version: 66.14
glider: 194
mission: 12
dive: 631
start: 3 1 118 13 27 53
data:
$ID,194
$MISSION,12
$DIVE,631
$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
$GPS1,010318,132241,4737.5786,-12256.2998,8,0.8,16,16.4,0.2,97.4,10,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,16.78
$_SM_ANGLEo,-69.7
$GPS2,010318,132713,4737.5859,-12256.2803,5,0.9,18,16.4,0.0,0.0,9,4.7
$SPEED_LIMITS,0.173,0.325
$TGT_NAME,NW2N
$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,47.5,2093,-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,8,-0.81,-244.4,208,2087,340,397,0.0,0.0,0,17,0.00,0.00,-6.40,0.000,16386,0.000,0.000,208,2087,539,513,566,0,0,0,0,0,0,26.37,28.83,26.38,8.06,41.14
$GC,20,-0.81,-244.4,208,2087,513,566,16.8,0.0,1,152,10.80,2.25,-114.55,0.000,18692,0.226,0.054,2885,3480,3063,3132,2995,0,0,0,0,0,0,25.40,23.99,25.70,8.08,41.02
$GC,338,-0.68,-244.4,2884,3481,3133,2996,53.2,-17.4,42,348,0.12,2.08,0.00,0.000,3078,0.139,0.024,2927,2082,3063,3131,2996,0,0,0,0,0,0,25.79,26.16,25.88,8.29,41.73
$GC,467,-0.59,-244.4,2926,2082,3132,2996,73.7,-15.5,55,472,0.10,2.20,0.00,0.000,2564,0.163,0.038,2963,679,3064,3132,2996,0,0,0,0,0,0,26.04,26.08,26.09,8.30,41.45
$GC,503,-0.53,-244.4,2962,679,3132,2996,78.7,-14.9,58,510,0.00,2.10,0.00,0.000,1030,0.000,0.026,2963,2084,3064,3132,2996,0,0,0,0,0,0,26.25,26.16,26.28,8.31,41.61
$GC,630,-0.53,-244.4,2962,2084,3132,2997,95.4,-12.5,71,634,0.00,2.15,0.00,0.000,260,0.000,0.042,2962,3473,3064,3132,2996,0,0,0,0,0,0,26.62,26.08,26.63,8.31,42.12
$GC,687,-0.53,-244.4,2962,3473,3132,2996,102.0,-11.5,76,695,0.00,2.08,0.00,0.000,1030,0.000,0.023,2963,2079,3064,3132,2996,0,0,0,0,0,0,26.32,26.26,26.35,8.31,42.04
$GC,877,-0.53,-244.4,2962,2078,3132,2996,125.0,-11.5,95,885,0.00,2.12,0.00,0.000,516,0.000,0.040,2963,690,3064,3132,2996,0,0,0,0,0,0,26.67,26.17,26.67,8.32,42.12
$GC,952,-0.53,-244.4,2962,690,3132,2996,133.5,-12.1,102,958,0.00,2.08,0.00,0.000,1030,0.000,0.025,2963,2086,3064,3132,2997,0,0,0,0,0,0,26.34,26.26,26.37,8.32,42.59
$GC,1139,-0.53,-244.4,2962,2086,3132,2996,156.5,-11.5,121,1143,0.00,2.15,0.00,0.000,260,0.000,0.041,2963,3472,3064,3133,2996,0,0,0,0,0,0,26.71,26.15,26.72,8.33,42.67
$GC,1174,-0.53,-244.4,2962,3472,3132,2996,160.3,-11.2,124,1181,0.00,2.05,0.00,0.000,1030,0.000,0.023,2963,2079,3064,3132,2996,0,0,0,0,0,0,26.40,26.33,26.42,8.33,42.67
$STATE,1269,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1270,begin apogee
$GC,1276,-0.22,0.0,2962,2079,3132,2996,171.7,-11.9,134,1481,0.30,0.00,198.82,0.756,10246,0.119,0.000,3075,2079,2063,2107,2020,0,0,0,0,0,0,25.92,24.68,23.95,8.33,42.36
$STATE,1482,end apogee,CONTROL_FINISHED_OK
$STATE,1482,begin climb
$GC,1485,0.81,244.4,3074,2079,2107,2020,183.4,0.0,155,1696,0.93,2.30,201.77,0.728,10500,0.080,0.034,3392,3473,1066,1126,1006,0,0,0,0,0,0,24.85,24.13,23.65,8.26,40.70
$GC,1761,0.87,244.4,3391,3473,1126,1007,168.3,8.6,182,1767,0.05,2.17,0.00,0.000,3078,0.132,0.022,3445,2091,1066,1126,1007,0,0,0,0,0,0,25.11,25.19,25.20,8.19,39.60
$GC,1957,0.87,244.4,3446,2090,1126,1006,149.5,9.7,201,1962,0.00,2.25,0.00,0.000,516,0.000,0.041,3446,669,1066,1126,1006,0,0,0,0,0,0,26.13,25.73,26.15,8.18,41.10
