version: 66.14
glider: 194
mission: 12
dive: 128
start: 2 5 118 12 8 41
data:
$ID,194
$MISSION,12
$DIVE,128
$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,52
$R_STBD_OVSHOOT,50
$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
$GPS1,050218,120237,4739.2578,-12252.5381,4,0.9,16,16.4,0.3,29.9,9,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.59
$_SM_ANGLEo,-73.4
$GPS2,050218,120732,4739.3018,-12252.5312,3,0.9,26,16.4,0.3,4.2,9,4.9
$SPEED_LIMITS,0.173,0.325
$TGT_NAME,NW_NE
$TGT_LATLONG,4739.150,-12252.570
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.140756,-0.100935
$KALMAN_X,14671.302734,276.864777,769.743469,-15735.544922,-355.526306
$KALMAN_Y,7504.454102,278.913330,923.931030,-8432.999023,-54.578156
$MHEAD_RNG_PITCHd_Wd,109.2,285,-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,-63.1,218,2078,363,377,0.0,0.0,0,16,0.00,0.00,-6.30,0.000,16386,0.000,0.000,218,2078,551,542,561,0,0,0,0,0,0,26.31,28.83,26.32,8.07,39.40
$GC,20,-1.25,-63.1,218,2078,542,561,4.6,0.0,1,101,10.43,2.22,-64.90,0.000,18692,0.249,0.054,2745,3475,2325,2361,2289,0,0,0,0,0,0,25.67,24.72,25.95,8.08,40.07
$GC,306,-1.17,-63.1,2745,3475,2360,2286,31.9,-10.2,44,315,0.08,2.05,0.00,0.000,3078,0.194,0.023,2767,2073,2323,2361,2285,0,0,0,0,0,0,25.94,26.18,26.05,8.23,39.05
$GC,435,-1.17,-63.1,2768,2073,2361,2284,46.4,-12.2,57,439,0.00,2.12,0.00,0.000,516,0.000,0.040,2768,689,2322,2361,2284,0,0,0,0,0,0,26.49,26.18,26.50,8.24,39.48
$GC,530,-1.17,-63.1,2768,688,2361,2281,59.6,-14.4,66,537,0.00,2.08,0.00,0.000,1030,0.000,0.026,2768,2089,2321,2361,2282,0,0,0,0,0,0,26.32,26.24,26.33,8.24,40.51
$GC,657,-1.17,-63.1,2768,2089,2361,2282,77.3,-14.0,79,658,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,2089,2321,2361,2281,0,0,0,0,0,0,26.56,26.58,26.57,8.24,40.07
$GC,777,-1.17,-63.1,2768,2089,2361,2281,92.9,-12.9,91,786,0.00,2.15,0.00,0.000,260,0.000,0.042,2768,3479,2321,2361,2281,0,0,0,0,0,0,26.60,26.27,26.60,8.26,39.99
$GC,831,-1.17,-63.1,2768,3479,2361,2280,99.6,-13.3,96,843,0.00,2.03,0.00,0.000,1030,0.000,0.023,2768,2088,2320,2361,2280,0,0,0,0,0,0,26.41,26.34,26.42,8.25,39.88
$GC,961,-1.17,-63.1,2768,2088,2361,2280,116.4,-12.3,109,962,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,2087,2320,2361,2280,0,0,0,0,0,0,26.63,26.65,26.64,8.26,40.35
$STATE,1129,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1129,begin apogee
$GC,1135,-0.22,0.0,2768,2088,2361,2280,137.6,-12.2,126,1193,0.95,0.00,54.17,0.749,10246,0.148,0.000,3074,2087,2065,2108,2022,0,0,0,0,0,0,26.14,25.49,24.91,8.26,40.03
$STATE,1194,end apogee,CONTROL_FINISHED_OK
$STATE,1194,begin climb
$GC,1197,1.25,63.1,3074,2087,2107,2021,140.2,0.0,132,1262,1.27,2.28,55.42,0.731,10756,0.075,0.039,3541,684,1805,1850,1761,0,0,0,0,0,0,25.53,24.84,24.46,8.24,40.27
$GC,1408,1.14,63.1,3541,684,1850,1761,118.7,12.9,153,1415,0.00,2.12,0.00,0.000,1030,0.000,0.025,3541,2089,1805,1850,1761,0,0,0,0,0,0,25.75,25.69,25.77,8.23,40.19
$GC,1597,1.04,63.1,3541,2089,1849,1760,93.5,12.9,172,1606,0.15,2.15,0.00,0.000,4356,0.181,0.036,3497,3480,1805,1850,1760,0,0,0,0,0,0,25.72,25.90,25.83,8.23,40.43
