version: 66.14
glider: 194
mission: 12
dive: 619
start: 3 1 118 0 42 25
data:
$ID,194
$MISSION,12
$DIVE,619
$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,2
$FERRY_MAX,45
$KALMAN_USE,2
$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,50
$R_STBD_OVSHOOT,53
$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,15
$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
$GPS1,010318,003610,4738.5693,-12253.5947,4,0.9,14,16.4,0.5,63.4,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,16.58
$_SM_ANGLEo,-67.6
$GPS2,010318,004147,4738.6094,-12253.4785,6,1.0,16,16.4,0.5,58.3,9,4.7
$SPEED_LIMITS,0.173,0.325
$TGT_NAME,NW2S
$TGT_LATLONG,4738.117,-12254.800
$TGT_RADIUS,250.000
$KALMAN_CONTROL,-0.288867,-0.148510
$KALMAN_X,34651.437500,518.190002,-280.221558,-35416.792969,662.479614
$KALMAN_Y,12811.416016,296.136719,-399.748138,-13361.724609,330.277039
$MHEAD_RNG_PITCHd_Wd,224.2,1884,-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,9,-0.81,-244.4,205,2084,347,384,0.0,0.0,0,17,0.00,0.00,-6.05,0.000,16386,0.000,0.000,205,2084,524,508,541,0,0,0,0,0,0,26.40,28.83,26.41,8.07,41.14
$GC,20,-0.81,-244.4,205,2084,508,541,16.7,0.0,1,157,10.55,2.25,-119.30,0.000,19204,0.217,0.052,2891,687,3063,3137,2989,0,0,0,0,0,0,25.44,23.99,25.73,8.08,41.21
$GC,172,-0.57,-244.4,2890,687,3138,2989,20.2,-13.0,25,179,0.25,2.10,0.00,0.000,3078,0.158,0.026,2965,2085,3063,3138,2988,0,0,0,0,0,0,25.53,26.05,25.77,8.29,40.66
$GC,298,-0.49,-244.4,2965,2084,3139,2989,40.4,-15.1,38,307,0.00,2.17,0.00,0.000,260,0.000,0.043,2965,3475,3064,3139,2989,0,0,0,0,0,0,26.53,25.99,26.53,8.29,40.86
$GC,360,-0.49,-244.4,2965,3475,3139,2989,49.0,-13.5,44,369,0.00,2.08,0.00,0.000,1030,0.000,0.023,2965,2083,3064,3139,2989,0,0,0,0,0,0,26.25,26.18,26.28,8.29,40.94
$GC,490,-0.43,-244.4,2965,2082,3139,2989,66.6,-13.8,57,495,0.12,2.17,0.00,0.000,2564,0.147,0.038,3011,682,3064,3139,2989,0,0,0,0,0,0,26.03,26.10,26.08,8.29,41.69
$GC,537,-0.43,-244.4,3010,682,3139,2989,72.0,-12.1,61,544,0.00,2.10,0.00,0.000,1030,0.000,0.025,3011,2086,3064,3139,2989,0,0,0,0,0,0,26.27,26.19,26.30,8.30,41.88
$GC,664,-0.43,-244.4,3010,2086,3138,2989,85.8,-10.6,74,672,0.00,2.15,0.00,0.000,260,0.000,0.042,3010,3476,3064,3139,2989,0,0,0,0,0,0,26.64,26.09,26.64,8.30,41.92
$GC,719,-0.43,-244.4,3011,3476,3139,2989,91.0,-9.8,79,725,0.00,2.08,0.00,0.000,1030,0.000,0.023,3010,2073,3064,3139,2989,0,0,0,0,0,0,26.34,26.27,26.36,8.31,42.12
$GC,846,-0.43,-244.4,3010,2072,3139,2989,104.4,-10.1,92,854,0.00,2.15,0.00,0.000,516,0.000,0.039,3011,689,3064,3139,2989,0,0,0,0,0,0,26.67,26.17,26.67,8.31,42.79
$GC,918,-0.43,-244.4,3010,688,3139,2989,111.4,-9.9,99,922,0.00,2.10,0.00,0.000,1030,0.000,0.024,3011,2090,3064,3139,2989,0,0,0,0,0,0,26.34,26.27,26.38,8.31,42.32
$GC,1110,-0.43,-244.4,3010,2090,3139,2989,127.7,-8.1,118,1115,0.00,2.15,0.00,0.000,260,0.000,0.041,3010,3476,3063,3138,2989,0,0,0,0,0,0,26.71,26.15,26.72,8.33,42.20
$GC,1163,-0.48,-244.4,3010,3476,3139,2989,132.0,-8.3,123,1172,0.00,2.05,0.00,0.000,1030,0.000,0.022,3011,2082,3064,3139,2989,0,0,0,0,0,0,26.36,26.34,26.39,8.32,42.67
$GC,1353,-0.48,-244.4,3010,2082,3139,2989,148.4,-8.8,142,1357,0.00,2.15,0.00,0.000,516,0.000,0.040,3011,685,3064,3139,2989,0,0,0,0,0,0,26.73,26.22,26.74,8.33,42.71
$GC,1408,-0.48,-244.4,3010,684,3139,2989,153.0,-9.4,147,1414,0.00,2.08,0.00,0.000,1030,0.000,0.025,3011,2082,3064,3139,2989,0,0,0,0,0,0,26.39,26.31,26.42,8.33,41.92
