version: 66.14
glider: 194
mission: 12
dive: 114
start: 2 4 118 20 43 17
data:
$ID,194
$MISSION,12
$DIVE,114
$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,90
$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,75
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$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,3800
$C_ROLL_CLIMB,3800
$HEAD_ERRBAND,180
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,43
$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,100
$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
$GPS1,040218,203726,4739.0757,-12252.2578,4,0.8,37,16.4,0.0,0.0,10,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.07
$_SM_ANGLEo,-75.1
$GPS2,040218,204200,4739.0752,-12252.2598,6,0.8,15,16.4,0.0,0.0,10,4.9
$SPEED_LIMITS,0.100,0.187
$TGT_NAME,NW_NE
$TGT_LATLONG,4739.150,-12252.570
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.132480,-0.077215
$KALMAN_X,12182.892578,-658.681763,664.553955,-11872.752930,92.384521
$KALMAN_Y,3899.786621,-981.769104,978.130127,-4032.334717,415.434326
$MHEAD_RNG_PITCHd_Wd,223.4,412,-30.6,-10.000,-33.11,770
$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,9,-1.38,-50.4,216,3779,350,386,0.0,0.0,0,16,0.00,0.00,-5.97,0.000,16386,0.000,0.000,216,3779,543,526,561,0,0,0,0,0,0,26.22,28.83,26.23,8.07,39.88
$GC,20,-1.38,-50.4,216,3779,526,561,4.1,0.0,1,95,10.18,0.00,-61.25,0.000,18438,0.259,0.000,2607,3781,2271,2297,2246,0,0,0,0,0,0,25.57,24.81,25.86,8.09,39.25
$GC,160,-1.18,-50.4,2607,3781,2298,2248,22.9,-22.7,25,167,0.22,0.00,0.00,0.000,2054,0.217,0.000,2671,3781,2273,2298,2248,0,0,0,0,0,0,25.73,25.95,25.89,8.23,39.09
$GC,288,-1.03,-50.4,2670,3781,2298,2245,44.1,-15.3,38,290,0.20,0.00,0.00,0.000,2054,0.207,0.000,2724,3781,2271,2298,2245,0,0,0,0,0,0,25.82,26.10,26.04,8.23,39.48
$GC,408,-1.03,-50.4,2724,3781,2298,2244,62.0,-15.3,50,410,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,3781,2271,2298,2244,0,0,0,0,0,0,26.44,26.45,26.44,8.23,39.91
$GC,528,-1.03,-50.4,2724,3781,2298,2243,80.3,-15.5,62,530,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,3781,2270,2298,2242,0,0,0,0,0,0,26.49,26.51,26.50,8.24,40.07
$GC,648,-1.03,-50.4,2723,3781,2297,2242,99.0,-15.4,74,650,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,3780,2270,2298,2242,0,0,0,0,0,0,26.53,26.54,26.54,8.24,40.07
$GC,768,-1.03,-50.4,2724,3781,2298,2242,117.0,-14.9,86,770,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,3781,2269,2297,2242,0,0,0,0,0,0,26.56,26.58,26.58,8.25,40.11
$STATE,916,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,916,begin apogee
$GC,922,-0.22,0.0,2724,3781,2298,2241,140.5,-15.2,101,970,0.85,0.00,44.25,0.744,10246,0.175,0.000,2980,3781,2064,2098,2030,0,0,0,0,0,0,26.06,25.57,24.97,8.25,40.51
$STATE,971,end apogee,CONTROL_FINISHED_OK
$STATE,971,begin climb
$GC,974,1.38,50.4,2980,3781,2098,2030,144.7,0.0,106,1028,1.50,0.00,44.80,0.731,10246,0.119,0.000,3472,3781,1858,1898,1818,0,0,0,0,0,0,25.53,25.09,24.53,8.24,40.35
$GC,1208,1.38,50.4,3472,3781,1898,1817,126.5,9.1,130,1209,0.00,0.00,0.00,0.000,6,0.000,0.000,3472,3781,1857,1898,1817,0,0,0,0,0,0,26.03,26.04,26.03,8.23,39.64
$GC,1388,1.38,50.4,3472,3781,1898,1816,110.2,9.2,148,1390,0.00,0.00,0.00,0.000,6,0.000,0.000,3472,3781,1857,1898,1817,0,0,0,0,0,0,26.24,26.25,26.25,8.23,40.03
