version: 66.14
glider: 194
mission: 12
dive: 123
start: 2 5 118 6 38 59
data:
$ID,194
$MISSION,12
$DIVE,123
$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,47
$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
$GPS1,050218,063001,4739.3013,-12251.9492,8,0.9,31,16.4,0.3,0.0,9,4.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.77
$_SM_ANGLEo,-75.0
$GPS2,050218,063750,4739.3511,-12251.8848,8,0.9,15,16.4,0.0,156.6,9,5.0
$SPEED_LIMITS,0.173,0.325
$TGT_NAME,NW_NE
$TGT_LATLONG,4739.150,-12252.570
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.192457,-0.261649
$KALMAN_X,14486.596680,96.192657,-670.772949,-13136.263672,997.365845
$KALMAN_Y,4917.734375,1329.955811,-732.944580,-5146.172852,1074.416260
$MHEAD_RNG_PITCHd_Wd,199.9,933,-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,-244.4,217,2075,367,374,0.0,0.0,0,16,0.00,0.00,-6.12,0.000,16386,0.000,0.000,217,2075,549,541,557,0,0,0,0,0,0,26.57,28.83,26.58,8.06,39.17
$GC,20,-0.81,-244.4,217,2074,541,557,4.8,0.0,1,118,11.05,2.20,-80.40,0.000,18948,0.256,0.055,2882,683,3064,3141,2988,0,0,0,0,0,0,25.84,24.84,26.15,8.08,39.25
$GC,133,-0.63,-244.4,2881,682,3141,2989,13.4,-15.0,20,141,0.20,2.08,0.00,0.000,3078,0.143,0.028,2946,2076,3065,3142,2989,0,0,0,0,0,0,26.06,26.25,26.22,8.29,38.89
$GC,209,-0.63,-244.4,2946,2076,3141,2989,22.4,-9.6,32,218,0.00,2.17,0.00,0.000,260,0.000,0.044,2946,3474,3065,3142,2989,0,0,0,0,0,0,26.56,26.22,26.58,8.29,39.09
$GC,223,-0.63,-244.4,2946,3474,3142,2989,23.2,-9.7,33,230,0.00,2.05,0.00,0.000,1030,0.000,0.024,2947,2077,3065,3142,2989,0,0,0,0,0,0,26.36,26.29,26.38,8.29,38.62
$GC,351,-0.63,-244.4,2946,2077,3142,2989,35.4,-9.0,46,360,0.00,2.17,0.00,0.000,260,0.000,0.043,2947,3484,3065,3142,2989,0,0,0,0,0,0,26.60,26.26,26.61,8.29,38.69
$GC,393,-0.63,-244.4,2946,3484,3142,2989,39.0,-8.5,50,402,0.00,2.08,0.00,0.000,1030,0.000,0.024,2947,2078,3065,3141,2989,0,0,0,0,0,0,26.40,26.34,26.42,8.29,39.17
$GC,524,-0.68,-244.4,2946,2079,3142,2989,49.4,-7.8,63,532,0.00,2.12,0.00,0.000,516,0.000,0.041,2947,690,3065,3142,2989,0,0,0,0,0,0,26.64,26.32,26.65,8.29,39.28
$GC,569,-0.74,-244.4,2946,690,3142,2989,52.8,-8.0,67,576,0.00,2.08,0.00,0.000,1030,0.000,0.028,2947,2088,3065,3142,2989,0,0,0,0,0,0,26.43,26.36,26.45,8.30,39.13
$GC,697,-0.81,-244.4,2946,2088,3142,2989,62.2,-7.0,80,706,0.10,2.10,0.00,0.000,4356,0.087,0.041,2874,3475,3065,3141,2989,0,0,0,0,0,0,26.44,26.32,26.45,8.30,40.11
$GC,752,-0.81,-244.4,2874,3475,3142,2989,67.3,-10.2,85,758,0.00,2.05,0.00,0.000,1030,0.000,0.024,2874,2076,3065,3141,2989,0,0,0,0,0,0,26.46,26.40,26.48,8.30,40.35
$GC,879,-0.81,-244.4,2873,2076,3142,2989,82.1,-11.6,98,880,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,2076,3065,3142,2989,0,0,0,0,0,0,26.70,26.70,26.70,8.31,39.60
$GC,999,-0.81,-244.4,2874,2076,3141,2989,95.9,-11.2,110,1000,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,2076,3065,3142,2989,0,0,0,0,0,0,26.71,26.72,26.72,8.31,40.39
$GC,1119,-0.81,-244.4,2874,2076,3141,2989,109.2,-11.2,122,1120,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,2076,3065,3142,2988,0,0,0,0,0,0,26.72,26.73,26.73,8.31,39.72
$GC,1299,-0.81,-244.4,2874,2076,3141,2989,129.3,-10.8,140,1308,0.00,2.17,0.00,0.000,260,0.000,0.043,2874,3480,3065,3142,2988,0,0,0,0,0,0,26.74,26.40,26.75,8.32,40.03
$GC,1334,-0.81,-244.4,2874,3480,3142,2989,132.8,-10.9,143,1341,0.00,2.05,0.00,0.000,1030,0.000,0.024,2874,2081,3065,3142,2989,0,0,0,0,0,0,26.53,26.46,26.55,8.33,40.35
