version: 66.14
glider: 194
mission: 12
dive: 629
start: 3 1 118 11 30 5
data:
$ID,194
$MISSION,12
$DIVE,629
$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,47
$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
$GPS1,010318,112401,4737.9395,-12255.6621,8,0.8,39,16.4,0.0,19.3,10,4.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,16.68
$_SM_ANGLEo,-67.0
$GPS2,010318,112918,4737.9692,-12255.6416,5,0.8,16,16.4,0.0,0.0,10,4.9
$SPEED_LIMITS,0.173,0.325
$TGT_NAME,NW3
$TGT_LATLONG,4737.577,-12256.188
$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,193.5,997,-17.6,-10.000,-21.15,2196
$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,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,9,-0.91,-144.7,208,2073,378,362,0.0,0.0,0,17,0.00,0.00,-5.55,0.000,16386,0.000,0.000,207,2073,515,515,515,0,0,0,0,0,0,26.43,28.83,26.44,8.07,40.66
$GC,20,-0.91,-144.7,208,2074,514,516,16.8,0.0,1,144,10.57,2.17,-105.28,0.000,19204,0.223,0.050,2854,684,2654,2720,2588,0,0,0,0,0,0,25.41,25.39,25.71,8.08,41.17
$GC,170,-0.76,-144.7,2853,684,2719,2588,19.1,-11.5,26,177,0.17,2.10,0.00,0.000,3078,0.182,0.025,2903,2087,2654,2720,2588,0,0,0,0,0,0,25.53,26.06,25.76,8.26,41.41
$GC,237,-0.64,-144.7,2902,2087,2720,2588,29.8,-15.3,33,242,0.10,2.17,0.00,0.000,2308,0.187,0.040,2936,3484,2654,2720,2588,0,0,0,0,0,0,25.89,25.98,25.94,8.26,41.02
$GC,271,-0.58,-144.7,2936,3484,2720,2588,35.5,-16.7,36,275,0.00,2.10,0.00,0.000,1030,0.000,0.023,2937,2079,2654,2720,2588,0,0,0,0,0,0,26.22,26.15,26.25,8.25,40.86
$GC,403,-0.58,-144.7,2936,2079,2720,2588,55.2,-14.3,49,408,0.00,2.15,0.00,0.000,516,0.000,0.039,2937,687,2653,2719,2588,0,0,0,0,0,0,26.58,26.08,26.58,8.26,41.41
$GC,496,-0.58,-144.7,2936,687,2720,2587,69.2,-14.8,58,505,0.00,2.10,0.00,0.000,1030,0.000,0.025,2937,2089,2653,2720,2587,0,0,0,0,0,0,26.27,26.18,26.29,8.26,42.40
$GC,626,-0.58,-144.7,2935,2090,2719,2587,87.0,-12.8,71,627,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2090,2653,2719,2587,0,0,0,0,0,0,26.63,26.65,26.64,8.27,41.61
$GC,746,-0.58,-144.7,2936,2090,2720,2587,102.2,-12.4,83,747,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2090,2653,2719,2587,0,0,0,0,0,0,26.65,26.67,26.66,8.28,42.36
$GC,926,-0.58,-144.7,2936,2090,2719,2586,124.7,-12.2,101,935,0.00,2.15,0.00,0.000,260,0.000,0.041,2936,3484,2653,2719,2587,0,0,0,0,0,0,26.70,26.13,26.70,8.29,42.47
$GC,968,-0.58,-144.7,2936,3484,2720,2586,129.6,-11.5,105,977,0.00,2.08,0.00,0.000,1030,0.000,0.023,2936,2078,2653,2720,2586,0,0,0,0,0,0,26.39,26.32,26.41,8.29,42.24
$GC,1158,-0.58,-144.7,2936,2078,2719,2586,152.2,-12.3,124,1167,0.00,2.15,0.00,0.000,516,0.000,0.039,2936,690,2652,2719,2586,0,0,0,0,0,0,26.72,26.21,26.73,8.30,42.40
$GC,1223,-0.58,-144.7,2936,690,2719,2586,160.2,-12.9,130,1230,0.00,2.08,0.00,0.000,1030,0.000,0.024,2937,2093,2652,2719,2586,0,0,0,0,0,0,26.37,26.29,26.40,8.29,42.36
$STATE,1329,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1329,begin apogee
$GC,1335,-0.22,0.0,2936,2093,2719,2586,173.9,-12.3,141,1460,0.40,0.00,121.55,0.767,10246,0.127,0.000,3076,2093,2064,2115,2014,0,0,0,0,0,0,25.83,24.89,24.13,8.30,42.32
