version: 66.14
glider: 194
mission: 12
dive: 39
start: 2 1 118 23 17 26
data:
$ID,194
$MISSION,12
$DIVE,39
$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,46
$R_STBD_OVSHOOT,58
$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
$GPS1,010218,231109,4738.5962,-12253.3301,4,0.9,4,16.4,0.0,0.0,9,53.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.87
$_SM_ANGLEo,-70.7
$GPS2,010218,231618,4738.5986,-12253.2910,8,0.9,8,16.4,0.0,21.5,9,28.8
$SPEED_LIMITS,0.173,0.325
$TGT_NAME,NW_NE
$TGT_LATLONG,4739.150,-12252.570
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.205876,0.251227
$KALMAN_X,-546.624390,-283.269562,-118.407173,3566.630615,-209.554962
$KALMAN_Y,-774.365479,-327.275696,-86.451340,2846.635742,-303.693451
$MHEAD_RNG_PITCHd_Wd,22.9,1360,-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,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,9,-0.81,-244.4,216,2093,397,340,0.0,0.0,0,28,0.00,0.00,-16.58,0.000,16386,0.000,0.000,216,2093,830,841,819,0,0,0,0,0,0,26.28,28.83,26.29,8.07,39.25
$GC,31,-0.81,-244.4,216,2093,841,821,2.0,-1.1,3,123,10.85,2.22,-73.40,0.000,19204,0.258,0.057,2790,683,3061,3133,2989,0,0,0,0,0,0,25.68,25.48,25.95,8.11,39.40
$GC,143,-0.50,-244.4,2789,683,3134,2989,13.8,-25.7,22,151,0.35,2.10,0.00,0.000,3078,0.148,0.029,2898,2072,3061,3134,2989,0,0,0,0,0,0,25.89,26.05,26.05,8.30,38.26
$GC,219,-0.50,-244.4,2897,2072,3133,2989,25.4,-13.3,32,228,0.00,2.17,0.00,0.000,516,0.000,0.044,2898,683,3061,3134,2989,0,0,0,0,0,0,26.37,26.08,26.38,8.29,39.32
$GC,392,-0.50,-244.4,2898,683,3134,2989,47.6,-12.4,49,401,0.00,2.12,0.00,0.000,1030,0.000,0.030,2898,2089,3061,3134,2989,0,0,0,0,0,0,26.26,26.18,26.28,8.30,39.36
$GC,522,-0.50,-244.4,2897,2089,3134,2989,62.6,-11.1,62,523,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2090,3061,3134,2989,0,0,0,0,0,0,26.52,26.53,26.52,8.30,39.28
$GC,642,-0.50,-244.4,2897,2090,3134,2989,76.6,-11.7,74,646,0.00,2.15,0.00,0.000,260,0.000,0.046,2898,3476,3061,3134,2989,0,0,0,0,0,0,26.55,26.24,26.56,8.30,39.32
$GC,687,-0.50,-244.4,2897,3477,3133,2989,81.4,-11.3,78,694,0.00,2.08,0.00,0.000,1030,0.000,0.027,2898,2078,3061,3134,2989,0,0,0,0,0,0,26.37,26.30,26.39,8.31,39.88
$GC,814,-0.50,-244.4,2898,2078,3134,2989,95.8,-11.1,91,815,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2077,3061,3134,2989,0,0,0,0,0,0,26.60,26.61,26.61,8.31,40.39
$GC,934,-0.50,-244.4,2897,2077,3134,2989,109.0,-11.1,103,938,0.00,2.15,0.00,0.000,516,0.000,0.045,2898,688,3061,3134,2988,0,0,0,0,0,0,26.63,26.32,26.64,8.32,40.54
$GC,976,-0.50,-244.4,2897,687,3134,2989,113.7,-11.0,107,980,0.00,2.08,0.00,0.000,1030,0.000,0.029,2898,2083,3061,3134,2989,0,0,0,0,0,0,26.43,26.35,26.45,8.32,39.76
$GC,1168,-0.50,-244.4,2897,2083,3134,2989,134.6,-10.6,126,1176,0.00,2.15,0.00,0.000,260,0.000,0.046,2898,3482,3061,3134,2989,0,0,0,0,0,0,26.67,26.35,26.68,8.32,40.54
$STATE,1237,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1237,begin apogee
$GC,1246,-0.22,0.0,2898,2073,3134,2989,141.7,-9.4,133,1450,0.25,0.00,199.20,0.747,10246,0.116,0.000,2992,2073,2063,2117,2010,0,0,0,0,0,0,26.30,24.75,24.20,8.33,40.43
$STATE,1451,end apogee,CONTROL_FINISHED_OK
$STATE,1451,begin climb
