version: 66.14
glider: 194
mission: 12
dive: 122
start: 2 5 118 4 35 32
data:
$ID,194
$MISSION,12
$DIVE,122
$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,41
$R_STBD_OVSHOOT,66
$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
$GPS1,050218,042934,4739.0483,-12252.3916,11,0.9,30,16.4,0.3,0.0,9,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.76
$_SM_ANGLEo,-72.8
$GPS2,050218,043423,4739.0674,-12252.3496,2,0.9,11,16.4,0.0,270.3,9,4.9
$SPEED_LIMITS,0.173,0.325
$TGT_NAME,NW_NE
$TGT_LATLONG,4739.150,-12252.570
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.166751,-0.160561
$KALMAN_X,12972.285156,460.489502,-693.969055,-12535.051758,328.020721
$KALMAN_Y,4212.144043,1365.394775,-1159.561890,-4567.760254,729.072876
$MHEAD_RNG_PITCHd_Wd,209.7,315,-20.0,-10.000,-23.36,1729
$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,-0.99,-113.7,218,2093,355,390,0.0,0.0,0,17,0.00,0.00,-6.20,0.000,16386,0.000,0.000,217,2093,559,546,572,0,0,0,0,0,0,26.25,28.83,26.25,8.07,39.76
$GC,20,-0.99,-113.7,218,2093,546,572,4.7,0.0,1,106,10.90,2.22,-66.00,0.000,18948,0.252,0.054,2826,687,2530,2576,2485,0,0,0,0,0,0,25.59,24.70,25.88,8.09,39.01
$GC,176,-0.85,-113.7,2826,687,2576,2485,22.3,-15.6,28,185,0.15,2.08,0.00,0.000,3078,0.163,0.027,2872,2065,2530,2576,2485,0,0,0,0,0,0,25.82,26.04,25.94,8.25,39.17
$GC,306,-0.85,-113.7,2872,2065,2577,2485,37.5,-11.5,41,314,0.00,2.20,0.00,0.000,260,0.000,0.043,2872,3487,2530,2576,2485,0,0,0,0,0,0,26.39,26.07,26.40,8.25,39.64
$GC,360,-0.85,-113.7,2871,3487,2576,2485,43.2,-11.1,46,367,0.00,2.10,0.00,0.000,1030,0.000,0.024,2872,2066,2530,2576,2485,0,0,0,0,0,0,26.22,26.16,26.24,8.26,39.28
$GC,488,-0.85,-113.7,2872,2066,2576,2485,58.3,-12.2,59,491,0.00,2.15,0.00,0.000,516,0.000,0.041,2872,683,2530,2576,2485,0,0,0,0,0,0,26.48,26.16,26.48,8.26,39.95
$GC,572,-0.85,-113.7,2872,683,2576,2485,68.3,-11.7,67,579,0.00,2.10,0.00,0.000,1030,0.000,0.027,2873,2097,2530,2576,2484,0,0,0,0,0,0,26.30,26.22,26.32,8.26,40.35
$GC,700,-0.85,-113.7,2871,2097,2576,2485,81.7,-10.1,80,701,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,2097,2530,2577,2484,0,0,0,0,0,0,26.55,26.55,26.55,8.26,39.95
$GC,820,-0.91,-113.7,2872,2097,2576,2484,94.5,-10.4,92,829,0.00,2.10,0.00,0.000,260,0.000,0.043,2872,3474,2530,2576,2484,0,0,0,0,0,0,26.58,26.25,26.59,8.27,39.84
$GC,865,-0.97,-113.7,2871,3474,2576,2484,98.9,-10.3,96,872,0.00,2.05,0.00,0.000,1030,0.000,0.024,2872,2078,2530,2576,2484,0,0,0,0,0,0,26.39,26.32,26.40,8.27,40.58
$GC,994,-1.03,-113.7,2872,2077,2576,2484,112.2,-10.3,109,1001,0.10,0.00,0.00,0.000,4102,0.092,0.000,2805,2077,2530,2576,2484,0,0,0,0,0,0,26.38,26.44,26.42,8.27,40.35
$GC,1182,-1.03,-113.7,2804,2078,2576,2484,137.3,-13.2,128,1183,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2076,2530,2576,2484,0,0,0,0,0,0,26.65,26.67,26.66,8.28,40.51
$STATE,1200,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1200,begin apogee
$GC,1206,-0.22,0.0,2805,2077,2576,2484,139.9,-13.1,130,1304,0.82,0.00,94.18,0.746,10246,0.133,0.000,3078,2077,2064,2110,2018,0,0,0,0,0,0,26.15,25.08,24.52,8.28,40.35
$STATE,1305,end apogee,CONTROL_FINISHED_OK
$STATE,1305,begin climb
$GC,1308,0.99,113.7,3077,2077,2109,2018,143.6,0.0,140,1411,1.05,0.00,95.97,0.722,10502,0.070,0.000,3451,2077,1599,1647,1552,0,0,0,0,0,0,25.15,24.63,24.25,8.25,39.40
