version: 66.14
glider: 194
mission: 12
dive: 129
start: 2 5 118 13 18 53
data:
$ID,194
$MISSION,12
$DIVE,129
$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,53
$R_STBD_OVSHOOT,60
$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
$GPS1,050218,131221,4739.2729,-12252.3877,4,0.8,20,16.4,0.3,0.0,10,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.77
$_SM_ANGLEo,-72.1
$GPS2,050218,131744,4739.3193,-12252.3945,5,0.9,23,16.4,0.3,354.3,9,5.0
$SPEED_LIMITS,0.173,0.325
$TGT_NAME,NW_NE
$TGT_LATLONG,4739.150,-12252.570
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.128794,-0.115810
$KALMAN_X,14760.846680,212.942764,405.273102,-15228.545898,-523.061096
$KALMAN_Y,8415.536133,228.690689,452.950958,-8788.913086,-33.627441
$MHEAD_RNG_PITCHd_Wd,115.6,383,-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,-63.1,211,2082,359,380,0.0,0.0,0,16,0.00,0.00,-6.35,0.000,16386,0.000,0.000,211,2082,555,546,565,0,0,0,0,0,0,26.31,28.83,26.32,8.06,39.80
$GC,20,-1.25,-63.1,211,2082,546,566,4.8,0.0,1,101,10.43,2.15,-62.92,0.000,19204,0.249,0.053,2745,3467,2324,2360,2288,0,0,0,0,0,0,25.65,25.44,25.94,8.08,39.84
$GC,397,-1.18,-63.1,2744,3467,2360,2284,43.5,-12.1,52,401,0.00,2.05,0.00,0.000,1030,0.000,0.024,2745,2070,2322,2360,2284,0,0,0,0,0,0,26.28,26.22,26.29,8.23,39.68
$GC,529,-1.18,-63.1,2745,2070,2360,2281,61.0,-14.8,65,532,0.00,2.12,0.00,0.000,516,0.000,0.040,2745,684,2320,2360,2280,0,0,0,0,0,0,26.53,26.22,26.53,8.24,39.84
$GC,593,-1.12,-63.1,2744,685,2360,2280,70.9,-16.4,71,601,0.15,2.08,0.00,0.000,3078,0.185,0.026,2788,2085,2320,2360,2280,0,0,0,0,0,0,26.03,26.26,26.22,8.24,39.88
$GC,721,-1.12,-63.1,2788,2085,2360,2280,87.7,-12.0,84,729,0.00,2.17,0.00,0.000,516,0.000,0.040,2788,684,2319,2360,2279,0,0,0,0,0,0,26.58,26.27,26.59,8.25,40.27
$GC,762,-1.12,-63.1,2788,684,2359,2279,93.1,-12.9,88,771,0.00,2.08,0.00,0.000,1030,0.000,0.026,2788,2083,2319,2360,2279,0,0,0,0,0,0,26.38,26.31,26.40,8.25,40.07
$GC,893,-1.17,-63.1,2787,2083,2360,2279,109.4,-12.5,101,901,0.00,2.12,0.00,0.000,260,0.000,0.042,2788,3471,2319,2360,2279,0,0,0,0,0,0,26.62,26.29,26.63,8.25,39.72
$GC,1029,-1.22,-63.1,2788,3471,2360,2279,125.5,-12.9,114,1036,0.00,2.03,0.00,0.000,1030,0.000,0.024,2788,2081,2319,2360,2279,0,0,0,0,0,0,26.44,26.38,26.46,8.26,40.11
$STATE,1112,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1112,begin apogee
$GC,1118,-0.22,0.0,2788,2081,2360,2278,136.3,-11.9,123,1176,0.88,0.00,53.72,0.748,10246,0.140,0.000,3075,2080,2065,2108,2022,0,0,0,0,0,0,26.15,25.49,24.90,8.26,39.84
$STATE,1177,end apogee,CONTROL_FINISHED_OK
$STATE,1177,begin climb
$GC,1180,1.25,63.1,3075,2080,2107,2021,138.8,0.0,129,1245,1.27,2.22,55.25,0.731,10500,0.072,0.037,3534,3472,1805,1850,1761,0,0,0,0,0,0,25.54,25.02,24.45,8.24,40.35
$GC,1299,1.13,63.1,3534,3472,1850,1762,128.9,11.2,141,1307,0.00,2.10,0.00,0.000,1030,0.000,0.023,3546,2093,1806,1850,1762,0,0,0,0,0,0,25.49,25.46,25.51,8.23,39.25
$GC,1489,1.03,63.1,3545,2092,1851,1762,104.8,12.4,160,1498,0.17,2.12,0.00,0.000,4356,0.172,0.036,3493,3471,1806,1850,1762,0,0,0,0,0,0,25.63,25.80,25.73,8.23,39.52
