version: 66.14
glider: 194
mission: 12
dive: 137
start: 2 5 118 21 40 10
data:
$ID,194
$MISSION,12
$DIVE,137
$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,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
$GPS1,050218,213334,4739.0757,-12252.7012,4,0.9,24,16.4,0.0,0.0,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.69
$_SM_ANGLEo,-72.8
$GPS2,050218,213901,4739.1055,-12252.6738,6,0.9,28,16.4,0.2,268.6,9,4.1
$SPEED_LIMITS,0.173,0.325
$TGT_NAME,NW_NE
$TGT_LATLONG,4739.150,-12252.570
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.090813,-0.147489
$KALMAN_X,17583.947266,118.608612,590.949158,-18489.242188,278.523712
$KALMAN_Y,11337.511719,126.022087,320.306335,-11864.037109,327.223450
$MHEAD_RNG_PITCHd_Wd,195.2,153,-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,-63.1,215,2075,364,377,0.0,0.0,0,16,0.00,0.00,-6.35,0.000,16386,0.000,0.000,215,2075,554,544,565,0,0,0,0,0,0,26.32,28.83,26.33,8.07,39.84
$GC,20,-1.25,-63.1,215,2075,544,566,4.7,0.0,1,101,10.40,2.20,-64.10,0.000,18948,0.249,0.050,2742,679,2324,2359,2289,0,0,0,0,0,0,25.65,24.72,25.95,8.09,39.44
$GC,277,-1.11,-63.1,2741,679,2360,2285,33.3,-11.9,38,286,0.15,2.05,0.00,0.000,3078,0.187,0.026,2785,2069,2322,2360,2285,0,0,0,0,0,0,25.88,26.17,26.02,8.24,39.21
$GC,405,-1.11,-63.1,2785,2070,2360,2284,49.8,-12.2,51,414,0.00,2.15,0.00,0.000,516,0.000,0.040,2786,688,2322,2360,2285,0,0,0,0,0,0,26.49,26.18,26.50,8.24,39.56
$GC,447,-1.11,-63.1,2785,688,2360,2283,54.8,-11.9,55,456,0.00,2.10,0.00,0.000,1030,0.000,0.026,2786,2095,2322,2360,2284,0,0,0,0,0,0,26.29,26.22,26.31,8.24,39.17
$GC,577,-1.11,-63.1,2785,2095,2360,2283,71.2,-12.6,68,586,0.00,2.15,0.00,0.000,260,0.000,0.042,2786,3483,2321,2360,2283,0,0,0,0,0,0,26.55,26.22,26.55,8.25,39.72
$GC,699,-1.11,-63.1,2785,3483,2360,2283,87.5,-12.7,80,708,0.00,2.08,0.00,0.000,1030,0.000,0.023,2786,2073,2321,2360,2282,0,0,0,0,0,0,26.38,26.32,26.39,8.25,39.64
$GC,829,-1.11,-63.1,2785,2073,2360,2282,103.4,-12.7,93,831,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2073,2321,2360,2282,0,0,0,0,0,0,26.61,26.62,26.62,8.26,39.95
$GC,1009,-1.11,-63.1,2785,2072,2360,2281,124.7,-11.8,111,1011,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2073,2320,2360,2281,0,0,0,0,0,0,26.65,26.66,26.66,8.26,40.03
$STATE,1137,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1137,begin apogee
$GC,1143,-0.22,0.0,2786,2073,2360,2280,139.6,-11.6,124,1201,0.88,0.00,53.97,0.744,10246,0.142,0.000,3072,2073,2065,2108,2022,0,0,0,0,0,0,26.15,25.50,24.91,8.26,40.58
$STATE,1202,end apogee,CONTROL_FINISHED_OK
$STATE,1202,begin climb
$GC,1205,1.25,63.1,3072,2072,2107,2022,141.9,0.0,130,1269,1.27,0.00,55.17,0.728,10758,0.076,0.000,3530,2073,1806,1851,1762,0,0,0,0,0,0,25.55,24.85,24.45,8.25,39.48
$GC,1450,1.16,63.1,3530,2073,1850,1763,114.0,14.6,155,1451,0.00,0.00,0.00,0.000,6,0.000,0.000,3530,2073,1807,1851,1763,0,0,0,0,0,0,26.01,26.02,26.02,8.23,39.84
$GC,1630,1.08,63.1,3529,2073,1851,1762,89.4,12.5,173,1632,0.10,0.00,0.00,0.000,4102,0.186,0.000,3505,2073,1806,1851,1762,0,0,0,0,0,0,25.80,25.98,25.94,8.23,40.66
