version: 66.14
glider: 194
mission: 12
dive: 623
start: 3 1 118 5 21 16
data:
$ID,194
$MISSION,12
$DIVE,623
$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,45
$R_STBD_OVSHOOT,58
$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
$GPS1,010318,051601,4738.8208,-12253.7021,4,0.9,23,16.4,0.3,54.5,9,4.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,16.65
$_SM_ANGLEo,-70.3
$GPS2,010318,052038,4738.8452,-12253.6357,8,0.9,13,16.4,0.0,0.0,9,4.9
$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,224.1,1982,-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,-244.4,210,2094,370,366,0.0,0.0,0,17,0.00,0.00,-6.05,0.000,16386,0.000,0.000,210,2094,527,522,533,0,0,0,0,0,0,26.43,28.83,26.44,8.07,41.21
$GC,20,-0.81,-244.4,211,2093,522,533,16.8,0.0,1,146,10.80,0.00,-106.85,0.000,18694,0.227,0.000,2887,2092,3063,3139,2987,0,0,0,0,0,0,25.46,25.48,25.75,8.09,41.33
$GC,205,-0.60,-244.4,2886,2093,3140,2987,32.5,-21.4,28,215,0.20,2.12,0.00,0.000,2308,0.156,0.040,2952,3464,3064,3141,2987,0,0,0,0,0,0,25.71,25.89,25.79,8.29,41.02
$GC,243,-0.45,-244.4,2952,3464,3141,2987,39.1,-20.1,31,250,0.17,2.08,0.00,0.000,3078,0.135,0.024,3009,2074,3064,3141,2987,0,0,0,0,0,0,25.77,26.15,25.94,8.29,40.54
$GC,368,-0.45,-244.4,3009,2074,3141,2987,54.8,-11.3,44,370,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2074,3063,3141,2986,0,0,0,0,0,0,26.56,26.58,26.57,8.30,41.96
$GC,488,-0.45,-244.4,3009,2074,3141,2987,67.8,-10.7,56,498,0.00,2.15,0.00,0.000,516,0.000,0.040,3009,684,3064,3141,2987,0,0,0,0,0,0,26.60,26.11,26.61,8.30,41.96
$GC,554,-0.45,-244.4,3009,684,3141,2987,74.9,-11.5,62,562,0.00,2.08,0.00,0.000,1030,0.000,0.025,3009,2070,3064,3141,2987,0,0,0,0,0,0,26.29,26.22,26.32,8.31,42.47
$GC,682,-0.45,-244.4,3009,2071,3141,2987,89.1,-11.1,75,683,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2070,3064,3141,2987,0,0,0,0,0,0,26.65,26.65,26.66,8.31,42.32
$GC,802,-0.45,-244.4,3009,2070,3141,2987,101.7,-10.1,87,811,0.00,2.20,0.00,0.000,260,0.000,0.042,3009,3483,3064,3141,2987,0,0,0,0,0,0,26.67,26.12,26.67,8.32,42.83
$GC,838,-0.45,-244.4,3009,3483,3141,2987,105.1,-10.5,90,846,0.00,2.08,0.00,0.000,1030,0.000,0.023,3009,2074,3063,3140,2987,0,0,0,0,0,0,26.37,26.30,26.39,8.32,42.36
$GC,1028,-0.45,-244.4,3009,2073,3140,2987,123.8,-9.5,109,1037,0.00,2.15,0.00,0.000,516,0.000,0.039,3009,683,3064,3141,2987,0,0,0,0,0,0,26.70,26.20,26.71,8.33,42.40
$GC,1061,-0.45,-244.4,3009,683,3141,2987,127.3,-9.8,112,1069,0.00,2.08,0.00,0.000,1030,0.000,0.025,3009,2087,3064,3141,2987,0,0,0,0,0,0,26.32,26.28,26.35,8.32,43.03
$GC,1251,-0.45,-244.4,3009,2087,3141,2987,145.9,-10.0,131,1255,0.00,2.17,0.00,0.000,260,0.000,0.041,3010,3487,3064,3141,2987,0,0,0,0,0,0,26.73,26.17,26.74,8.33,42.55
$GC,1275,-0.45,-244.4,3009,3487,3141,2987,148.2,-10.2,133,1282,0.00,2.08,0.00,0.000,1030,0.000,0.023,3009,2074,3064,3141,2987,0,0,0,0,0,0,26.42,26.35,26.45,8.33,42.20
$STATE,1291,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1291,begin apogee
$GC,1297,-0.22,0.0,3009,2074,3141,2987,150.1,-9.7,135,1503,0.17,0.00,199.00,0.742,10246,0.121,0.000,3079,2074,2063,2114,2013,0,0,0,0,0,0,26.10,24.70,23.99,8.33,42.20
