version: 66.14
glider: 194
mission: 12
dive: 127
start: 2 5 118 11 6 40
data:
$ID,194
$MISSION,12
$DIVE,127
$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,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,3153
$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,68
$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
$GPS1,050218,110040,4739.3169,-12252.6523,7,0.9,14,16.4,0.0,0.0,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.86
$_SM_ANGLEo,-72.9
$GPS2,050218,110529,4739.3599,-12252.6514,6,0.9,17,16.4,0.0,0.0,10,4.9
$SPEED_LIMITS,0.173,0.325
$TGT_NAME,NW_NE
$TGT_LATLONG,4739.150,-12252.570
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.091302,-0.147187
$KALMAN_X,14707.997070,270.147064,915.340881,-16062.549805,-53.901245
$KALMAN_Y,6570.660156,435.689606,1287.024170,-7910.685059,-132.454681
$MHEAD_RNG_PITCHd_Wd,131.8,402,-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,-63.1,218,2087,356,383,0.0,0.0,0,16,0.00,0.00,-5.60,0.000,16386,0.000,0.000,217,2087,532,519,545,0,0,0,0,0,0,26.26,28.83,26.27,8.07,39.17
$GC,19,-1.25,-63.1,217,2087,519,545,4.7,0.0,1,100,10.43,2.17,-64.20,0.000,19204,0.249,0.055,2743,3459,2324,2359,2290,0,0,0,0,0,0,25.61,24.70,25.90,8.08,39.52
$GC,245,-1.14,-63.1,2742,3460,2360,2289,28.4,-10.4,35,254,0.12,2.05,0.00,0.000,3078,0.174,0.024,2780,2066,2324,2359,2289,0,0,0,0,0,0,25.86,26.13,25.98,8.24,39.40
$GC,374,-1.14,-63.1,2779,2066,2360,2286,42.9,-11.9,48,383,0.00,2.12,0.00,0.000,516,0.000,0.040,2780,693,2322,2360,2285,0,0,0,0,0,0,26.44,26.14,26.45,8.24,39.80
$GC,439,-1.14,-63.1,2779,693,2360,2284,50.5,-12.4,54,445,0.00,2.05,0.00,0.000,1030,0.000,0.026,2780,2076,2322,2360,2285,0,0,0,0,0,0,26.26,26.19,26.28,8.24,39.13
$GC,566,-1.14,-63.1,2779,2076,2360,2284,67.3,-13.5,67,575,0.00,2.17,0.00,0.000,260,0.000,0.042,2780,3478,2322,2360,2284,0,0,0,0,0,0,26.52,26.20,26.53,8.24,39.72
$GC,671,-1.14,-63.1,2779,3478,2360,2284,80.9,-12.9,77,678,0.00,2.05,0.00,0.000,1030,0.000,0.023,2780,2081,2322,2360,2284,0,0,0,0,0,0,26.35,26.29,26.36,8.25,40.15
$GC,800,-1.14,-63.1,2779,2081,2360,2283,97.5,-12.6,90,806,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2081,2321,2360,2283,0,0,0,0,0,0,26.58,26.60,26.59,8.25,40.39
$GC,928,-1.14,-63.1,2779,2081,2359,2283,113.0,-11.8,103,937,0.00,2.17,0.00,0.000,260,0.000,0.042,2780,3483,2321,2360,2282,0,0,0,0,0,0,26.62,26.29,26.63,8.26,40.07
$GC,980,-1.14,-63.1,2779,3483,2360,2282,119.3,-12.2,108,984,0.00,2.05,0.00,0.000,1030,0.000,0.023,2780,2079,2321,2360,2283,0,0,0,0,0,0,26.42,26.36,26.44,8.27,39.60
$STATE,1100,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1100,begin apogee
$GC,1106,-0.22,0.0,2779,2078,2360,2282,134.7,-12.3,120,1164,0.90,0.00,54.20,0.745,10246,0.146,0.000,3072,2078,2064,2107,2022,0,0,0,0,0,0,26.13,25.48,24.89,8.26,39.99
$STATE,1165,end apogee,CONTROL_FINISHED_OK
$STATE,1165,begin climb
$GC,1168,1.25,63.1,3072,2078,2107,2022,137.5,0.0,126,1232,1.27,2.25,54.97,0.728,10756,0.073,0.039,3540,686,1805,1850,1761,0,0,0,0,0,0,25.53,24.84,24.44,8.25,39.99
$GC,1267,1.15,63.1,3540,685,1850,1762,130.1,10.6,136,1276,0.00,2.15,0.00,0.000,1030,0.000,0.025,3540,2089,1806,1850,1762,0,0,0,0,0,0,25.40,25.38,25.42,8.23,39.32
$GC,1457,1.04,63.1,3539,2088,1850,1761,105.2,14.4,155,1467,0.15,2.12,0.00,0.000,4356,0.182,0.037,3496,3472,1805,1850,1760,0,0,0,0,0,0,25.60,25.78,25.71,8.23,39.84