$GC,1552,0.97,63.1,3492,3471,1850,1761,97.7,11.1,166,1561,0.12,2.08,0.00,0.000,5126,0.172,0.023,3466,2076,1805,1850,1761,0,0,0,0,0,0,25.70,25.91,25.87,8.23,39.56
$GC,1681,0.97,63.1,3466,2076,1850,1761,83.9,10.4,179,1682,0.00,0.00,0.00,0.000,6,0.000,0.000,3466,2076,1805,1850,1761,0,0,0,0,0,0,26.28,26.29,26.29,8.22,40.31
$GC,1801,0.97,63.1,3466,2076,1850,1760,71.3,10.6,191,1805,0.00,2.15,0.00,0.000,516,0.000,0.041,3475,687,1805,1850,1761,0,0,0,0,0,0,26.36,26.06,26.37,8.22,39.84
$GC,1896,0.97,63.1,3475,686,1850,1760,61.9,10.1,200,1903,0.00,2.08,0.00,0.000,1030,0.000,0.026,3475,2090,1805,1850,1760,0,0,0,0,0,0,26.21,26.15,26.23,8.22,39.72
$GC,2023,0.97,63.1,3474,2089,1850,1760,49.9,9.2,213,2025,0.00,0.00,0.00,0.000,6,0.000,0.000,3475,2090,1805,1850,1760,0,0,0,0,0,0,26.47,26.48,26.48,8.22,40.47
$GC,2143,0.97,63.1,3474,2090,1850,1760,37.3,11.2,225,2152,0.00,2.20,0.00,0.000,516,0.000,0.041,3485,682,1805,1850,1760,0,0,0,0,0,0,26.51,26.20,26.52,8.22,39.88
$GC,2352,1.02,114.1,3484,681,1850,1760,19.0,4.6,247,2388,0.00,2.08,27.95,0.601,9222,0.000,0.025,3485,2097,1597,1647,1547,0,0,0,0,0,0,26.38,26.32,25.31,8.21,39.28
$GC,2453,1.06,147.6,3485,2097,1647,1547,13.4,6.4,265,2477,0.00,2.12,17.30,0.553,8452,0.000,0.036,3485,3467,1461,1515,1408,0,0,0,0,0,0,26.29,25.58,25.19,8.19,39.52
$GC,2601,1.15,243.6,3485,3466,1515,1409,11.4,-0.2,293,2659,0.00,2.05,49.17,0.566,9222,0.000,0.022,3496,2075,1068,1118,1018,0,0,0,0,0,0,26.06,26.01,24.92,8.18,39.13
$GC,2724,1.35,326.9,3494,2074,1118,1018,7.9,1.1,315,2772,0.17,2.20,41.85,0.539,10500,0.052,0.036,3615,3468,729,763,695,0,0,0,0,0,0,25.74,25.28,24.79,8.14,38.69
$GC,2861,1.46,427.5,3615,3468,762,695,3.9,-0.7,340,2913,0.00,2.08,43.97,0.518,9222,0.000,0.023,3626,2084,372,364,380,0,0,0,0,0,0,25.72,25.66,24.77,8.12,38.85
$GC,2979,1.68,520.5,3625,2083,364,379,3.5,0.1,361,2986,0.10,0.00,0.00,0.000,2054,0.080,0.000,3705,2083,371,364,379,0,0,0,0,0,0,25.62,25.64,25.63,8.09,38.34
$STATE,3040,end climb,NO_VERTICAL_VELOCITY
$STATE,3041,begin surface
$SM_CCo,3369,0.00,0.000,0,0,370,415.78
$SM_GC,4.70,9.82,0.00,0.00,0.071,0.000,0.000,218,2084,370,-9.12,0.06,415.78,0,0,0,0,0,0,25.92,26.28,26.01
$IRIDIUM_FIX,4740.94,-12234.89,050218,120409
$TT8_MAMPS,0.026215,0.280875
$HUMID,39.28
$INTERNAL_PRESSURE,8.03967
$TCM_TEMP,9.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,16.3
$ALTIM_BOTTOM_PING,100.7,45.3
$24V_AH,24.45,9.302
$10V_AH,10.30,3.551
$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,23.125,42.275,289.225,0.000,0.000,0.000,0.000,219.075,0.750,0.000,24.459,882.327,1405.705,360.945,927.521,134.245,33.443,1012.217,0.000,698.354,0.000,7.182,0.000
$DEVICE_MAMPS,248.625,52.785,748.170,0.000,0.000,0.000,0.000,79.560,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,69.640,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,253.475,493.232,498.048,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,311988
$DATA_FILE_SIZE,27972,373
$CAP_FILE_SIZE,58045,0
$CFSIZE,2097872896,2081849344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,050218,141616,4739.235,-12252.213,4,0.8,33,16.4,0.4,29.2,9,4.8