version: 66.14
glider: 194
mission: 12
dive: 133
start: 2 5 118 17 24 7
data:
$ID,194
$MISSION,12
$DIVE,133
$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
$GPS1,050218,171819,4738.9692,-12252.5918,4,0.9,34,16.4,0.0,0.0,11,3.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,5.02
$_SM_ANGLEo,-72.6
$GPS2,050218,172258,4738.9746,-12252.5615,2,0.8,12,16.4,0.0,0.0,12,4.5
$SPEED_LIMITS,0.173,0.325
$TGT_NAME,NW_NE
$TGT_LATLONG,4739.150,-12252.570
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.183219,-0.030595
$KALMAN_X,16812.134766,-8.750594,-762.592346,-16098.069336,648.335693
$KALMAN_Y,10360.182617,458.476929,-742.336121,-10394.917969,430.009064
$MHEAD_RNG_PITCHd_Wd,244.1,325,-25.4,-10.000,-28.30,1101
$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,-1.18,-72.2,217,2081,374,370,0.0,0.0,0,16,0.00,0.00,-6.45,0.000,16386,0.000,0.000,217,2081,562,557,567,0,0,0,0,0,0,26.29,28.83,26.30,8.06,39.91
$GC,20,-1.18,-72.2,218,2081,557,568,5.0,0.0,1,101,10.60,2.20,-63.85,0.000,19204,0.252,0.057,2766,3457,2362,2397,2327,0,0,0,0,0,0,25.63,24.71,25.92,8.08,39.60
$GC,166,-1.07,-72.2,2765,3457,2397,2328,22.0,-16.4,26,175,0.12,2.03,0.00,0.000,3078,0.177,0.023,2803,2073,2362,2397,2327,0,0,0,0,0,0,25.84,26.09,25.96,8.24,39.09
$GC,296,-1.02,-72.2,2802,2073,2398,2324,37.2,-12.5,39,305,0.00,2.15,0.00,0.000,260,0.000,0.041,2803,3463,2360,2397,2324,0,0,0,0,0,0,26.42,26.10,26.43,8.24,39.64
$GC,588,-1.02,-72.2,2802,3462,2398,2323,73.4,-11.9,68,597,0.00,2.03,0.00,0.000,1030,0.000,0.024,2803,2088,2359,2397,2322,0,0,0,0,0,0,26.34,26.27,26.36,8.24,39.72
$GC,718,-1.02,-72.2,2802,2088,2397,2322,87.8,-11.0,81,719,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2088,2359,2397,2322,0,0,0,0,0,0,26.58,26.58,26.58,8.25,39.64
$GC,838,-1.02,-72.2,2802,2088,2397,2321,102.0,-11.9,93,839,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2088,2359,2398,2321,0,0,0,0,0,0,26.60,26.61,26.61,8.26,40.19
$GC,1018,-1.02,-72.2,2802,2088,2397,2320,123.1,-11.3,111,1027,0.00,2.12,0.00,0.000,260,0.000,0.041,2803,3460,2359,2397,2321,0,0,0,0,0,0,26.65,26.32,26.65,8.26,40.27
$GC,1080,-1.02,-72.2,2802,3460,2397,2321,130.3,-11.5,117,1088,0.00,2.03,0.00,0.000,1030,0.000,0.023,2803,2081,2359,2397,2321,0,0,0,0,0,0,26.45,26.39,26.47,8.27,40.19
$STATE,1207,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1207,begin apogee
$GC,1214,-0.22,0.0,2802,2081,2398,2321,144.3,-10.6,130,1280,0.82,0.00,60.90,0.746,10246,0.139,0.000,3074,2080,2064,2107,2022,0,0,0,0,0,0,26.17,25.41,24.83,8.27,40.15
$STATE,1281,end apogee,CONTROL_FINISHED_OK
$STATE,1281,begin climb
$GC,1283,1.18,72.2,3074,2081,2108,2022,146.6,0.0,137,1354,1.20,2.25,63.05,0.728,10500,0.070,0.036,3510,3466,1769,1812,1726,0,0,0,0,0,0,25.48,24.78,24.38,8.25,40.23
$GC,1401,1.06,72.2,3509,3465,1811,1727,137.0,11.8,148,1408,0.00,2.10,0.00,0.000,1030,0.000,0.022,3520,2087,1769,1812,1727,0,0,0,0,0,0,25.45,25.39,25.46,8.23,38.93
$GC,1589,0.95,72.2,3519,2085,1812,1727,111.2,14.2,167,1598,0.17,2.17,0.00,0.000,4612,0.169,0.038,3476,690,1769,1811,1727,0,0,0,0,0,0,25.60,25.78,25.72,8.23,39.84
