version: 66.14
glider: 194
mission: 12
dive: 621
start: 3 1 118 3 3 54
data:
$ID,194
$MISSION,12
$DIVE,621
$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,59
$R_STBD_OVSHOOT,60
$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
$GPS1,010318,025804,4738.8042,-12253.6104,5,1.0,38,16.4,0.6,65.4,8,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,16.64
$_SM_ANGLEo,-69.0
$GPS2,010318,030316,4738.8428,-12253.4912,8,0.8,14,16.4,0.6,61.8,10,4.8
$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,217.1,2115,-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,-244.4,205,2062,373,368,0.0,0.0,0,17,0.00,0.00,-5.85,0.000,16386,0.000,0.000,205,2062,522,518,527,0,0,0,0,0,0,26.40,28.83,26.41,8.06,41.21
$GC,20,-0.81,-244.4,205,2062,518,528,16.7,0.0,1,151,10.70,0.00,-113.47,0.000,19206,0.223,0.000,2885,2061,3061,3137,2986,0,0,0,0,0,0,25.46,25.45,25.75,8.07,41.02
$GC,221,-0.58,-244.4,2884,2061,3139,2987,32.4,-19.9,30,230,0.22,2.20,0.00,0.000,2308,0.156,0.042,2957,3456,3062,3139,2986,0,0,0,0,0,0,25.65,25.84,25.75,8.29,40.58
$GC,286,-0.52,-244.4,2956,3457,3139,2987,43.5,-15.5,36,293,0.00,2.03,0.00,0.000,1030,0.000,0.023,2957,2094,3062,3139,2986,0,0,0,0,0,0,26.22,26.15,26.25,8.29,40.98
$GC,413,-0.44,-244.4,2956,2093,3139,2986,62.3,-14.1,49,415,0.17,0.00,0.00,0.000,2054,0.142,0.000,3014,2092,3062,3139,2986,0,0,0,0,0,0,25.90,26.10,26.03,8.30,41.92
$GC,534,-0.44,-244.4,3013,2091,3139,2986,75.3,-10.6,61,543,0.00,2.17,0.00,0.000,516,0.000,0.040,3014,680,3063,3140,2986,0,0,0,0,0,0,26.60,26.11,26.61,8.30,42.40
$GC,567,-0.44,-244.4,3013,680,3139,2986,78.8,-10.5,64,575,0.00,2.08,0.00,0.000,1030,0.000,0.026,3013,2064,3062,3139,2986,0,0,0,0,0,0,26.24,26.19,26.26,8.30,42.59
$GC,696,-0.44,-244.4,3013,2064,3139,2986,92.3,-10.2,77,706,0.00,2.22,0.00,0.000,260,0.000,0.042,3013,3488,3062,3139,2986,0,0,0,0,0,0,26.65,26.09,26.65,8.31,41.80
$GC,739,-0.44,-244.4,3013,3488,3139,2986,96.6,-9.7,81,749,0.00,2.10,0.00,0.000,1030,0.000,0.023,3014,2074,3062,3139,2986,0,0,0,0,0,0,26.34,26.28,26.37,8.31,42.79
$GC,870,-0.44,-244.4,3013,2074,3139,2986,109.2,-10.1,94,878,0.00,2.10,0.00,0.000,516,0.000,0.039,3014,694,3062,3138,2986,0,0,0,0,0,0,26.67,26.20,26.68,8.32,41.92
$GC,924,-0.44,-244.4,3013,694,3139,2986,114.4,-10.0,99,932,0.00,2.08,0.00,0.000,1030,0.000,0.025,3013,2096,3062,3139,2986,0,0,0,0,0,0,26.35,26.27,26.37,8.32,42.28
$GC,1112,-0.44,-244.4,3013,2095,3138,2986,131.1,-9.6,118,1113,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2095,3062,3139,2986,0,0,0,0,0,0,26.71,26.72,26.72,8.32,42.43
$GC,1292,-0.44,-244.4,3013,2095,3139,2986,147.6,-9.1,136,1294,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2095,3062,3139,2986,0,0,0,0,0,0,26.73,26.74,26.74,8.33,42.95
$GC,1472,-0.44,-244.4,3013,2095,3139,2986,164.0,-9.0,154,1473,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2095,3062,3139,2986,0,0,0,0,0,0,26.75,26.76,26.76,8.33,42.24
$GC,1653,-0.70,-244.4,3013,2095,3139,2986,167.1,-0.0,172,1660,0.17,0.00,0.00,0.000,4102,0.073,0.000,2934,2095,3063,3140,2986,0,0,0,0,0,0,26.40,26.48,26.46,8.33,42.32
$STATE,1669,end dive,NO_VERTICAL_VELOCITY
$STATE,1669,begin apogee
$GC,1676,-0.22,0.0,2934,2095,3139,2986,167.1,0.0,174,1875,0.35,0.00,195.48,0.750,10246,0.063,0.000,3076,2095,2064,2114,2014,0,0,0,0,0,0,26.27,24.71,24.00,8.33,42.08