$GC,1592,0.89,113.7,3451,2077,1648,1552,112.7,14.4,169,1601,0.00,2.20,0.00,0.000,516,0.000,0.043,3461,690,1600,1648,1552,0,0,0,0,0,0,25.93,25.66,25.94,8.22,39.40
$GC,1709,0.77,113.7,3461,690,1646,1552,96.4,14.7,180,1717,0.20,2.10,0.00,0.000,5126,0.148,0.026,3402,2086,1599,1647,1552,0,0,0,0,0,0,25.67,25.84,25.82,8.22,39.44
$GC,1835,0.77,113.7,3401,2086,1648,1552,80.3,11.1,193,1844,0.00,2.15,0.00,0.000,260,0.000,0.038,3401,3471,1599,1647,1551,0,0,0,0,0,0,26.23,25.94,26.24,8.21,39.60
$GC,1890,0.77,113.7,3401,3471,1647,1551,74.1,11.7,198,1897,0.00,2.08,0.00,0.000,1030,0.000,0.023,3409,2078,1599,1647,1551,0,0,0,0,0,0,26.08,26.02,26.10,8.21,39.48
$GC,2017,0.77,113.7,3408,2078,1647,1551,59.3,11.4,211,2026,0.00,2.17,0.00,0.000,516,0.000,0.043,3417,682,1599,1647,1551,0,0,0,0,0,0,26.36,26.05,26.36,8.21,40.39
$GC,2129,0.77,113.7,3417,682,1647,1551,47.1,10.6,222,2138,0.00,2.08,0.00,0.000,1030,0.000,0.026,3417,2086,1599,1648,1551,0,0,0,0,0,0,26.22,26.15,26.24,8.21,39.91
$GC,2259,0.77,113.7,3417,2086,1647,1551,32.2,10.9,235,2260,0.00,0.00,0.00,0.000,6,0.000,0.000,3417,2086,1599,1647,1551,0,0,0,0,0,0,26.48,26.48,26.48,8.20,39.84
$GC,2379,0.77,113.7,3416,2086,1648,1551,20.2,9.0,247,2391,0.00,2.12,0.00,0.000,260,0.000,0.038,3417,3484,1599,1647,1551,0,0,0,0,0,0,26.52,26.22,26.53,8.20,39.48
$GC,2444,0.77,113.7,3416,3484,1647,1551,14.8,8.3,258,2451,0.00,2.08,0.00,0.000,1030,0.000,0.023,3425,2073,1599,1647,1551,0,0,0,0,0,0,26.34,26.29,26.36,8.19,39.48
$GC,2514,0.90,238.5,3425,2073,1647,1551,11.7,2.6,271,2584,0.00,2.25,64.30,0.574,8708,0.000,0.042,3430,690,1089,1136,1043,0,0,0,0,0,0,26.56,25.51,24.98,8.19,39.44
$GC,2618,1.01,354.9,3429,690,1136,1043,9.9,3.1,289,2687,0.08,2.10,59.05,0.545,11270,0.096,0.024,3502,2092,616,641,592,0,0,0,0,0,0,25.67,25.70,24.68,8.15,38.69
$GC,2752,1.17,454.9,3501,2092,642,592,3.5,4.1,313,2788,0.00,2.22,30.08,0.507,8452,0.000,0.037,3502,3468,372,369,375,0,0,0,0,0,0,25.80,25.27,24.78,8.11,38.50
$GC,2802,1.41,599.4,3501,3468,369,374,3.1,1.4,321,2809,0.20,2.12,0.00,0.000,3078,0.047,0.023,3627,2075,371,369,374,0,0,0,0,0,0,25.46,25.43,25.50,8.09,38.02
$STATE,2845,end climb,SURFACE_DEPTH_REACHED
$STATE,2845,begin surface coast
$FINISH,3.1,1.017232
$STATE,2941,end surface coast,NO_VERTICAL_VELOCITY
$STATE,2941,begin surface
$SM_CCo,3196,0.00,0.000,0,0,371,415.54
$SM_GC,4.68,9.27,0.00,0.00,0.051,0.000,0.000,218,2075,371,-9.12,-0.20,415.54,0,0,0,0,0,0,25.90,26.24,25.98
$IRIDIUM_FIX,4741.52,-12250.84,050218,032639
$TT8_MAMPS,0.026215,0.280875
$HUMID,39.56
$INTERNAL_PRESSURE,8.03967
$TCM_TEMP,10.10
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.5,16.2
$ALTIM_BOTTOM_PING,110.2,39.2
$24V_AH,24.25,8.756
$10V_AH,10.30,3.303
$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,22.775,42.675,343.575,0.000,0.000,0.000,0.000,198.925,2.250,0.000,14.148,800.633,1341.033,426.661,806.861,130.138,33.430,1025.668,0.000,607.416,0.000,16.048,0.000
$DEVICE_MAMPS,252.450,54.315,745.875,0.000,0.000,0.000,0.000,80.325,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,69.640,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,235.133,459.732,464.245,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,311956
$DATA_FILE_SIZE,24502,348
$CAP_FILE_SIZE,56149,0
$CFSIZE,2097872896,2082603008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050218,052944,4738.975,-12252.478,3,1.0,16,16.4,0.0,0.0,9,4.8