version: 66.14
glider: 194
mission: 12
dive: 6
start: 2 1 118 0 46 26
data:
$ID,194
$MISSION,12
$DIVE,6
$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,75
$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,150
$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,14
$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,20
$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,3060
$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,41
$R_STBD_OVSHOOT,54
$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,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,75
$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
$GPS1,010218,004110,4739.3086,-12252.6611,11,0.8,11,16.4,0.8,32.2,10,340.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-68.7
$GPS2,010218,004552,4739.5078,-12253.0410,14,0.8,14,16.4,0.6,31.4,10,257.8
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW_SW
$TGT_LATLONG,4737.800,-12256.050
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.000000,0.000000
$KALMAN_X,0.000000,0.000000,0.000000,0.000000,0.000000
$KALMAN_Y,0.000000,0.000000,0.000000,0.000000,0.000000
$MHEAD_RNG_PITCHd_Wd,213.5,4910,-17.4,-10.000,-21.00,2234
$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,4,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,8,-0.90,-146.6,220,2103,334,441,0.0,0.0,0,43,0.00,0.00,-33.12,0.000,16386,0.000,0.000,220,2103,1343,1347,1340,0,0,0,0,0,0,26.10,28.83,26.11,8.06,38.26
$GC,47,-0.90,-146.6,220,2103,1347,1341,2.5,-5.9,6,101,10.85,2.33,-36.67,0.000,18948,0.258,0.060,2764,680,2665,2710,2620,0,0,0,0,0,0,25.50,24.67,25.79,8.14,38.65
$GC,109,-0.64,-146.6,2762,680,2710,2621,8.0,-9.8,16,116,0.30,2.15,0.00,0.000,3078,0.185,0.034,2847,2073,2665,2710,2621,0,0,0,0,0,0,25.63,25.85,25.83,8.26,38.26
$GC,180,-0.56,-146.6,2846,2074,2711,2621,18.7,-12.6,29,187,0.10,2.25,0.00,0.000,2308,0.177,0.049,2879,3488,2666,2711,2621,0,0,0,0,0,0,25.79,25.89,25.88,8.26,38.69
$GC,226,-0.56,-146.6,2878,3488,2711,2621,24.0,-11.3,34,234,0.00,2.15,0.00,0.000,1030,0.000,0.031,2880,2081,2666,2711,2621,0,0,0,0,0,0,26.04,25.97,26.06,8.26,38.93
$GC,356,-0.56,-146.6,2879,2081,2711,2621,38.4,-11.4,47,357,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,2081,2666,2711,2621,0,0,0,0,0,0,26.34,26.35,26.35,8.26,38.81
$GC,476,-0.56,-146.6,2879,2081,2711,2621,52.4,-11.4,59,477,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,2081,2666,2711,2621,0,0,0,0,0,0,26.41,26.41,26.41,8.26,39.25
$GC,596,-0.56,-146.6,2879,2081,2711,2621,65.8,-10.7,71,597,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,2081,2666,2711,2621,0,0,0,0,0,0,26.46,26.48,26.47,8.26,39.01
$GC,716,-0.56,-146.6,2879,2081,2710,2621,78.3,-10.3,83,724,0.00,2.22,0.00,0.000,260,0.000,0.050,2879,3484,2666,2711,2621,0,0,0,0,0,0,26.51,26.16,26.51,8.26,39.76
$GC,770,-0.62,-146.6,2879,3483,2711,2621,83.7,-10.2,88,779,0.00,2.10,0.00,0.000,1030,0.000,0.031,2879,2086,2666,2711,2621,0,0,0,0,0,0,26.27,26.23,26.29,8.27,39.25
$GC,900,-0.68,-146.6,2879,2086,2711,2621,96.6,-9.7,101,909,0.05,2.20,0.00,0.000,4612,0.153,0.048,2840,681,2666,2711,2621,0,0,0,0,0,0,26.34,26.22,26.37,8.27,39.64
$GC,945,-0.68,-146.6,2840,681,2711,2620,101.6,-11.8,105,952,0.00,2.12,0.00,0.000,1030,0.000,0.034,2840,2086,2666,2712,2620,0,0,0,0,0,0,26.34,26.27,26.36,8.27,39.32
$GC,1133,-0.68,-146.6,2839,2086,2711,2620,124.7,-12.2,124,1141,0.00,2.20,0.00,0.000,260,0.000,0.049,2840,3489,2666,2711,2621,0,0,0,0,0,0,26.61,26.27,26.62,8.27,40.39
$STATE,1152,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1152,begin apogee