$STATE,1359,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1359,begin apogee
$GC,1365,-0.22,0.0,2874,2081,3141,2988,136.0,-10.6,146,1563,0.57,0.00,194.32,0.741,10246,0.110,0.000,3077,2080,2064,2113,2016,0,0,0,0,0,0,26.29,24.77,24.25,8.32,40.35
$STATE,1565,end apogee,CONTROL_FINISHED_OK
$STATE,1565,begin climb
$GC,1569,0.81,244.4,3077,2080,2113,2016,141.8,0.0,166,1775,0.88,2.33,196.75,0.710,10500,0.059,0.037,3397,3483,1066,1125,1008,0,0,0,0,0,0,24.92,24.60,24.13,8.25,38.89
$GC,1811,0.70,244.4,3397,3483,1125,1009,120.8,13.8,190,1818,0.00,2.17,0.00,0.000,1030,0.000,0.024,3404,2079,1066,1124,1009,0,0,0,0,0,0,25.14,25.07,25.15,8.18,37.55
$GC,2000,0.61,244.4,3403,2078,1124,1009,93.3,14.5,209,2009,0.15,2.20,0.00,0.000,4612,0.138,0.042,3361,695,1066,1125,1008,0,0,0,0,0,0,25.52,25.60,25.60,8.17,39.40
$GC,2104,0.61,244.4,3361,695,1124,1008,80.6,11.6,219,2112,0.00,2.10,0.00,0.000,1030,0.000,0.027,3362,2090,1066,1124,1008,0,0,0,0,0,0,25.82,25.79,25.84,8.17,39.17
$GC,2233,0.61,244.4,3361,2090,1125,1008,65.9,11.5,232,2241,0.00,2.22,0.00,0.000,516,0.000,0.043,3362,691,1066,1124,1008,0,0,0,0,0,0,26.20,25.89,26.20,8.17,38.93
$GC,2267,0.61,244.4,3361,691,1124,1008,62.1,11.7,235,2274,0.00,2.10,0.00,0.000,1030,0.000,0.027,3362,2091,1066,1124,1008,0,0,0,0,0,0,26.03,25.96,26.04,8.17,39.25
$GC,2395,0.61,244.4,3361,2091,1124,1008,48.2,10.2,248,2403,0.00,2.22,0.00,0.000,516,0.000,0.044,3362,687,1067,1125,1009,0,0,0,0,0,0,26.32,26.01,26.32,8.16,39.76
$GC,2466,0.61,244.4,3361,687,1125,1009,40.5,10.9,255,2475,0.00,2.10,0.00,0.000,1030,0.000,0.026,3362,2085,1066,1124,1009,0,0,0,0,0,0,26.16,26.09,26.17,8.16,38.65
$GC,2597,0.61,244.4,3361,2086,1124,1009,26.9,10.1,268,2605,0.00,2.15,0.00,0.000,260,0.000,0.039,3362,3477,1067,1125,1009,0,0,0,0,0,0,26.43,26.12,26.44,8.16,39.25
$GC,2638,0.61,244.4,3361,3477,1124,1009,22.6,10.4,272,2647,0.00,2.08,0.00,0.000,1030,0.000,0.024,3362,2091,1066,1124,1009,0,0,0,0,0,0,26.25,26.18,26.26,8.15,39.28
$GC,2770,0.75,384.5,3361,2091,1124,1009,11.1,6.1,295,2850,0.00,2.28,71.95,0.558,8708,0.000,0.043,3362,678,494,521,468,0,0,0,0,0,0,26.49,25.24,24.90,8.15,39.32
$GC,3146,1.30,741.7,3361,678,519,466,3.1,0.1,367,3171,0.50,2.10,14.70,0.501,11270,0.057,0.026,3561,2091,372,380,365,0,0,0,0,0,0,25.96,25.99,25.22,8.09,39.25
$STATE,3191,end climb,NO_VERTICAL_VELOCITY
$STATE,3192,begin surface
$SM_CCo,3519,0.00,0.000,0,0,371,415.29
$SM_GC,5.37,9.07,0.00,0.00,0.052,0.000,0.000,214,2092,371,-9.14,0.25,415.29,0,0,0,0,0,0,26.01,26.36,26.10
$IRIDIUM_FIX,4737.86,-12251.79,050218,062604
$TT8_MAMPS,0.026215,0.316078
$HUMID,39.32
$INTERNAL_PRESSURE,8.03967
$TCM_TEMP,9.80
$XPDR_PINGS,6
$ALTIM_TOP_PING,19.4,16.4
$ALTIM_BOTTOM_PING,110.4,35.1
$24V_AH,24.13,8.884
$10V_AH,10.30,3.369
$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,22.525,51.375,477.725,0.000,0.000,0.000,0.000,0.000,3.250,0.000,16.301,832.844,1434.845,544.354,695.746,94.910,33.445,1001.972,0.000,669.348,0.000,15.963,0.000
$DEVICE_MAMPS,255.510,55.080,741.285,0.000,0.000,0.000,0.000,0.000,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,69.640,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,252.940,495.100,499.969,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312028
$DATA_FILE_SIZE,24539,375
$CAP_FILE_SIZE,103230,9
$CFSIZE,2097872896,2082373632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,050218,073906,4739.258,-12252.072,7,1.2,47,16.4,0.3,0.0,7,3.0