version: 66.14
glider: 194
mission: 12
dive: 131
start: 2 5 118 15 21 5
data:
$ID,194
$MISSION,12
$DIVE,131
$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,50
$R_STBD_OVSHOOT,65
$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
$GPS1,050218,151533,4739.0903,-12252.2852,26,0.8,28,16.4,0.0,0.0,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.78
$_SM_ANGLEo,-74.6
$GPS2,050218,151954,4739.1104,-12252.2383,9,0.8,14,16.4,0.0,0.0,10,4.6
$SPEED_LIMITS,0.173,0.325
$TGT_NAME,NW_NE
$TGT_LATLONG,4739.150,-12252.570
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.141451,-0.099957
$KALMAN_X,15785.540039,68.649200,-554.320984,-14961.149414,61.790527
$KALMAN_Y,9899.067383,284.998138,-487.894989,-9769.783203,406.333588
$MHEAD_RNG_PITCHd_Wd,218.4,421,-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,-63.1,212,2080,368,368,0.0,0.0,0,16,0.00,0.00,-6.28,0.000,16386,0.000,0.000,211,2080,552,546,558,0,0,0,0,0,0,26.20,28.83,26.20,8.07,39.25
$GC,20,-1.25,-63.1,212,2080,546,559,4.9,0.0,1,101,10.60,2.17,-62.92,0.000,18692,0.252,0.055,2742,3466,2322,2359,2286,0,0,0,0,0,0,25.54,25.34,25.83,8.09,38.93
$GC,143,-1.14,-63.1,2741,3465,2359,2287,14.6,-17.4,22,150,0.12,2.08,0.00,0.000,3078,0.185,0.024,2778,2068,2323,2359,2287,0,0,0,0,0,0,25.76,25.99,25.95,8.24,39.44
$GC,219,-1.09,-63.1,2777,2068,2359,2284,26.3,-14.6,32,227,0.00,2.12,0.00,0.000,516,0.000,0.039,2778,691,2321,2359,2284,0,0,0,0,0,0,26.32,26.02,26.32,8.24,39.32
$GC,432,-1.09,-63.1,2777,691,2359,2280,50.0,-11.8,53,436,0.00,2.08,0.00,0.000,1030,0.000,0.026,2778,2061,2319,2359,2280,0,0,0,0,0,0,26.20,26.16,26.22,8.24,38.97
$GC,564,-1.09,-63.1,2778,2061,2360,2280,66.6,-12.4,66,573,0.00,2.20,0.00,0.000,260,0.000,0.043,2778,3477,2319,2359,2280,0,0,0,0,0,0,26.49,26.17,26.50,8.24,39.72
$GC,711,-1.09,-63.1,2777,3477,2359,2280,84.5,-12.5,80,717,0.00,2.05,0.00,0.000,1030,0.000,0.024,2778,2081,2319,2359,2279,0,0,0,0,0,0,26.34,26.28,26.36,8.25,39.80
$GC,838,-1.09,-63.1,2778,2081,2360,2279,100.2,-11.9,93,845,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2081,2319,2359,2279,0,0,0,0,0,0,26.56,26.58,26.58,8.25,39.80
$GC,1026,-1.09,-63.1,2778,2081,2359,2279,123.0,-12.1,112,1027,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2081,2319,2359,2279,0,0,0,0,0,0,26.63,26.63,26.63,8.26,39.99
$STATE,1174,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1174,begin apogee
$GC,1180,-0.22,0.0,2778,2081,2359,2278,142.0,-12.8,127,1236,0.93,0.00,52.72,0.747,10246,0.146,0.000,3077,2080,2064,2108,2021,0,0,0,0,0,0,26.14,25.51,24.91,8.26,40.54
$STATE,1237,end apogee,CONTROL_FINISHED_OK
$STATE,1237,begin climb
$GC,1240,1.25,63.1,3077,2080,2108,2021,144.4,0.0,133,1306,1.25,2.28,55.60,0.731,10756,0.071,0.041,3540,676,1805,1850,1761,0,0,0,0,0,0,25.56,25.02,24.45,8.25,40.43
$GC,1362,1.14,63.1,3540,676,1850,1763,134.7,11.8,145,1369,0.00,2.15,0.00,0.000,1030,0.000,0.025,3540,2088,1806,1850,1763,0,0,0,0,0,0,25.53,25.46,25.54,8.23,39.09
$GC,1550,1.04,63.1,3540,2089,1851,1763,111.0,12.9,164,1552,0.17,0.00,0.00,0.000,4102,0.175,0.000,3493,2089,1806,1850,1763,0,0,0,0,0,0,25.62,25.85,25.80,8.23,39.52