$STATE,1876,end apogee,CONTROL_FINISHED_OK
$STATE,1876,begin climb
$GC,1879,0.81,244.4,3076,2095,2114,2014,167.1,0.0,194,2092,0.93,2.28,200.80,0.717,11012,0.091,0.037,3386,3479,1066,1132,1001,0,0,0,0,0,0,24.83,24.42,23.72,8.26,41.37
$GC,2150,1.04,328.3,3386,3479,1132,1004,153.9,7.7,221,2227,0.22,2.15,70.53,0.697,11270,0.048,0.022,3506,2085,726,778,674,0,0,0,0,0,0,25.19,25.18,23.91,8.19,40.35
$GC,2406,1.04,328.3,3505,2085,777,675,120.9,13.4,247,2415,0.00,2.22,0.00,0.000,516,0.000,0.042,3509,691,726,777,675,0,0,0,0,0,0,26.04,25.65,26.05,8.15,40.86
$GC,2429,0.99,328.3,3508,691,777,675,117.9,13.4,249,2439,0.10,2.10,0.00,0.000,5126,0.117,0.024,3475,2090,726,777,675,0,0,0,0,0,0,25.57,25.78,25.64,8.16,40.98
$GC,2620,0.99,328.3,3475,2090,777,675,96.5,11.3,268,2630,0.00,2.12,0.00,0.000,260,0.000,0.037,3475,3462,726,777,675,0,0,0,0,0,0,26.34,25.92,26.35,8.15,41.21
$GC,2706,0.99,328.3,3475,3462,777,675,86.1,12.6,276,2714,0.00,2.08,0.00,0.000,1030,0.000,0.024,3475,2065,725,777,674,0,0,0,0,0,0,26.13,26.04,26.15,8.15,41.73
$GC,2834,0.99,328.3,3475,2065,777,675,72.5,10.1,289,2842,0.00,2.12,0.00,0.000,516,0.000,0.041,3475,702,726,777,675,0,0,0,0,0,0,26.48,26.03,26.48,8.14,41.80
$GC,2948,0.99,328.3,3475,702,777,675,61.4,9.8,300,2956,0.00,2.05,0.00,0.000,1030,0.000,0.024,3475,2089,726,777,675,0,0,0,0,0,0,26.25,26.18,26.27,8.14,41.21
$GC,3076,0.99,328.3,3475,2088,777,675,48.4,9.9,313,3085,0.00,2.17,0.00,0.000,516,0.000,0.041,3475,700,726,777,675,0,0,0,0,0,0,26.57,26.11,26.58,8.14,41.45
$GC,3159,0.99,328.3,3475,700,777,675,40.4,9.8,321,3163,0.00,2.05,0.00,0.000,1030,0.000,0.024,3475,2080,726,777,675,0,0,0,0,0,0,26.31,26.24,26.34,8.14,41.06
$GC,3291,0.99,328.3,3475,2080,777,675,28.8,8.6,334,3301,0.00,2.17,0.00,0.000,516,0.000,0.041,3475,687,726,777,675,0,0,0,0,0,0,26.63,26.15,26.63,8.13,41.10
$GC,3376,1.04,328.3,3475,686,777,675,21.8,8.6,342,3385,0.00,2.05,0.00,0.000,1030,0.000,0.024,3475,2080,726,777,675,0,0,0,0,0,0,26.32,26.28,26.34,8.12,41.14
$GC,3507,1.61,699.1,3474,2081,777,675,15.8,-0.3,366,3562,0.45,2.17,45.17,0.526,10500,0.046,0.037,3671,3479,372,371,374,0,0,0,0,0,0,26.31,25.61,24.90,8.11,41.06
$STATE,3587,end climb,NO_VERTICAL_VELOCITY
$STATE,3587,begin surface
$SM_CCo,3918,0.00,0.000,0,0,370,415.78
$SM_GC,16.81,9.23,2.15,0.00,0.041,0.024,0.000,213,2089,370,-9.12,1.67,415.78,0,0,0,0,0,0,26.01,26.12,26.08
$IRIDIUM_FIX,4738.72,-12249.11,010318,014814
$TT8_MAMPS,0.026215,0.281624
$HUMID,41.69
$INTERNAL_PRESSURE,8.03967
$TCM_TEMP,9.80
$XPDR_PINGS,7
$ALTIM_TOP_PING,20.0,999.0
$ALTIM_BOTTOM_PING,100.4,86.0
$24V_AH,23.72,53.233
$10V_AH,10.09,18.923
$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,22.550,46.875,511.975,0.000,0.000,0.000,0.000,211.250,2.500,0.000,15.999,893.581,1688.637,597.233,922.674,148.915,0.000,1300.898,0.000,707.963,0.000,10.499,0.000
$DEVICE_MAMPS,222.615,42.075,749.700,0.000,0.000,0.000,0.000,78.030,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,255.646,501.718,506.692,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312140
$DATA_FILE_SIZE,28024,380
$CAP_FILE_SIZE,62528,0
$CFSIZE,2097872896,2029649920
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,1672.34,0x2139aa,2,24
$INTR,1,2049.99,0x2367ba,1,24
$INTR,2,2054.77,0x2367b8,1,24
$CURRENT,0.220,46.72,1
$GPS,010318,041010,4738.914,-12253.554,4,1.0,16,16.4,0.0,56.1,9,4.8