03,8.23,39.80
$GC,528,-0.93,-63.1,2710,2063,2356,2286,86.8,-15.5,61,537,0.12,2.15,0.00,0.000,2308,0.195,0.041,2750,3468,2321,2356,2286,0,0,0,0,0,0,26.00,26.17,26.10,8.24,39.01
$GC,777,-0.87,-63.1,2749,3468,2356,2286,124.2,-14.5,85,786,0.00,2.03,0.00,0.000,1030,0.000,0.024,2750,2083,2320,2356,2285,0,0,0,0,0,0,26.34,26.30,26.35,8.24,39.76
$STATE,853,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,853,begin apogee
$GC,859,-0.22,0.0,2750,2082,2356,2285,135.8,-15.1,93,917,0.75,0.00,54.00,0.746,10246,0.158,0.000,2984,2082,2065,2104,2026,0,0,0,0,0,0,26.08,25.43,24.82,8.25,39.88
$STATE,918,end apogee,CONTROL_FINISHED_OK
$STATE,918,begin climb
$GC,921,1.25,63.1,2984,2082,2103,2025,140.9,0.0,99,985,1.38,0.00,55.47,0.731,10502,0.112,0.000,3435,2082,1805,1850,1761,0,0,0,0,0,0,25.41,24.94,24.40,8.23,39.76
$GC,1166,1.34,63.1,3435,2083,1850,1759,123.8,9.2,124,1175,0.10,2.17,0.00,0.000,2564,0.083,0.041,3523,691,1804,1850,1759,0,0,0,0,0,0,25.77,25.70,25.79,8.22,39.95
$GC,1218,1.34,63.1,3523,691,1850,1759,117.7,12.0,129,1228,0.12,2.10,0.00,0.000,5126,0.176,0.026,3490,2089,1804,1850,1759,0,0,0,0,0,0,25.61,25.81,25.78,8.22,39.76
$GC,1411,1.34,63.1,3490,2089,1849,1759,98.2,9.7,148,1420,0.00,2.12,0.00,0.000,260,0.000,0.039,3490,3470,1804,1849,1760,0,0,0,0,0,0,26.27,25.97,26.27,8.21,40.43
$GC,1473,1.34,63.1,3490,3469,1849,1759,91.5,10.3,154,1482,0.00,2.05,0.00,0.000,1030,0.000,0.023,3498,2081,1804,1849,1759,0,0,0,0,0,0,26.12,26.06,26.13,8.22,39.91
$GC,1603,1.34,63.1,3497,2081,1849,1759,78.9,9.6,167,1612,0.00,2.17,0.00,0.000,516,0.000,0.041,3509,688,1803,1849,1758,0,0,0,0,0,0,26.39,26.08,26.39,8.22,40.11
$GC,1638,1.34,63.1,3508,688,1849,1758,75.5,10.3,170,1645,0.00,2.08,0.00,0.000,1030,0.000,0.025,3509,2087,1803,1849,1758,0,0,0,0,0,0,26.21,26.14,26.22,8.22,39.60
$GC,1765,1.34,63.1,3508,2087,1849,1759,62.0,10.8,183,1774,0.00,2.15,0.00,0.000,516,0.000,0.041,3520,688,1804,1849,1759,0,0,0,0,0,0,26.46,26.16,26.47,8.22,40.27
$GC,1830,1.34,63.1,3519,688,1849,1758,55.2,10.7,189,1838,0.10,2.08,0.00,0.000,5126,0.184,0.025,3493,2093,1803,1848,1758,0,0,0,0,0,0,26.02,26.22,26.19,8.21,40.07
$GC,1957,1.34,63.1,3493,2093,1849,1758,43.6,8.0,202,1966,0.00,2.20,0.00,0.000,516,0.000,0.041,3502,680,1803,1849,1758,0,0,0,0,0,0,26.53,26.22,26.54,8.22,40.23
$GC,2019,1.34,63.1,3501,680,1849,1758,38.5,8.2,208,2028,0.00,2.08,0.00,0.000,1030,0.000,0.025,3502,2081,1803,1848,1758,0,0,0,0,0,0,26.34,26.28,26.36,8.22,39.80
$GC,2149,1.34,63.1,3501,2081,1848,1758,26.9,9.3,221,2158,0.00,2.12,0.00,0.000,260,0.000,0.038,3501,3470,1803,1849,1758,0,0,0,0,0,0,26.58,26.28,26.59,8.21,40.11
$GC,2221,1.36,85.9,3501,3470,1849,1758,20.9,7.6,228,2242,0.00,2.03,12.57,0.586,9222,0.000,0.023,3512,2080,1712,1756,1668,0,0,0,0,0,0,26.40,26.34,25.46,8.21,39.76
$GC,2367,1.45,174.3,3511,2080,1756,1667,12.7,0.6,254,2419,0.00,2.25,46.10,0.583,8708,0.000,0.041,3521,687,1352,1398,1306,0,0,0,0,0,0,26.50,25.63,25.10,8.20,40.07
$GC,2480,1.58,232.8,3521,687,1394,1306,10.0,3.8,274,2516,0.05,2.10,29.45,0.550,11270,0.135,0.024,3576,2096,1111,1153,1070,0,0,0,0,0,0,25.78,25.84,24.96,8.17,39.01
$GC,2581,1.63,285.7,3575,2096,1153,1067,6.7,4.4,292,2617,0.00,2.17,26.17,0.528,8452,0.000,0.037,3576,3460,895,934,857,0,0,0,0,0,0,25.97,25.41,24.92,8.15,38.58
$STATE,2815,end climb,NO_VERTICAL_VELOCITY
$STATE,2815,begin surface
$SM_CCo,2818,64.75,0.527,0,0,373,414.56
$SM_GC,3.55,9.35,2.17,0.00,0.052,0.023,0.000,213,2075,370,-8.85,1.36,415.78,0,0,0,0,0,0,25.46,25.49,25.53
$IRIDIUM_FIX,4738.33,-12256.21,040218,085600
$TT8_MAMPS,0.026215,0.280875
$HUMID,38.85
$INTERNAL_PRESSURE,8.03967
$TCM_TEMP,10.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,16.7
$ALTIM_BOTTOM_PING,95.2,49.8
$24V_AH,24.40,7.530
$10V_AH,10.33,2.784
$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,22.325,42.475,223.775,64.750,0.000,0.000,0.000,183.350,2.000,0.000,14.316,812.375,1130.867,394.334,824.616,129.995,33.429,964.211,0.000,638.414,0.000,16.461,0.000
$DEVICE_MAMPS,250.155,58.140,745.875,527.085,0.000,0.000,0.000,80.325,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,69.640,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,229.583,445.839,450.180,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,311996
$DATA_FILE_SIZE,24432,337
$CAP_FILE_SIZE,54055,0
$CFSIZE,2097872896,2084569088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,040218,104453,4739.008,-12252.375,4,0.9,18,16.4,0.0,0.0,9,4.8