$GC,1750,1.08,63.1,3505,2073,1851,1762,74.8,12.0,185,1759,0.00,2.17,0.00,0.000,260,0.000,0.037,3505,3476,1806,1851,1762,0,0,0,0,0,0,26.32,26.03,26.33,8.23,40.58
$GC,1764,1.08,63.1,3505,3475,1851,1762,73.9,11.9,186,1771,0.00,2.08,0.00,0.000,1030,0.000,0.023,3513,2076,1806,1851,1762,0,0,0,0,0,0,26.13,26.08,26.15,8.23,39.72
$GC,1892,1.02,63.1,3513,2076,1851,1762,58.2,11.6,199,1897,0.10,2.15,0.00,0.000,4612,0.187,0.039,3492,686,1806,1851,1762,0,0,0,0,0,0,25.95,26.10,26.05,8.23,39.48
$GC,1908,0.97,63.1,3491,686,1851,1762,56.5,11.9,200,1915,0.00,2.08,0.00,0.000,1030,0.000,0.025,3492,2087,1806,1850,1762,0,0,0,0,0,0,26.21,26.15,26.22,8.23,39.56
$GC,2035,0.97,63.1,3491,2087,1850,1761,42.5,10.9,213,2044,0.00,2.10,0.00,0.000,260,0.000,0.037,3492,3472,1806,1851,1761,0,0,0,0,0,0,26.47,26.16,26.48,8.22,40.35
$GC,2117,0.97,63.1,3492,3473,1850,1761,33.7,10.1,221,2126,0.12,2.05,0.00,0.000,5126,0.174,0.023,3467,2070,1806,1851,1761,0,0,0,0,0,0,26.01,26.24,26.19,8.22,39.36
$GC,2247,0.99,90.5,3467,2070,1851,1761,24.3,7.1,234,2269,0.00,2.17,15.70,0.601,8708,0.000,0.041,3475,691,1693,1742,1645,0,0,0,0,0,0,26.54,25.98,25.38,8.21,39.91
$GC,2565,1.09,186.3,3474,691,1742,1646,12.4,-0.2,291,2623,0.00,2.05,49.47,0.571,9222,0.000,0.025,3475,2091,1302,1354,1250,0,0,0,0,0,0,26.31,26.25,25.08,8.20,39.48
$GC,2689,1.29,268.1,3475,2091,1353,1249,8.4,1.3,313,2736,0.17,2.30,40.78,0.545,11012,0.052,0.041,3607,689,969,1012,927,0,0,0,0,0,0,25.88,25.38,24.88,8.16,39.01
$GC,2857,1.37,348.2,3606,689,1012,927,6.0,1.5,344,2904,0.00,2.08,40.15,0.529,9222,0.000,0.024,3608,2085,642,671,613,0,0,0,0,0,0,25.84,25.78,24.87,8.13,38.62
$GC,2969,1.85,435.7,3607,2086,670,611,3.4,0.7,364,3011,0.30,2.17,33.15,0.512,10500,0.050,0.036,3743,3456,371,375,367,0,0,0,0,0,0,25.65,25.15,24.84,8.11,38.97
$STATE,3078,end climb,NO_VERTICAL_VELOCITY
$STATE,3078,begin surface
$SM_CCo,3409,0.00,0.000,0,0,370,415.78
$SM_GC,4.39,9.60,2.12,0.00,0.050,0.024,0.000,212,2076,370,-9.14,1.50,415.78,0,0,0,0,0,0,25.89,25.97,25.98
$IRIDIUM_FIX,4739.20,-12253.53,050218,202807
$TT8_MAMPS,0.026215,0.272636
$HUMID,39.32
$INTERNAL_PRESSURE,8.03967
$TCM_TEMP,10.20
$XPDR_PINGS,11
$ALTIM_TOP_PING,19.0,15.5
$ALTIM_BOTTOM_PING,100.9,48.6
$24V_AH,24.45,9.773
$10V_AH,10.30,3.773
$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,23.100,38.250,288.400,0.000,0.000,0.000,0.000,219.425,3.500,0.000,29.330,898.303,1485.893,354.576,887.912,129.588,33.438,985.037,0.000,656.993,0.000,7.192,0.000
$DEVICE_MAMPS,248.625,49.725,743.580,0.000,0.000,0.000,0.000,70.380,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,69.640,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,261.393,508.102,513.054,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,311984
$DATA_FILE_SIZE,28044,384
$CAP_FILE_SIZE,55829,0
$CFSIZE,2097872896,2081062912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,050218,223757,4739.000,-12252.698,4,0.9,17,16.4,0.0,0.0,9,4.9