$STATE,1504,end apogee,CONTROL_FINISHED_OK
$STATE,1505,begin climb
$GC,1509,0.81,244.4,3079,2074,2114,2012,162.7,0.0,156,1723,0.88,2.35,200.62,0.715,10500,0.072,0.034,3388,3484,1066,1132,1001,0,0,0,0,0,0,24.92,24.20,23.73,8.26,41.02
$GC,1801,0.95,244.4,3387,3484,1132,1001,148.2,8.1,185,1810,0.10,2.15,0.00,0.000,3078,0.051,0.021,3462,2082,1066,1131,1001,0,0,0,0,0,0,25.28,25.32,25.32,8.18,40.11
$GC,1991,0.95,244.4,3461,2082,1132,1001,131.5,8.3,204,1999,0.00,2.17,0.00,0.000,516,0.000,0.041,3464,690,1066,1131,1001,0,0,0,0,0,0,26.17,25.77,26.17,8.18,40.90
$GC,2153,0.95,244.4,3463,690,1131,1000,116.2,10.1,220,2162,0.00,2.10,0.00,0.000,1030,0.000,0.024,3464,2097,1066,1131,1001,0,0,0,0,0,0,26.06,26.03,26.08,8.18,41.45
$GC,2343,0.95,244.4,3463,2098,1131,1001,96.9,10.4,239,2352,0.00,2.20,0.00,0.000,516,0.000,0.041,3464,695,1066,1131,1001,0,0,0,0,0,0,26.48,26.03,26.48,8.18,41.69
$GC,2386,0.95,244.4,3464,694,1130,1001,92.8,9.6,243,2394,0.00,2.05,0.00,0.000,1030,0.000,0.024,3464,2087,1066,1131,1001,0,0,0,0,0,0,26.17,26.14,26.21,8.18,41.45
$GC,2515,0.95,244.4,3464,2087,1131,1001,81.6,8.5,256,2516,0.00,0.00,0.00,0.000,6,0.000,0.000,3464,2087,1066,1131,1001,0,0,0,0,0,0,26.55,26.55,26.55,8.18,41.37
$GC,2635,0.95,244.4,3463,2087,1131,1001,71.0,8.8,268,2645,0.00,2.20,0.00,0.000,516,0.000,0.041,3464,683,1066,1131,1001,0,0,0,0,0,0,26.58,26.12,26.59,8.17,41.25
$GC,2750,0.95,244.4,3464,683,1132,1002,60.2,9.9,279,2757,0.00,2.08,0.00,0.000,1030,0.000,0.024,3464,2081,1066,1131,1001,0,0,0,0,0,0,26.32,26.25,26.34,8.17,41.21
$GC,2878,0.95,244.4,3464,2081,1131,1001,49.1,8.5,292,2887,0.00,2.20,0.00,0.000,516,0.000,0.041,3464,675,1066,1131,1001,0,0,0,0,0,0,26.64,26.17,26.65,8.17,42.00
$GC,2931,1.08,380.5,3463,674,1131,1002,45.5,6.2,297,3032,0.00,2.10,95.00,0.660,11270,0.000,0.024,3464,2099,512,535,489,0,0,0,0,0,0,26.38,26.29,24.42,8.16,41.61
$GC,3152,1.23,463.5,3464,2099,535,487,29.7,7.7,319,3181,0.17,2.30,18.65,0.554,10756,0.057,0.042,3579,690,372,364,380,0,0,0,0,0,0,25.85,25.36,24.60,8.11,40.39
$STATE,3390,end climb,NO_VERTICAL_VELOCITY
$STATE,3390,begin surface
$SM_CCo,3721,0.00,0.000,0,0,369,416.03
$SM_GC,16.72,9.00,2.12,0.00,0.041,0.025,0.000,205,2066,369,-9.15,-2.04,416.03,0,0,0,0,0,0,26.03,26.13,26.11
$IRIDIUM_FIX,4737.86,-12251.79,010318,041149
$TT8_MAMPS,0.026215,0.280875
$HUMID,42.24
$INTERNAL_PRESSURE,8.03967
$TCM_TEMP,10.00
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.4,69.2
$ALTIM_BOTTOM_PING,120.0,44.1
$24V_AH,23.73,53.450
$10V_AH,10.09,18.982
$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,21.500,47.200,513.275,0.000,0.000,0.000,0.000,178.325,2.750,0.000,14.656,858.109,1549.766,591.208,877.255,143.081,0.000,1247.160,0.000,688.719,0.000,19.707,0.000
$DEVICE_MAMPS,227.205,42.075,742.050,0.000,0.000,0.000,0.000,81.855,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,241.481,473.965,478.662,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312148
$DATA_FILE_SIZE,24536,359
$CAP_FILE_SIZE,58633,0
$CFSIZE,2097872896,2029453312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.033,133.56,1
$GPS,010318,062413,4738.639,-12254.134,4,0.9,16,16.4,0.0,0.0,8,4.8