$GC,1523,0.97,63.1,3495,3473,1850,1760,96.8,13.0,161,1531,0.12,2.08,0.00,0.000,5126,0.181,0.023,3470,2081,1805,1850,1760,0,0,0,0,0,0,25.67,25.90,25.85,8.23,39.91
$GC,1650,0.97,63.1,3469,2082,1850,1759,81.5,11.2,174,1651,0.00,0.00,0.00,0.000,6,0.000,0.000,3471,2082,1804,1850,1759,0,0,0,0,0,0,26.27,26.27,26.27,8.23,39.60
$GC,1770,0.97,63.1,3469,2081,1850,1760,68.4,10.7,186,1779,0.00,2.17,0.00,0.000,516,0.000,0.041,3478,690,1804,1850,1759,0,0,0,0,0,0,26.35,26.05,26.36,8.23,40.11
$GC,1875,0.97,63.1,3478,690,1849,1759,58.1,10.3,196,1882,0.00,2.08,0.00,0.000,1030,0.000,0.027,3478,2088,1804,1850,1759,0,0,0,0,0,0,26.21,26.15,26.22,8.22,39.68
$GC,2002,0.97,63.1,3478,2087,1850,1759,44.9,9.9,209,2011,0.00,2.12,0.00,0.000,260,0.000,0.038,3478,3473,1804,1850,1759,0,0,0,0,0,0,26.46,26.16,26.47,8.22,39.72
$GC,2107,0.97,63.1,3478,3472,1850,1759,34.4,10.6,219,2113,0.00,2.05,0.00,0.000,1030,0.000,0.023,3489,2078,1804,1850,1759,0,0,0,0,0,0,26.31,26.25,26.32,8.22,39.28
$GC,2234,0.97,63.1,3488,2078,1849,1759,22.5,8.5,232,2243,0.00,2.12,0.00,0.000,516,0.000,0.041,3499,695,1804,1850,1758,0,0,0,0,0,0,26.55,26.23,26.55,8.22,40.23
$GC,2276,0.97,63.1,3498,695,1850,1758,18.3,10.4,237,2284,0.10,2.05,0.00,0.000,5126,0.179,0.025,3472,2094,1804,1850,1758,0,0,0,0,0,0,26.08,26.29,26.25,8.22,39.52
$GC,2347,1.04,126.2,3471,2093,1850,1758,15.0,3.3,250,2388,0.00,2.22,33.33,0.584,8708,0.000,0.040,3481,684,1549,1602,1496,0,0,0,0,0,0,26.58,25.64,25.27,8.21,39.80
$GC,2426,1.06,151.1,3480,684,1601,1497,11.1,7.3,264,2445,0.00,2.08,12.90,0.523,9222,0.000,0.026,3480,2068,1445,1499,1392,0,0,0,0,0,0,26.03,25.96,25.20,8.19,39.36
$GC,2509,1.25,264.6,3479,2068,1499,1392,8.7,-2.1,279,2573,0.12,2.28,56.75,0.554,10500,0.067,0.036,3582,3481,983,1027,940,0,0,0,0,0,0,25.98,25.33,24.84,8.18,39.56
$GC,2703,1.36,372.5,3582,3480,1027,938,5.1,-1.5,315,2766,0.00,2.10,53.83,0.528,9222,0.000,0.023,3592,2075,544,565,523,0,0,0,0,0,0,25.83,25.77,24.78,8.14,38.81
$GC,2832,1.54,460.5,3592,2074,565,522,4.0,0.6,338,2862,0.10,2.25,21.05,0.502,11012,0.076,0.036,3672,3478,371,365,378,0,0,0,0,0,0,25.66,25.35,24.87,8.10,38.69
$STATE,2968,end climb,NO_VERTICAL_VELOCITY
$STATE,2969,begin surface
$SM_CCo,3300,0.00,0.000,0,0,370,415.78
$SM_GC,4.63,9.80,2.15,0.00,0.074,0.024,0.000,218,2081,370,-9.13,1.55,415.78,0,0,0,0,0,0,25.91,26.02,26.01
$IRIDIUM_FIX,4742.38,-12248.15,050218,095827
$TT8_MAMPS,0.026215,0.280875
$HUMID,39.28
$INTERNAL_PRESSURE,8.03967
$TCM_TEMP,10.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,15.5
$ALTIM_BOTTOM_PING,100.1,44.2
$24V_AH,24.44,9.190
$10V_AH,10.30,3.490
$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,23.125,51.125,287.025,0.000,0.000,0.000,0.000,196.825,0.750,0.000,18.434,852.425,1397.879,379.979,856.747,125.522,33.447,997.145,0.000,655.325,0.000,7.183,0.000
$DEVICE_MAMPS,248.625,55.080,745.110,0.000,0.000,0.000,0.000,81.855,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,69.640,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,246.728,481.122,485.831,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312000
$DATA_FILE_SIZE,24623,364
$CAP_FILE_SIZE,58372,0
$CFSIZE,2097872896,2082045952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,050218,120237,4739.258,-12252.538,4,0.9,16,16.4,0.3,29.9,9,4.9