$GC,1161,-0.22,0.0,2840,2066,2711,2621,127.4,-12.2,126,1287,0.43,0.00,122.70,0.762,10246,0.130,0.000,2982,2065,2065,2112,2018,0,0,0,0,0,0,26.15,24.83,24.27,8.28,39.32
$STATE,1288,end apogee,CONTROL_FINISHED_OK
$STATE,1289,begin climb
$GC,1291,0.90,146.6,2982,2065,2112,2018,134.5,0.0,139,1427,1.02,2.38,124.82,0.741,10756,0.103,0.051,3321,684,1466,1524,1408,0,0,0,0,0,0,24.89,24.69,24.13,8.24,39.09
$GC,1471,0.96,204.9,3320,684,1524,1408,125.7,7.3,157,1530,0.05,2.22,48.60,0.712,11270,0.088,0.033,3363,2090,1228,1286,1171,0,0,0,0,0,0,25.17,25.20,24.25,8.19,38.10
$GC,1711,0.96,204.9,3362,2090,1286,1168,99.9,10.8,181,1715,0.00,2.28,0.00,0.000,516,0.000,0.053,3364,692,1227,1286,1168,0,0,0,0,0,0,25.89,25.58,25.89,8.18,39.09
$GC,1746,0.96,204.9,3363,692,1286,1168,96.2,11.3,184,1753,0.00,2.15,0.00,0.000,1030,0.000,0.033,3364,2082,1227,1286,1168,0,0,0,0,0,0,25.75,25.68,25.77,8.18,39.36
$GC,1873,0.96,204.9,3363,2082,1286,1168,81.2,11.4,197,1882,0.00,2.25,0.00,0.000,516,0.000,0.053,3364,692,1227,1286,1168,0,0,0,0,0,0,26.11,25.80,26.13,8.17,39.28
$GC,1935,0.96,204.9,3363,693,1286,1168,74.0,11.8,203,1944,0.00,2.15,0.00,0.000,1030,0.000,0.033,3364,2088,1227,1286,1168,0,0,0,0,0,0,25.97,25.91,25.99,8.17,38.62
$GC,2065,0.96,204.9,3363,2088,1286,1168,59.5,11.1,216,2074,0.00,2.25,0.00,0.000,516,0.000,0.053,3364,688,1227,1286,1168,0,0,0,0,0,0,26.28,25.95,26.29,8.16,39.05
$GC,2100,0.96,204.9,3363,688,1286,1168,55.9,11.2,219,2107,0.00,2.12,0.00,0.000,1030,0.000,0.033,3363,2084,1227,1286,1168,0,0,0,0,0,0,26.10,26.02,26.12,8.16,38.85
$GC,2227,0.96,204.9,3363,2084,1286,1168,41.7,11.0,232,2236,0.00,2.25,0.00,0.000,516,0.000,0.053,3364,680,1227,1286,1169,0,0,0,0,0,0,26.37,26.04,26.39,8.16,39.01
$GC,2292,0.96,204.9,3363,680,1286,1168,35.3,9.9,238,2298,0.00,2.12,0.00,0.000,1030,0.000,0.033,3364,2082,1227,1286,1168,0,0,0,0,0,0,26.20,26.13,26.22,8.16,39.01
$GC,2419,0.96,204.9,3363,2082,1286,1168,22.2,10.6,251,2428,0.00,2.20,0.00,0.000,260,0.000,0.045,3364,3489,1227,1286,1168,0,0,0,0,0,0,26.46,26.14,26.46,8.15,39.17
$GC,2456,0.96,204.9,3363,3489,1286,1168,18.0,11.6,256,2463,0.00,2.12,0.00,0.000,1030,0.000,0.031,3364,2089,1227,1286,1168,0,0,0,0,0,0,26.26,26.19,26.28,8.16,39.36
$GC,2526,0.96,204.9,3363,2089,1286,1168,10.6,9.6,269,2533,0.00,2.25,0.00,0.000,516,0.000,0.052,3364,671,1227,1286,1168,0,0,0,0,0,0,26.50,26.16,26.51,8.16,39.09
$STATE,2649,end climb,SURFACE_DEPTH_REACHED
$STATE,2650,begin surface coast
$FINISH,2.7,1.019897
$STATE,2668,end surface coast,CONTROL_FINISHED_OK
$STATE,2668,begin surface
$SM_CCo,2689,95.18,0.078,0,0,391,410.14
$SM_GC,1.46,8.75,2.20,95.18,0.070,0.031,0.078,221,2093,391,-8.83,-1.30,410.14,0,0,0,0,0,0,26.15,26.27,26.06
$IRIDIUM_FIX,4741.52,-12250.84,310118,234244
$TT8_MAMPS,0.026964,0.280126
$HUMID,38.06
$INTERNAL_PRESSURE,8.03967
$TCM_TEMP,10.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,19.5
$ALTIM_BOTTOM_PING,85.8,55.3
$24V_AH,24.13,1.166
$10V_AH,10.36,0.427
$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,21.550,52.875,296.125,95.175,0.000,0.000,0.000,191.500,1.750,0.000,15.377,710.949,1033.897,484.749,734.337,124.491,0.000,1038.659,0.000,536.131,0.000,16.169,0.000
$DEVICE_MAMPS,257.805,60.435,761.940,78.030,0.000,0.000,0.000,78.795,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,201.387,391.255,395.078,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312208
$DATA_FILE_SIZE,21148,296
$CAP_FILE_SIZE,54490,0
$CFSIZE,2097872896,2094006272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,010218,013405,4739.263,-12252.938,30,0.8,30,16.4,0.7,46.4,10,17.1