$GC,2113,0.87,244.4,3445,669,1125,1006,133.6,10.4,216,2120,0.00,2.12,0.00,0.000,1030,0.000,0.024,3446,2089,1065,1125,1006,0,0,0,0,0,0,26.07,26.00,26.09,8.18,41.37
$GC,2300,0.87,244.4,3446,2089,1126,1006,114.1,9.9,235,2309,0.00,2.22,0.00,0.000,516,0.000,0.041,3446,673,1066,1126,1006,0,0,0,0,0,0,26.46,26.02,26.46,8.18,41.53
$GC,2382,0.87,244.4,3446,673,1126,1006,105.3,10.9,243,2391,0.00,2.10,0.00,0.000,1030,0.000,0.024,3446,2082,1066,1126,1006,0,0,0,0,0,0,26.22,26.15,26.25,8.18,41.57
$GC,2572,0.87,244.4,3446,2081,1126,1006,87.2,9.1,262,2581,0.00,2.20,0.00,0.000,516,0.000,0.041,3446,677,1066,1126,1006,0,0,0,0,0,0,26.57,26.10,26.58,8.18,41.80
$GC,2644,0.87,244.4,3446,677,1125,1006,81.1,8.5,269,2648,0.00,2.10,0.00,0.000,1030,0.000,0.024,3446,2086,1066,1126,1006,0,0,0,0,0,0,26.30,26.23,26.33,8.17,41.17
$GC,2776,0.87,244.4,3446,2086,1125,1006,69.3,8.6,282,2785,0.00,2.22,0.00,0.000,516,0.000,0.041,3445,662,1066,1126,1006,0,0,0,0,0,0,26.63,26.15,26.63,8.17,41.33
$GC,2818,0.87,244.4,3446,662,1126,1007,65.5,8.9,286,2827,0.00,2.12,0.00,0.000,1030,0.000,0.024,3446,2089,1066,1126,1006,0,0,0,0,0,0,26.34,26.27,26.36,8.17,41.37
$GC,2948,0.87,244.4,3446,2089,1125,1006,53.5,9.3,299,2953,0.00,2.12,0.00,0.000,260,0.000,0.037,3446,3469,1066,1126,1007,0,0,0,0,0,0,26.66,26.17,26.66,8.16,41.25
$GC,2964,0.87,244.4,3446,3469,1125,1007,52.4,9.2,300,2971,0.00,2.08,0.00,0.000,1030,0.000,0.023,3447,2075,1066,1126,1006,0,0,0,0,0,0,26.37,26.30,26.39,8.17,41.06
$GC,3091,0.87,244.4,3447,2075,1126,1006,40.5,8.4,313,3096,0.00,2.20,0.00,0.000,516,0.000,0.041,3448,670,1066,1126,1007,0,0,0,0,0,0,26.68,26.18,26.68,8.16,41.41
$GC,3259,0.99,367.9,3447,671,1126,1007,28.2,6.6,329,3335,0.00,2.08,66.80,0.579,9222,0.000,0.024,3447,2090,562,583,542,0,0,0,0,0,0,26.41,26.34,24.73,8.15,41.77
$GC,3459,1.57,718.2,3447,2090,583,539,15.9,0.3,356,3490,0.47,2.28,23.67,0.508,10756,0.061,0.041,3635,676,373,359,388,0,0,0,0,0,0,25.80,25.16,24.74,8.10,40.86
$STATE,3573,end climb,NO_VERTICAL_VELOCITY
$STATE,3573,begin surface
$SM_CCo,3904,0.00,0.000,0,0,370,415.78
$SM_GC,16.91,9.12,2.15,0.00,0.040,0.023,0.000,208,2087,370,-9.14,-2.01,415.78,0,0,0,0,0,0,25.98,26.11,26.07
$IRIDIUM_FIX,4736.87,-12256.21,010318,123310
$TT8_MAMPS,0.026215,0.275632
$HUMID,41.61
$INTERNAL_PRESSURE,8.0299
$TCM_TEMP,9.90
$XPDR_PINGS,7
$ALTIM_TOP_PING,19.5,999.0
$ALTIM_BOTTOM_PING,100.4,86.0
$24V_AH,23.65,54.131
$10V_AH,10.09,19.194
$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,21.900,55.975,491.075,0.000,0.000,0.000,0.000,175.125,2.500,0.000,19.787,917.803,1636.744,563.472,940.076,145.162,0.000,1239.569,0.000,754.588,0.000,10.487,0.000
$DEVICE_MAMPS,226.440,54.315,755.820,0.000,0.000,0.000,0.000,78.795,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,254.558,498.118,503.047,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312152
$DATA_FILE_SIZE,27976,377
$CAP_FILE_SIZE,60417,0
$CFSIZE,2097872896,2028666880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.081,19.12,1
$GPS,010318,143420,4737.816,-12255.620,5,1.3,42,16.4,0.0,8.0,8,5.0