$GC,1714,0.97,63.1,3497,3479,1850,1759,78.8,13.1,183,1722,0.12,2.08,0.00,0.000,5126,0.182,0.023,3471,2082,1804,1850,1759,0,0,0,0,0,0,25.82,26.05,25.99,8.23,39.60
$GC,1840,0.97,63.1,3469,2083,1850,1759,64.3,10.1,196,1848,0.00,2.17,0.00,0.000,516,0.000,0.041,3479,688,1804,1850,1759,0,0,0,0,0,0,26.38,26.07,26.39,8.23,40.35
$GC,1943,0.97,63.1,3478,689,1850,1759,53.5,10.3,206,1951,0.00,2.05,0.00,0.000,1030,0.000,0.025,3479,2079,1804,1850,1759,0,0,0,0,0,0,26.20,26.17,26.21,8.22,39.56
$GC,2072,0.97,63.1,3479,2079,1850,1758,40.4,10.3,219,2073,0.00,0.00,0.00,0.000,6,0.000,0.000,3479,2079,1804,1850,1759,0,0,0,0,0,0,26.48,26.49,26.49,8.22,39.95
$GC,2192,0.97,63.1,3479,2079,1850,1758,28.0,10.0,231,2200,0.00,2.15,0.00,0.000,516,0.000,0.041,3490,687,1804,1850,1758,0,0,0,0,0,0,26.53,26.22,26.53,8.22,40.27
$GC,2274,0.97,63.1,3489,687,1849,1758,19.9,9.6,239,2282,0.00,2.10,0.00,0.000,1030,0.000,0.025,3489,2089,1804,1850,1758,0,0,0,0,0,0,26.32,26.29,26.36,8.22,40.31
$GC,2345,1.03,126.1,3489,2090,1850,1759,17.2,3.3,252,2386,0.00,2.15,33.88,0.597,8452,0.000,0.037,3489,3477,1548,1600,1497,0,0,0,0,0,0,26.57,25.62,25.25,8.21,39.32
$GC,2683,1.13,222.9,3489,3477,1600,1495,13.4,-0.3,317,2740,0.00,2.08,49.42,0.581,9222,0.000,0.023,3500,2067,1154,1205,1103,0,0,0,0,0,0,26.21,26.15,24.99,8.18,39.48
$GC,2806,1.25,266.5,3499,2068,1205,1102,8.1,5.4,339,2836,0.10,2.20,21.80,0.531,10500,0.080,0.037,3581,3470,975,1021,930,0,0,0,0,0,0,25.81,25.48,24.96,8.15,39.25
$GC,3128,1.34,354.5,3581,3470,1021,929,4.6,0.6,401,3180,0.00,2.05,43.83,0.535,9222,0.000,0.023,3591,2084,615,643,588,0,0,0,0,0,0,26.07,26.01,24.98,8.13,39.68
$GC,3246,1.56,445.0,3590,2084,643,587,4.1,0.4,422,3281,0.10,0.00,29.98,0.522,10502,0.079,0.000,3661,2084,373,364,382,0,0,0,0,0,0,25.78,25.37,24.91,8.10,39.28
$GC,3347,1.78,538.3,3660,2084,364,381,3.9,0.1,440,3353,0.10,0.00,0.00,0.000,2054,0.082,0.000,3731,2084,372,364,381,0,0,0,0,0,0,25.70,25.77,25.73,8.09,38.85
$GC,3417,1.93,629.9,3730,2084,364,382,3.8,0.3,453,3423,0.05,0.00,0.00,0.000,2054,0.140,0.000,3780,2084,373,364,382,0,0,0,0,0,0,25.85,25.89,25.88,8.08,39.32
$STATE,3430,end climb,NO_VERTICAL_VELOCITY
$STATE,3430,begin surface
$SM_CCo,3759,0.00,0.000,0,0,370,415.78
$SM_GC,5.01,10.18,0.00,0.00,0.079,0.000,0.000,212,2084,370,-9.15,0.06,415.78,0,0,0,0,0,0,25.97,26.33,26.06
$IRIDIUM_FIX,4739.20,-12253.53,050218,110206
$TT8_MAMPS,0.026215,0.280126
$HUMID,40.27
$INTERNAL_PRESSURE,8.03967
$TCM_TEMP,9.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,16.6
$ALTIM_BOTTOM_PING,105.1,42.0
$24V_AH,24.46,9.246
$10V_AH,10.31,3.522
$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,23.525,38.225,288.500,0.000,0.000,0.000,0.000,190.125,1.250,0.000,29.144,1064.356,1500.092,370.589,999.650,139.912,33.449,1033.394,0.000,794.457,0.000,11.560,0.000
$DEVICE_MAMPS,249.390,54.315,748.935,0.000,0.000,0.000,0.000,81.090,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,69.640,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,310.689,602.367,608.224,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,311948
$DATA_FILE_SIZE,31366,455
$CAP_FILE_SIZE,61887,0
$CFSIZE,2097872896,2081947648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050218,131221,4739.273,-12252.388,4,0.8,20,16.4,0.3,0.0,10,4.8