$GC,1624,0.87,72.2,3475,690,1811,1727,106.5,14.4,170,1632,0.15,2.08,0.00,0.000,5126,0.161,0.025,3433,2076,1768,1811,1726,0,0,0,0,0,0,25.65,25.85,25.82,8.23,39.68
$GC,1813,0.87,72.2,3432,2076,1811,1725,85.1,10.7,189,1817,0.00,2.15,0.00,0.000,260,0.000,0.038,3432,3471,1768,1811,1726,0,0,0,0,0,0,26.29,25.99,26.30,8.23,39.76
$GC,1855,0.87,72.2,3432,3471,1811,1725,80.2,11.0,193,1859,0.00,2.08,0.00,0.000,1030,0.000,0.023,3440,2072,1768,1811,1725,0,0,0,0,0,0,26.13,26.06,26.14,8.23,39.91
$GC,1988,0.87,72.2,3440,2072,1811,1725,66.0,10.3,206,1991,0.00,2.15,0.00,0.000,516,0.000,0.041,3451,683,1768,1811,1725,0,0,0,0,0,0,26.39,26.09,26.41,8.23,39.52
$GC,2062,0.87,72.2,3450,683,1811,1725,58.8,10.2,213,2069,0.00,2.08,0.00,0.000,1030,0.000,0.025,3451,2087,1768,1811,1725,0,0,0,0,0,0,26.23,26.17,26.25,8.22,39.95
$GC,2189,0.87,72.2,3450,2087,1811,1725,45.3,10.6,226,2191,0.00,0.00,0.00,0.000,6,0.000,0.000,3451,2087,1768,1811,1725,0,0,0,0,0,0,26.48,26.50,26.50,8.22,39.32
$GC,2309,0.87,72.2,3450,2087,1811,1725,32.5,10.1,238,2318,0.00,2.12,0.00,0.000,260,0.000,0.037,3451,3474,1768,1812,1725,0,0,0,0,0,0,26.53,26.22,26.54,8.22,40.15
$GC,2478,0.89,95.8,3450,3474,1811,1725,18.3,7.8,256,2497,0.00,2.05,13.05,0.567,9222,0.000,0.023,3461,2077,1672,1720,1625,0,0,0,0,0,0,26.38,26.32,25.45,8.21,39.64
$GC,2561,0.94,150.0,3460,2077,1719,1626,13.2,5.0,271,2596,0.00,2.20,28.27,0.565,8708,0.000,0.041,3471,680,1450,1504,1397,0,0,0,0,0,0,26.46,25.60,25.25,8.20,39.05
$GC,2662,1.14,269.5,3470,680,1503,1397,9.8,-1.1,289,2731,0.08,2.10,59.95,0.555,11270,0.098,0.024,3551,2098,962,1007,918,0,0,0,0,0,0,25.94,25.97,24.84,8.18,39.32
$GC,2795,1.21,338.7,3550,2099,1007,918,6.7,3.6,313,2836,0.00,2.28,34.58,0.527,8708,0.000,0.040,3560,690,682,717,648,0,0,0,0,0,0,25.89,25.14,24.82,8.14,38.73
$GC,2926,1.42,439.0,3559,689,714,648,4.1,0.7,337,2973,0.08,2.08,37.95,0.513,11270,0.093,0.024,3634,2086,373,362,384,0,0,0,0,0,0,25.65,25.68,24.83,8.11,38.93
$GC,3039,1.52,546.4,3633,2086,362,383,3.8,0.0,357,3045,0.00,2.25,0.00,0.000,516,0.000,0.042,3644,686,372,362,382,0,0,0,0,0,0,25.85,25.57,25.86,8.09,39.21
$STATE,3212,end climb,NO_VERTICAL_VELOCITY
$STATE,3212,begin surface
$SM_CCo,3542,0.00,0.000,0,0,371,415.54
$SM_GC,4.53,9.57,2.12,0.00,0.068,0.024,0.000,212,2081,371,-9.15,-2.06,415.54,0,0,0,0,0,0,26.01,26.10,26.09
$IRIDIUM_FIX,4738.24,-12244.69,050218,161549
$TT8_MAMPS,0.026964,0.280126
$HUMID,39.52
$INTERNAL_PRESSURE,8.0299
$TCM_TEMP,9.90
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.5,15.6
$ALTIM_BOTTOM_PING,105.7,48.0
$24V_AH,24.38,9.531
$10V_AH,10.30,3.660
$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,22.800,46.800,297.750,0.000,0.000,0.000,0.000,186.950,1.500,0.000,15.924,921.758,1518.841,368.325,895.809,136.926,33.445,993.296,0.000,706.988,0.000,11.626,0.000
$DEVICE_MAMPS,251.685,56.610,745.875,0.000,0.000,0.000,0.000,81.855,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,69.640,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,266.300,517.315,522.358,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,28048,391
$CAP_FILE_SIZE,59320,0
$CFSIZE,2097872896,2081456128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050218,182408,4739.084,-12252.651,4,0.9,18,16.4,0.2,76.9,10,5.0