version: 66.14
glider: 194
mission: 12
dive: 38
start: 2 1 118 22 21 7
data:
$ID,194
$MISSION,12
$DIVE,38
$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,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,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,45
$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,10
$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
$GPS1,010218,221318,4738.4443,-12253.8994,21,0.8,21,16.4,0.0,0.0,10,80.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-69.4
$GPS2,010218,221959,4738.4717,-12253.8467,42,0.9,42,16.4,0.0,0.0,9,18.5
$SPEED_LIMITS,0.173,0.325
$TGT_NAME,NW_NE
$TGT_LATLONG,4739.150,-12252.570
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.251887,0.205067
$KALMAN_X,-358.935364,-234.922287,-139.581680,2661.444092,-191.426483
$KALMAN_Y,-334.381897,-230.466705,-143.349365,2129.346924,-174.143860
$MHEAD_RNG_PITCHd_Wd,34.5,2028,-13.0,-10.000,-17.11,3689
$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,-0.81,-244.4,212,2104,398,339,0.0,0.0,0,26,0.00,0.00,-16.58,0.000,16386,0.000,0.000,212,2104,830,841,819,0,0,0,0,0,0,26.29,28.83,26.29,8.07,38.97
$GC,30,-0.81,-244.4,212,2104,841,820,2.0,-1.1,3,122,10.73,2.20,-75.22,0.000,19204,0.253,0.059,2792,3478,3062,3135,2989,0,0,0,0,0,0,25.70,24.91,25.96,8.11,39.05
$GC,338,-0.65,-244.4,2791,3478,3135,2990,50.3,-18.8,46,343,0.17,2.12,0.00,0.000,3078,0.153,0.028,2846,2083,3063,3136,2990,0,0,0,0,0,0,26.01,26.17,26.17,8.31,39.40
$GC,471,-0.57,-244.4,2846,2082,3135,2990,70.9,-14.6,59,480,0.00,2.17,0.00,0.000,516,0.000,0.044,2847,679,3063,3136,2990,0,0,0,0,0,0,26.50,26.20,26.51,8.31,39.17
$GC,506,-0.50,-244.4,2846,679,3136,2990,75.6,-15.0,62,515,0.15,2.08,0.00,0.000,3078,0.130,0.030,2898,2064,3063,3136,2990,0,0,0,0,0,0,26.11,26.23,26.19,8.31,39.40
$GC,634,-0.50,-244.4,2897,2064,3136,2990,90.7,-11.2,75,642,0.00,2.22,0.00,0.000,260,0.000,0.045,2898,3489,3063,3136,2990,0,0,0,0,0,0,26.55,26.24,26.56,8.31,39.80
$GC,665,-0.50,-244.4,2897,3490,3136,2990,94.1,-11.0,78,674,0.00,2.10,0.00,0.000,1030,0.000,0.027,2898,2079,3063,3136,2990,0,0,0,0,0,0,26.36,26.29,26.38,8.32,39.91
$GC,796,-0.50,-244.4,2897,2079,3135,2990,108.2,-10.8,91,804,0.00,2.17,0.00,0.000,516,0.000,0.045,2898,684,3063,3136,2990,0,0,0,0,0,0,26.60,26.29,26.60,8.31,39.32
$GC,848,-0.50,-244.4,2897,684,3136,2990,114.2,-11.5,96,856,0.00,2.10,0.00,0.000,1030,0.000,0.030,2898,2086,3063,3136,2990,0,0,0,0,0,0,26.40,26.32,26.41,8.32,39.48
$GC,1038,-0.50,-244.4,2897,2086,3136,2990,135.1,-10.9,115,1041,0.00,2.15,0.00,0.000,260,0.000,0.046,2898,3479,3063,3136,2990,0,0,0,0,0,0,26.65,26.33,26.65,8.32,39.84
$GC,1102,-0.50,-244.4,2897,3480,3136,2990,141.4,-10.0,121,1109,0.00,2.08,0.00,0.000,1030,0.000,0.027,2898,2072,3063,3136,2990,0,0,0,0,0,0,26.46,26.39,26.47,8.33,40.51
$STATE,1117,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1118,begin apogee
$GC,1124,-0.22,0.0,2897,2071,3136,2990,143.3,-10.0,123,1329,0.22,0.00,199.50,0.745,10246,0.122,0.000,2983,2071,2063,2117,2010,0,0,0,0,0,0,26.27,24.75,24.18,8.32,40.07
$STATE,1330,end apogee,CONTROL_FINISHED_OK
$STATE,1330,begin climb