$GC,1568,1.38,50.4,3472,3781,1898,1817,94.7,9.0,166,1570,0.00,0.00,0.00,0.000,6,0.000,0.000,3473,3781,1857,1898,1817,0,0,0,0,0,0,26.36,26.37,26.37,8.23,39.68
$GC,1688,1.38,50.4,3472,3780,1898,1817,84.0,9.1,178,1690,0.00,0.00,0.00,0.000,6,0.000,0.000,3472,3781,1857,1898,1817,0,0,0,0,0,0,26.43,26.44,26.44,8.23,39.95
$GC,1808,1.38,50.4,3472,3780,1898,1817,73.3,8.5,190,1810,0.00,0.00,0.00,0.000,6,0.000,0.000,3473,3781,1857,1898,1817,0,0,0,0,0,0,26.48,26.49,26.49,8.23,39.72
$GC,1929,1.40,72.6,3472,3781,1898,1816,64.6,7.1,202,1950,0.00,0.00,19.50,0.677,10246,0.000,0.000,3473,3781,1768,1807,1730,0,0,0,0,0,0,26.53,25.85,25.27,8.23,40.23
$GC,2069,1.46,72.6,3472,3780,1806,1730,49.9,11.5,216,2071,0.10,0.00,0.00,0.000,2054,0.085,0.000,3534,3781,1768,1806,1730,0,0,0,0,0,0,26.13,26.17,26.16,8.22,39.48
$GC,2189,1.46,72.6,3534,3781,1807,1730,35.2,12.1,228,2191,0.00,0.00,0.00,0.000,6,0.000,0.000,3534,3781,1768,1806,1730,0,0,0,0,0,0,26.42,26.43,26.43,8.22,39.28
$GC,2309,1.46,72.6,3534,3781,1806,1730,23.0,9.3,240,2310,0.00,0.00,0.00,0.000,6,0.000,0.000,3534,3781,1768,1807,1730,0,0,0,0,0,0,26.48,26.48,26.48,8.21,40.39
$GC,2432,1.52,132.5,3534,3781,1806,1730,15.2,2.0,260,2467,0.00,0.00,32.17,0.586,8198,0.000,0.000,3534,3781,1521,1563,1480,0,0,0,0,0,0,26.52,25.75,25.23,8.21,40.23
$GC,2530,1.57,179.1,3534,3781,1563,1479,12.3,3.8,278,2559,0.00,0.00,23.52,0.555,8198,0.000,0.000,3534,3780,1332,1373,1292,0,0,0,0,0,0,26.21,25.44,25.10,8.19,39.48
$GC,2623,1.71,243.6,3534,3781,1373,1290,9.5,1.4,295,2659,0.12,0.00,32.35,0.550,10246,0.076,0.000,3610,3781,1069,1106,1032,0,0,0,0,0,0,25.86,25.41,24.94,8.17,39.44
$GC,2722,1.77,304.7,3610,3781,1106,1030,7.1,1.9,313,2757,0.00,0.00,30.05,0.529,8198,0.000,0.000,3610,3780,820,855,785,0,0,0,0,0,0,25.94,25.33,24.87,8.14,39.13
$GC,2820,1.80,342.3,3610,3781,855,784,3.8,5.0,331,2844,0.00,0.00,18.70,0.508,8198,0.000,0.000,3610,3781,666,701,631,0,0,0,0,0,0,25.89,25.38,24.94,8.12,38.26
$GC,2908,2.05,413.8,3610,3781,701,630,3.9,0.5,347,2948,0.22,0.00,35.62,0.516,10246,0.048,0.000,3738,3781,373,370,377,0,0,0,0,0,0,25.70,25.28,24.84,8.10,39.48
$STATE,2959,end climb,NO_VERTICAL_VELOCITY
$STATE,2959,begin surface
$SM_CCo,2962,-0.15,0.000,0,0,377,414.56
$SM_GC,4.67,10.23,0.00,0.00,0.086,0.000,0.000,216,3781,375,-8.85,-0.54,414.56,0,0,0,0,0,0,25.83,26.18,25.92
$IRIDIUM_FIX,4736.40,-12251.79,040218,193006
$TT8_MAMPS,0.026215,0.263648
$HUMID,39.64
$INTERNAL_PRESSURE,8.0299
$TCM_TEMP,10.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.2,16.3
$ALTIM_BOTTOM_PING,105.2,45.0
$24V_AH,24.51,8.276
$10V_AH,10.31,3.086
$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,23.625,5.450,280.975,0.000,0.000,0.000,0.000,183.375,1.000,0.000,19.617,829.239,1597.651,324.452,716.969,118.527,33.424,839.301,0.000,536.762,0.000,8.782,0.000
$DEVICE_MAMPS,259.335,34.425,744.345,0.000,0.000,0.000,0.000,83.385,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,69.640,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,243.188,471.287,475.859,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312040
$DATA_FILE_SIZE,24610,356
$CAP_FILE_SIZE,49755,0
$CFSIZE,2097872896,2083389440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,040218,213858,4739.114,-12252.224,8,0.9,16,16.4,0.0,0.0,10,4.7