version: 66.14
glider: 194
mission: 11
dive: 4
start: 12 13 117 21 47 6
data:
$ID,194
$MISSION,11
$DIVE,4
$N_DIVES,6
$STOP_T,0
$D_SURF,3
$D_FLARE,2
$D_TGT,150
$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,50
$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,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,300
$COURSE_BIAS,0
$GLIDE_SLOPE,20
$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,200
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_RSLEEP,3
$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,3015
$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,3500
$C_ROLL_CLIMB,3500
$HEAD_ERRBAND,180
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,49
$R_STBD_OVSHOOT,37
$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,-55.039551
$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,0
$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
$GPS1,131217,214239,4742.6338,-12224.4961,4,1.0,4,16.3,0.0,0.0,10,25.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-68.1
$GPS2,131217,214630,4742.6050,-12224.5186,6,0.9,6,16.3,0.0,180.2,11,27.1
$SPEED_LIMITS,0.275,0.351
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12223.750
$TGT_RADIUS,200.000
$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,359.0,3638,-11.6,-10.000,-15.91,4419
$D_GRID,162
$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,-0.80,-293.3,215,3482,503,443,0.0,0.0,0,55,0.00,0.00,-44.22,0.000,16386,0.000,0.000,215,3481,1631,1633,1630,0,0,0,0,0,0,26.36,28.83,26.36,8.07,34.01
$GC,58,-0.80,-293.3,215,3481,1633,1632,2.0,-2.7,8,133,11.40,0.00,-58.88,0.000,18438,0.279,0.000,2747,3482,3262,3348,3177,0,0,0,0,0,0,25.60,24.82,25.94,8.17,33.10
$GC,199,-0.71,-293.3,2747,3482,3348,3177,15.0,-14.9,33,205,0.10,0.00,0.00,0.000,2054,0.172,0.000,2781,3482,3262,3348,3177,0,0,0,0,0,0,25.95,26.08,26.03,8.30,32.43
$GC,269,-0.64,-293.3,2780,3482,3348,3178,23.8,-11.6,43,270,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,3482,3263,3348,3178,0,0,0,0,0,0,26.42,26.44,26.43,8.29,33.10
$GC,389,-0.64,-293.3,2780,3482,3348,3178,39.9,-13.9,55,390,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,3482,3263,3348,3178,0,0,0,0,0,0,26.47,26.48,26.48,8.30,33.34
$GC,509,-0.64,-293.3,2781,3482,3348,3178,56.2,-13.1,67,510,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,3482,3263,3348,3178,0,0,0,0,0,0,26.51,26.53,26.52,8.30,33.85
$GC,629,-0.64,-293.3,2780,3482,3349,3178,71.6,-13.1,79,630,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,3483,3263,3349,3178,0,0,0,0,0,0,26.55,26.56,26.55,8.31,33.97
$GC,749,-0.64,-293.3,2780,3482,3348,3178,87.3,-13.0,91,750,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,3482,3263,3348,3178,0,0,0,0,0,0,26.58,26.60,26.59,8.30,33.77
$GC,869,-0.64,-293.3,2780,3483,3348,3178,101.3,-11.2,103,870,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,3483,3263,3348,3178,0,0,0,0,0,0,26.60,26.62,26.61,8.31,34.28
$GC,989,-0.64,-293.3,2780,3483,3348,3178,114.1,-10.9,115,990,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,3483,3263,3348,3178,0,0,0,0,0,0,26.63,26.64,26.64,8.31,34.36
$GC,1109,-0.64,-293.3,2780,3483,3348,3178,128.2,-12.1,127,1110,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,3483,3263,3348,3178,0,0,0,0,0,0,26.65,26.65,26.66,8.31,34.48
$GC,1229,-0.64,-293.3,2780,3483,3348,3178,141.6,-11.3,139,1230,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,3483,3263,3348,3178,0,0,0,0,0,0,26.67,26.68,26.67,8.31,34.95
$STATE,1306,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1306,begin apogee
$GC,1312,-0.22,0.0,2781,3483,3348,3178,150.3,-10.3,147,1539,0.45,0.00,221.77,1.001,10246,0.124,0.000,2936,3483,2065,2112,2018,0,0,0,0,0,0,26.18,24.44,23.80,8.31,34.91