$STATE,1461,end apogee,CONTROL_FINISHED_OK
$STATE,1462,begin climb
$GC,1464,0.91,144.7,3075,2093,2114,2014,181.6,0.0,154,1591,1.02,0.00,121.82,0.740,10502,0.098,0.000,3417,2093,1474,1546,1403,0,0,0,0,0,0,25.01,24.57,23.89,8.26,41.53
$GC,1771,1.07,210.0,3416,2093,1544,1400,164.2,7.0,185,1832,0.12,2.33,53.65,0.720,10756,0.074,0.040,3501,693,1206,1273,1139,0,0,0,0,0,0,25.79,25.01,24.20,8.22,41.37
$GC,1918,1.07,210.0,3500,693,1272,1139,148.4,11.9,199,1924,0.00,2.10,0.00,0.000,1030,0.000,0.024,3500,2082,1205,1272,1139,0,0,0,0,0,0,25.72,25.66,25.75,8.19,41.06
$GC,2106,1.07,210.0,3500,2082,1271,1138,125.3,12.4,218,2109,0.00,2.20,0.00,0.000,516,0.000,0.041,3508,688,1204,1271,1138,0,0,0,0,0,0,26.29,25.86,26.29,8.20,41.84
$GC,2180,1.07,210.0,3509,687,1271,1138,115.9,13.0,225,2188,0.00,2.08,0.00,0.000,1030,0.000,0.024,3508,2084,1204,1271,1138,0,0,0,0,0,0,26.09,26.02,26.11,8.20,42.12
$GC,2368,1.07,210.0,3508,2084,1271,1138,91.4,12.8,244,2377,0.00,2.20,0.00,0.000,516,0.000,0.041,3513,684,1204,1271,1138,0,0,0,0,0,0,26.48,26.03,26.48,8.19,41.77
$GC,2410,1.07,210.0,3512,684,1271,1138,86.0,13.0,248,2420,0.00,2.10,0.00,0.000,1030,0.000,0.024,3513,2090,1204,1271,1138,0,0,0,0,0,0,26.22,26.14,26.24,8.19,42.16
$GC,2541,1.07,210.0,3512,2091,1271,1138,70.4,11.9,261,2549,0.00,2.20,0.00,0.000,516,0.000,0.041,3513,688,1204,1271,1138,0,0,0,0,0,0,26.55,26.08,26.55,8.18,41.61
$GC,2615,1.07,210.0,3512,688,1271,1138,61.2,12.6,268,2622,0.00,2.08,0.00,0.000,1030,0.000,0.024,3513,2089,1204,1271,1138,0,0,0,0,0,0,26.29,26.21,26.31,8.18,41.41
$GC,2743,1.07,210.0,3513,2089,1271,1139,46.3,10.3,281,2752,0.00,2.17,0.00,0.000,516,0.000,0.040,3522,694,1205,1272,1138,0,0,0,0,0,0,26.61,26.13,26.62,8.18,41.41
$GC,2807,1.07,210.0,3521,694,1271,1138,39.0,11.8,287,2814,0.00,2.05,0.00,0.000,1030,0.000,0.024,3522,2084,1204,1271,1138,0,0,0,0,0,0,26.33,26.26,26.35,8.17,41.29
$GC,2935,1.07,210.0,3521,2084,1271,1138,26.7,9.5,300,2945,0.00,2.20,0.00,0.000,516,0.000,0.041,3530,684,1204,1271,1138,0,0,0,0,0,0,26.65,26.16,26.66,8.16,41.37
$STATE,3192,end climb,NO_VERTICAL_VELOCITY
$STATE,3192,begin surface
$SM_CCo,3196,105.25,0.527,0,0,374,414.56
$SM_GC,16.93,8.90,2.17,0.00,0.041,0.025,0.000,205,2076,368,-9.15,-1.72,416.27,0,0,0,0,0,0,25.86,25.96,25.95
$IRIDIUM_FIX,4738.72,-12249.11,010318,100806
$TT8_MAMPS,0.026215,0.282373
$HUMID,41.17
$INTERNAL_PRESSURE,8.03967
$TCM_TEMP,9.90
$XPDR_PINGS,9
$ALTIM_TOP_PING,19.8,999.0
$ALTIM_BOTTOM_PING,101.0,86.8
$24V_AH,23.89,53.948
$10V_AH,10.07,19.141
$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,21.300,47.125,297.025,105.250,0.000,0.000,0.000,213.200,3.000,0.000,17.233,880.185,1588.104,524.925,843.961,142.161,0.000,1144.251,0.000,633.569,0.000,10.506,0.000
$DEVICE_MAMPS,223.380,50.490,766.530,527.085,0.000,0.000,0.000,81.855,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,233.967,455.085,459.552,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,24489,344
$CAP_FILE_SIZE,57096,0
$CFSIZE,2097872896,2028863488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.019,289.18,1
$GPS,010318,123135,4737.650,-12256.029,8,1.0,15,16.4,0.0,0.0,8,4.6