$GC,1453,0.81,244.4,2992,2073,2117,2010,152.7,0.0,154,1671,0.90,2.33,202.68,0.720,10756,0.099,0.044,3293,686,1066,1133,1000,0,0,0,0,0,0,24.83,24.50,24.12,8.25,38.77
$GC,1715,0.98,346.4,3292,686,1133,1000,139.3,7.2,180,1807,0.12,2.17,84.18,0.698,11270,0.068,0.028,3375,2089,650,714,586,0,0,0,0,0,0,25.20,25.19,24.15,8.18,37.75
$GC,1995,0.98,346.4,3375,2089,713,584,106.6,11.5,208,2004,0.00,2.28,0.00,0.000,516,0.000,0.047,3375,684,648,713,584,0,0,0,0,0,0,25.85,25.56,25.86,8.15,38.22
$GC,2080,0.98,346.4,3375,684,713,584,96.8,11.7,216,2087,0.00,2.12,0.00,0.000,1030,0.000,0.028,3375,2076,648,713,584,0,0,0,0,0,0,25.81,25.74,25.82,8.15,38.97
$GC,2207,0.98,346.4,3375,2076,713,584,81.5,11.7,229,2216,0.00,2.22,0.00,0.000,516,0.000,0.046,3375,685,648,713,584,0,0,0,0,0,0,26.15,25.85,26.16,8.14,39.09
$GC,2252,0.98,346.4,3375,685,713,584,76.9,11.1,233,2259,0.00,2.12,0.00,0.000,1030,0.000,0.028,3375,2091,648,713,584,0,0,0,0,0,0,26.00,25.94,26.01,8.14,38.50
$GC,2379,0.98,346.4,3375,2091,713,584,61.7,11.9,246,2388,0.00,2.22,0.00,0.000,516,0.000,0.046,3375,691,648,713,584,0,0,0,0,0,0,26.29,25.99,26.30,8.14,39.25
$GC,2414,0.98,346.4,3375,691,713,584,58.0,11.6,249,2421,0.00,2.10,0.00,0.000,1030,0.000,0.028,3375,2086,648,713,584,0,0,0,0,0,0,26.12,26.06,26.13,8.14,39.25
$GC,2541,0.98,346.4,3375,2086,712,584,43.3,11.1,262,2550,0.00,2.22,0.00,0.000,516,0.000,0.047,3375,686,648,713,584,0,0,0,0,0,0,26.39,26.08,26.40,8.13,39.17
$GC,2623,0.98,346.4,3375,686,713,584,33.9,11.6,270,2632,0.00,2.10,0.00,0.000,1030,0.000,0.028,3376,2082,648,713,584,0,0,0,0,0,0,26.23,26.17,26.25,8.13,39.25
$GC,2754,0.98,346.4,3375,2083,712,584,19.2,10.9,283,2761,0.00,0.00,0.00,0.000,6,0.000,0.000,3376,2082,648,713,584,0,0,0,0,0,0,26.46,26.48,26.48,8.12,39.60
$GC,2824,0.98,346.4,3375,2083,713,584,12.5,8.5,296,2830,0.00,2.20,0.00,0.000,516,0.000,0.047,3376,683,648,713,584,0,0,0,0,0,0,26.51,26.20,26.52,8.12,39.36
$GC,2888,1.21,490.9,3375,683,713,584,8.1,6.0,308,2930,0.12,2.10,34.38,0.557,11270,0.071,0.028,3457,2101,371,405,338,0,0,0,0,0,0,26.27,26.27,25.28,8.11,39.40
$STATE,2951,end climb,SURFACE_DEPTH_REACHED
$STATE,2951,begin surface coast
$FINISH,1.0,1.007840
$STATE,2988,end surface coast,CONTROL_FINISHED_OK
$STATE,2988,begin surface
$SM_CCo,3067,0.00,0.000,0,0,369,415.78
$SM_GC,2.53,8.82,0.00,0.00,0.047,0.000,0.000,194,2102,369,-8.91,0.54,415.78,0,0,0,0,0,0,25.92,26.23,25.99
$IRIDIUM_FIX,4738.72,-12249.11,010218,221439
$TT8_MAMPS,0.026964,0.315329
$HUMID,39.13
$INTERNAL_PRESSURE,8.03967
$TCM_TEMP,10.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.2,18.4
$ALTIM_BOTTOM_PING,75.5,76.0
$24V_AH,24.12,3.528
$10V_AH,10.36,1.119
$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,21.425,47.575,520.425,0.000,0.000,0.000,0.000,228.225,0.750,0.000,9.728,716.392,1143.187,583.297,807.087,147.297,33.430,1228.855,0.000,608.538,0.000,7.271,0.000
$DEVICE_MAMPS,257.805,56.610,747.405,0.000,0.000,0.000,0.000,82.620,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,69.640,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,219.445,430.096,434.344,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,311988
$DATA_FILE_SIZE,24557,326
$CAP_FILE_SIZE,53697,0
$CFSIZE,2097872896,2090762240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,020218,000919,4738.850,-12252.844,5,0.9,5,16.4,0.0,0.0,9,18.9