$STATE,1542,end apogee,CONTROL_FINISHED_OK
$STATE,1542,begin climb
$GC,1544,0.80,293.3,2937,3483,2112,2017,163.3,0.0,170,1778,0.98,0.00,226.32,0.944,10246,0.109,0.000,3248,3483,869,924,814,0,0,0,0,0,0,24.59,24.21,23.55,8.23,33.38
$GC,1899,0.80,293.3,3248,3483,924,814,136.7,10.9,206,1900,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,3482,868,923,814,0,0,0,0,0,0,25.48,25.49,25.48,8.14,32.94
$GC,2019,0.80,293.3,3248,3483,924,814,124.3,10.7,218,2020,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,3483,868,923,814,0,0,0,0,0,0,25.78,25.79,25.79,8.14,33.14
$GC,2139,0.80,293.3,3248,3483,923,814,114.1,8.7,230,2140,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,3483,868,923,814,0,0,0,0,0,0,25.97,25.98,25.98,8.14,33.18
$GC,2259,0.80,293.3,3248,3483,924,814,101.8,10.0,242,2260,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,3483,868,923,814,0,0,0,0,0,0,26.10,26.12,26.11,8.13,34.44
$GC,2379,0.80,293.3,3248,3483,924,814,88.3,11.5,254,2380,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,3483,868,923,814,0,0,0,0,0,0,26.21,26.22,26.22,8.13,33.73
$GC,2499,0.80,293.3,3248,3482,923,814,75.3,10.8,266,2500,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,3483,868,923,814,0,0,0,0,0,0,26.29,26.30,26.30,8.12,33.97
$GC,2619,0.80,293.3,3247,3483,923,814,62.8,10.4,278,2620,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,3483,869,924,814,0,0,0,0,0,0,26.36,26.37,26.37,8.13,34.01
$GC,2739,0.80,293.3,3248,3483,923,814,50.4,10.0,290,2740,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,3483,869,924,814,0,0,0,0,0,0,26.42,26.43,26.43,8.12,34.01
$GC,2859,0.80,293.3,3248,3483,924,814,39.2,9.5,302,2860,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,3483,868,923,814,0,0,0,0,0,0,26.47,26.48,26.48,8.13,34.09
$GC,2979,0.80,293.3,3248,3483,923,814,28.0,9.0,314,2980,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,3483,868,923,814,0,0,0,0,0,0,26.51,26.52,26.52,8.12,34.13
$GC,3100,0.80,293.3,3248,3483,924,814,17.2,8.4,328,3106,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,3483,868,923,814,0,0,0,0,0,0,26.55,26.56,26.55,8.12,33.89
$GC,3169,0.80,293.3,3248,3483,924,814,11.3,8.9,341,3175,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,3483,868,923,814,0,0,0,0,0,0,26.56,26.58,26.58,8.12,34.32
$GC,3239,0.90,392.7,3248,3483,923,814,5.7,7.7,354,3269,0.10,0.00,27.45,0.787,10242,0.084,0.000,3320,3483,646,698,594,0,0,0,0,0,0,26.36,28.83,26.39,8.12,34.17
$STATE,3270,end climb,SURFACE_DEPTH_REACHED
$STATE,3270,begin surface coast
$FINISH,0.6,1.022331
$STATE,3296,end surface coast,CONTROL_FINISHED_OK
$STATE,3296,begin surface
$SM_CCo,3375,0.00,0.000,0,0,646,348.08
$SM_GC,1.50,8.73,0.00,0.00,0.063,0.000,0.000,196,3483,646,-8.77,-0.48,348.08,0,0,0,0,0,0,25.78,26.14,25.89
$IRIDIUM_FIX,4742.17,-12225.08,131217,213831
$TT8_MAMPS,0.026964,0.250915
$HUMID,34.24
$INTERNAL_PRESSURE,8.0592
$TCM_TEMP,11.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.1,18.2
$ALTIM_BOTTOM_PING,135.9,25.0
$24V_AH,23.55,0.571
$10V_AH,10.41,0.166
$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,21.750,0.000,475.550,0.000,0.000,0.000,0.000,0.000,4.000,0.000,7.992,804.285,1460.652,524.748,567.636,83.991,0.000,866.094,0.000,546.947,0.000,35.473,0.000
$DEVICE_MAMPS,279.225,0.000,1000.620,0.000,0.000,0.000,0.000,0.000,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,247.923,481.575,486.314,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312584
$DATA_FILE_SIZE,24648,364
$CAP_FILE_SIZE,57701,0
$CFSIZE,2097872896,2094235648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,131217,224356,4742.626,-12224.521,4,0.8,4,16.3,0.0,120.5,10,45.3