$GC,1595,-0.48,-244.4,3010,2082,3139,2989,169.2,-8.8,166,1596,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2082,3064,3139,2989,0,0,0,0,0,0,26.75,26.77,26.76,8.33,42.71
$STATE,1622,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1622,begin apogee
$GC,1629,-0.22,0.0,3010,2081,3139,2989,171.8,-8.7,169,1834,0.17,0.00,198.88,0.753,10246,0.120,0.000,3080,2081,2063,2113,2014,0,0,0,0,0,0,26.13,24.70,23.99,8.33,42.71
$STATE,1835,end apogee,CONTROL_FINISHED_OK
$STATE,1835,begin climb
$GC,1840,0.81,244.4,3080,2081,2113,2013,176.4,0.0,190,2057,0.90,2.33,201.73,0.721,10756,0.082,0.037,3388,687,1066,1129,1003,0,0,0,0,0,0,24.88,24.17,23.71,8.26,40.47
$GC,2154,1.03,347.6,3388,687,1127,1003,158.8,7.1,221,2252,0.20,2.15,85.70,0.705,11270,0.050,0.024,3500,2099,645,692,598,0,0,0,0,0,0,25.41,25.41,23.98,8.19,40.23
$GC,2431,1.03,347.6,3500,2099,692,597,122.5,13.7,249,2440,0.00,2.25,0.00,0.000,516,0.000,0.041,3500,685,644,691,597,0,0,0,0,0,0,26.08,25.70,26.09,8.15,41.17
$GC,2544,1.03,347.6,3499,685,690,597,107.2,13.1,260,2553,0.00,2.08,0.00,0.000,1030,0.000,0.024,3500,2068,643,690,597,0,0,0,0,0,0,25.96,25.94,25.99,8.15,41.45
$GC,2734,1.03,347.6,3500,2068,689,597,82.9,13.2,279,2743,0.00,2.17,0.00,0.000,516,0.000,0.042,3501,688,643,690,597,0,0,0,0,0,0,26.42,25.98,26.43,8.14,41.21
$GC,2849,1.03,347.6,3500,688,689,597,68.2,13.0,290,2857,0.00,2.08,0.00,0.000,1030,0.000,0.025,3501,2082,642,689,596,0,0,0,0,0,0,26.21,26.14,26.23,8.14,41.37
$GC,2977,1.03,347.6,3500,2082,689,597,52.2,12.2,303,2985,0.00,2.17,0.00,0.000,516,0.000,0.041,3502,692,643,689,597,0,0,0,0,0,0,26.53,26.08,26.54,8.13,41.45
$GC,3039,1.03,347.6,3501,692,689,597,44.9,11.0,309,3048,0.00,2.05,0.00,0.000,1030,0.000,0.025,3502,2083,643,689,597,0,0,0,0,0,0,26.25,26.20,26.27,8.13,41.37
$GC,3169,1.03,347.6,3501,2083,689,597,31.0,9.7,322,3170,0.00,0.00,0.00,0.000,6,0.000,0.000,3502,2083,643,689,597,0,0,0,0,0,0,26.60,26.60,26.60,8.12,40.82
$GC,3290,1.03,347.6,3501,2083,689,597,19.4,9.2,334,3297,0.00,2.17,0.00,0.000,516,0.000,0.041,3502,692,643,689,597,0,0,0,0,0,0,26.60,26.15,26.61,8.12,40.82
$GC,3361,1.63,727.0,3501,692,689,597,15.8,-0.5,347,3404,0.40,2.08,34.53,0.520,11270,0.054,0.026,3665,2092,372,366,378,0,0,0,0,0,0,26.20,26.27,24.94,8.11,41.41
$STATE,3466,end climb,NO_VERTICAL_VELOCITY
$STATE,3467,begin surface
$SM_CCo,3795,0.00,0.000,0,0,369,416.27
$SM_GC,16.75,9.23,0.00,0.00,0.042,0.000,0.000,208,2092,369,-9.13,0.31,416.27,0,0,0,0,0,0,26.06,26.51,26.14
$IRIDIUM_FIX,4745.46,-11924.43,280218,232131
$TT8_MAMPS,0.026215,0.274883
$HUMID,41.92
$INTERNAL_PRESSURE,8.03967
$TCM_TEMP,9.80
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.4,999.0
$ALTIM_BOTTOM_PING,100.4,86.1
$24V_AH,23.71,53.018
$10V_AH,10.09,18.861
$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,21.825,51.300,520.825,0.000,0.000,0.000,0.000,233.825,1.750,0.000,17.365,864.254,1599.060,619.689,923.978,144.580,0.000,1323.608,0.000,691.668,0.000,10.482,0.000
$DEVICE_MAMPS,217.260,52.020,752.760,0.000,0.000,0.000,0.000,73.440,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,245.839,483.056,487.852,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312172
$DATA_FILE_SIZE,24467,366
$CAP_FILE_SIZE,59645,0
$CFSIZE,2097872896,2029846528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.154,63.06,1
$GPS,010318,014635,4738.657,-12253.743,4,0.8,14,16.4,0.5,57.7,10,5.0