$GC,1730,1.04,63.1,3492,2089,1850,1762,91.4,10.0,182,1734,0.00,2.15,0.00,0.000,260,0.000,0.038,3493,3477,1806,1850,1763,0,0,0,0,0,0,26.28,25.98,26.28,8.23,40.43
$GC,1765,1.04,63.1,3492,3478,1850,1763,87.7,11.2,185,1772,0.00,2.08,0.00,0.000,1030,0.000,0.023,3500,2080,1806,1850,1762,0,0,0,0,0,0,26.11,26.05,26.12,8.23,39.84
$GC,1892,1.04,63.1,3500,2080,1850,1762,73.6,10.8,198,1896,0.00,2.17,0.00,0.000,516,0.000,0.041,3511,681,1806,1850,1762,0,0,0,0,0,0,26.38,26.08,26.39,8.23,39.68
$GC,1945,0.98,63.1,3511,682,1850,1762,67.5,11.5,203,1954,0.12,2.08,0.00,0.000,5126,0.162,0.025,3474,2093,1806,1850,1762,0,0,0,0,0,0,25.93,26.15,26.03,8.22,39.88
$GC,2074,0.98,63.1,3474,2093,1850,1762,54.5,9.6,216,2083,0.00,2.12,0.00,0.000,260,0.000,0.037,3475,3478,1806,1850,1762,0,0,0,0,0,0,26.46,26.16,26.47,8.22,39.95
$GC,2116,0.98,63.1,3474,3477,1850,1762,50.3,10.1,220,2125,0.00,2.08,0.00,0.000,1030,0.000,0.022,3483,2076,1806,1850,1762,0,0,0,0,0,0,26.28,26.22,26.30,8.22,39.84
$GC,2247,0.98,63.1,3482,2076,1850,1762,37.2,10.1,233,2248,0.00,0.00,0.00,0.000,6,0.000,0.000,3482,2076,1806,1850,1762,0,0,0,0,0,0,26.53,26.54,26.53,8.22,39.80
$GC,2366,0.98,63.1,3482,2076,1850,1762,26.3,8.2,245,2375,0.00,2.15,0.00,0.000,516,0.000,0.041,3493,687,1806,1850,1762,0,0,0,0,0,0,26.56,26.25,26.57,8.21,39.60
$GC,2388,0.98,63.1,3492,687,1850,1762,24.5,8.0,247,2397,0.00,2.08,0.00,0.000,1030,0.000,0.025,3493,2093,1805,1850,1761,0,0,0,0,0,0,26.36,26.31,26.39,8.22,39.84
$GC,2522,1.05,131.0,3492,2093,1850,1763,18.6,2.8,264,2563,0.00,0.00,37.33,0.601,8454,0.000,0.000,3493,2093,1527,1581,1474,0,0,0,0,0,0,26.60,25.75,25.23,8.22,39.84
$GC,2626,1.05,131.0,3492,2093,1581,1474,12.9,8.2,283,2633,0.00,2.22,0.00,0.000,516,0.000,0.041,3504,687,1528,1581,1475,0,0,0,0,0,0,26.22,25.91,26.22,8.19,38.93
$STATE,2810,end climb,NO_VERTICAL_VELOCITY
$STATE,2810,begin surface
$SM_CCo,2813,144.68,0.549,0,0,374,414.56
$SM_GC,4.39,9.27,2.20,0.00,0.060,0.024,0.000,213,2096,371,-9.14,-1.61,415.78,0,0,0,0,0,0,25.47,25.53,25.56
$IRIDIUM_FIX,4741.90,-12243.73,050218,141752
$TT8_MAMPS,0.026215,0.277879
$HUMID,39.13
$INTERNAL_PRESSURE,8.03967
$TCM_TEMP,10.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,16.1
$ALTIM_BOTTOM_PING,106.2,45.7
$24V_AH,24.45,9.415
$10V_AH,10.30,3.603
$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,22.475,38.450,145.650,144.675,0.000,0.000,0.000,172.700,1.000,0.000,15.394,806.110,1329.202,402.323,744.269,125.639,33.459,920.744,0.000,572.159,0.000,8.787,0.000
$DEVICE_MAMPS,252.450,55.080,746.640,549.270,0.000,0.000,0.000,81.855,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,69.640,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,218.611,422.604,426.689,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,311932
$DATA_FILE_SIZE,21136,319
$CAP_FILE_SIZE,52908,0
$CFSIZE,2097872896,2081652736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,050218,161413,4739.024,-12252.459,4,1.2,25,16.4,0.3,64.1,8,4.8