$GC,1333,0.81,244.4,2983,2071,2117,2010,155.4,0.0,144,1551,0.95,2.30,202.38,0.721,11012,0.102,0.044,3296,688,1066,1133,1000,0,0,0,0,0,0,24.84,24.49,24.11,8.25,38.77
$GC,1584,0.98,350.2,3296,688,1133,1000,142.2,7.1,169,1678,0.12,2.20,86.85,0.702,11270,0.049,0.028,3373,2096,636,699,573,0,0,0,0,0,0,25.15,25.13,24.13,8.18,37.43
$GC,1859,0.98,350.2,3373,2095,699,571,110.1,12.3,196,1868,0.00,2.28,0.00,0.000,516,0.000,0.047,3373,684,635,699,571,0,0,0,0,0,0,25.82,25.53,25.83,8.14,38.65
$GC,1921,0.98,350.2,3373,684,699,571,102.9,11.5,202,1930,0.00,2.12,0.00,0.000,1030,0.000,0.028,3373,2082,635,699,571,0,0,0,0,0,0,25.75,25.68,25.77,8.15,39.17
$GC,2111,0.98,350.2,3373,2082,698,571,79.5,12.2,221,2120,0.00,2.20,0.00,0.000,516,0.000,0.046,3373,691,634,698,571,0,0,0,0,0,0,26.17,25.88,26.18,8.14,38.89
$GC,2206,0.98,350.2,3373,691,699,571,68.6,11.6,230,2213,0.00,2.10,0.00,0.000,1030,0.000,0.028,3373,2084,634,698,571,0,0,0,0,0,0,26.06,26.00,26.08,8.14,39.13
$GC,2333,0.98,350.2,3372,2083,698,571,54.0,10.8,243,2342,0.00,2.20,0.00,0.000,516,0.000,0.047,3374,688,635,699,571,0,0,0,0,0,0,26.34,26.03,26.35,8.13,39.56
$GC,2388,0.98,350.2,3373,688,699,571,48.6,10.0,248,2394,0.00,2.10,0.00,0.000,1030,0.000,0.028,3374,2086,634,698,571,0,0,0,0,0,0,26.18,26.11,26.19,8.13,39.32
$GC,2515,0.98,350.2,3373,2086,698,571,34.7,11.0,261,2524,0.00,2.20,0.00,0.000,516,0.000,0.046,3373,689,634,698,571,0,0,0,0,0,0,26.44,26.13,26.44,8.12,38.93
$GC,2600,0.98,350.2,3373,690,698,571,26.1,10.4,269,2607,0.00,2.08,0.00,0.000,1030,0.000,0.028,3374,2083,634,698,571,0,0,0,0,0,0,26.27,26.21,26.29,8.12,39.17
$GC,2729,0.98,350.2,3373,2083,699,571,12.1,10.5,289,2736,0.00,2.20,0.00,0.000,516,0.000,0.047,3373,684,635,698,572,0,0,0,0,0,0,26.52,26.21,26.53,8.12,39.25
$GC,2780,1.21,473.3,3373,684,698,571,8.2,6.6,298,2821,0.15,2.08,32.62,0.562,11270,0.064,0.027,3465,2092,372,409,336,0,0,0,0,0,0,26.29,26.28,25.29,8.12,39.72
$STATE,2842,end climb,SURFACE_DEPTH_REACHED
$STATE,2842,begin surface coast
$FINISH,0.9,1.018172
$STATE,2879,end surface coast,CONTROL_FINISHED_OK
$STATE,2879,begin surface
$SM_CCo,2958,0.00,0.000,0,0,370,415.78
$SM_GC,2.43,8.75,0.00,0.00,0.046,0.000,0.000,216,2092,370,-8.84,0.28,415.78,0,0,0,0,0,0,25.94,26.25,26.01
$IRIDIUM_FIX,4737.27,-12249.11,010218,211557
$TT8_MAMPS,0.026215,0.278628
$HUMID,38.73
$INTERNAL_PRESSURE,8.04943
$TCM_TEMP,10.40
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.6,18.7
$ALTIM_BOTTOM_PING,75.6,76.4
$24V_AH,24.11,3.418
$10V_AH,10.35,1.092
$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,21.250,47.450,521.350,0.000,0.000,0.000,0.000,284.150,1.000,0.000,43.541,690.983,1064.880,576.533,900.902,147.294,32.446,1290.183,0.000,613.943,0.000,7.271,0.000
$DEVICE_MAMPS,253.215,58.905,745.110,0.000,0.000,0.000,0.000,81.090,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,69.640,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,212.309,416.767,420.893,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312120
$DATA_FILE_SIZE,21147,316
$CAP_FILE_SIZE,53518,0
$CFSIZE,2097872896,2090860544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,010218,231109,4738.596,-12253.330,4,0.9,4,16.4,0.0,0.0,9,53.7