version: 66.14
glider: 194
mission: 12
dive: 632
start: 3 1 118 14 40 22
data:
$ID,194
$MISSION,12
$DIVE,632
$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,39
$R_STBD_OVSHOOT,72
$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
$GPS1,010318,143420,4737.8164,-12255.6201,5,1.3,42,16.4,0.0,8.0,8,5.0
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,16.79
$_SM_ANGLEo,-69.5
$GPS2,010318,143936,4737.8418,-12255.6143,5,1.4,18,16.4,0.2,277.8,8,5.0
$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,59.2,1137,-17.2,-10.000,-20.80,2286
$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,6,begin dive
$GC,9,-0.90,-150.7,207,2090,354,384,0.0,0.0,0,17,0.00,0.00,-5.70,0.000,16386,0.000,0.000,207,2090,521,510,532,0,0,0,0,0,0,26.40,28.83,26.41,8.07,41.29
$GC,20,-0.90,-150.7,207,2090,510,533,16.9,0.0,1,145,10.68,2.15,-104.62,0.000,18692,0.226,0.054,2856,3453,2681,2734,2629,0,0,0,0,0,0,25.41,25.39,25.71,8.08,41.14
$GC,308,-0.77,-150.7,2855,3454,2733,2629,48.0,-18.3,39,315,0.15,2.05,0.00,0.000,3078,0.157,0.024,2902,2072,2681,2734,2629,0,0,0,0,0,0,25.73,26.16,25.91,8.26,41.80
$GC,435,-0.70,-150.7,2901,2071,2733,2629,69.0,-16.4,52,443,0.00,2.12,0.00,0.000,516,0.000,0.040,2902,690,2681,2734,2628,0,0,0,0,0,0,26.58,26.10,26.58,8.27,41.84
$GC,470,-0.62,-150.7,2901,690,2734,2628,74.4,-16.2,55,477,0.15,2.05,0.00,0.000,3078,0.157,0.024,2949,2060,2681,2734,2628,0,0,0,0,0,0,25.78,26.18,25.96,8.27,41.57
$GC,597,-0.62,-150.7,2948,2060,2733,2628,92.2,-13.2,68,605,0.00,2.17,0.00,0.000,260,0.000,0.041,2949,3478,2681,2734,2628,0,0,0,0,0,0,26.62,26.08,26.63,8.28,41.65
$GC,661,-0.62,-150.7,2948,3477,2733,2628,99.2,-11.0,74,671,0.00,2.08,0.00,0.000,1030,0.000,0.022,2949,2075,2680,2733,2628,0,0,0,0,0,0,26.33,26.26,26.35,8.28,42.20
$GC,789,-0.62,-150.7,2948,2074,2734,2628,113.4,-10.8,87,794,0.00,2.15,0.00,0.000,516,0.000,0.039,2949,688,2680,2733,2627,0,0,0,0,0,0,26.66,26.16,26.67,8.29,42.36
$GC,864,-0.62,-150.7,2948,688,2733,2628,121.3,-10.8,94,871,0.00,2.10,0.00,0.000,1030,0.000,0.025,2949,2102,2680,2734,2627,0,0,0,0,0,0,26.34,26.25,26.36,8.29,41.73
$GC,1052,-0.62,-150.7,2948,2102,2734,2627,142.3,-11.1,113,1061,0.00,2.10,0.00,0.000,260,0.000,0.041,2949,3472,2680,2733,2627,0,0,0,0,0,0,26.70,26.15,26.71,8.29,42.51
$GC,1087,-0.62,-150.7,2948,3472,2734,2627,145.7,-11.0,116,1094,0.00,2.05,0.00,0.000,1030,0.000,0.023,2949,2077,2680,2734,2627,0,0,0,0,0,0,26.39,26.32,26.42,8.30,42.55
$GC,1274,-0.62,-150.7,2948,2076,2734,2627,167.2,-11.2,135,1278,0.00,2.15,0.00,0.000,516,0.000,0.038,2949,689,2680,2734,2627,0,0,0,0,0,0,26.72,26.22,26.74,8.30,42.12
$STATE,1314,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1314,begin apogee
$GC,1323,-0.22,0.0,2949,2091,2734,2627,172.4,-12.1,139,1456,0.35,0.00,126.85,0.764,10246,0.125,0.000,3074,2091,2064,2107,2021,0,0,0,0,0,0,25.86,24.87,24.12,8.30,41.73
$STATE,1457,end apogee,CONTROL_FINISHED_OK
$STATE,1457,begin climb
$GC,1460,0.90,150.7,3073,2092,2107,2021,180.3,0.0,153,1597,1.02,2.33,126.53,0.737,10756,0.096,0.040,3414,687,1448,1514,1383,0,0,0,0,0,0,25.01,24.62,23.87,8.25,40.62
$GC,1633,1.06,229.6,3414,687,1514,1382,172.8,6.5,170,1704,0.15,2.17,64.62,0.716,11270,0.063,0.023,3503,2098,1128,1188,1068,0,0,0,0,0,0,25.18,25.19,23.92,8.22,39.95
$GC,1885,1.06,229.6,3502,2098,1187,1066,142.2,13.5,195,1894,0.00,2.22,0.00,0.000,516,0.000,0.041,3509,695,1126,1187,1066,0,0,0,0,0,0,26.07,25.67,26.07,8.19,41.10
$GC,1957,1.06,229.6,3509,696,1187,1066,131.9,14.1,202,1962,0.00,2.10,0.00,0.000,1030,0.000,0.024,3509,2084,1126,1187,1066,0,0,0,0,0,0,25.94,25.88,25.96,8.19,40.66
$GC,2150,1.06,229.6,3509,2085,1187,1066,106.0,12.8,221,2154,0.00,2.22,0.00,0.000,516,0.000,0.041,3513,684,1126,1187,1066,0,0,0,0,0,0,26.39,25.95,26.40,8.19,41.80
$GC,2214,1.06,229.6,3512,684,1187,1067,97.8,13.2,227,2218,0.00,2.10,0.00,0.000,1030,0.000,0.024,3513,2088,1126,1187,1066,0,0,0,0,0,0,26.16,26.09,26.18,8.19,41.10
$GC,2346,1.06,229.6,3512,2088,1187,1067,80.6,12.8,240,2355,0.00,2.20,0.00,0.000,516,0.000,0.041,3522,687,1127,1187,1067,0,0,0,0,0,0,26.51,26.05,26.51,8.18,41.84
$GC,2391,1.06,229.6,3521,687,1187,1066,75.1,13.3,244,2398,0.00,2.08,0.00,0.000,1030,0.000,0.024,3522,2086,1126,1187,1066,0,0,0,0,0,0,26.24,26.17,26.26,8.18,41.25
$GC,2518,1.06,229.6,3522,2085,1187,1066,58.3,12.2,257,2523,0.10,2.20,0.00,0.000,4612,0.152,0.040,3495,693,1126,1186,1067,0,0,0,0,0,0,26.08,26.09,26.12,8.17,41.69
$GC,2602,1.06,229.6,3494,693,1187,1067,48.2,12.1,265,2606,0.00,2.08,0.00,0.000,1030,0.000,0.024,3495,2086,1127,1187,1067,0,0,0,0,0,0,26.30,26.23,26.32,8.17,40.94
$GC,2734,1.06,229.6,3494,2086,1187,1067,33.9,10.0,278,2738,0.00,2.17,0.00,0.000,516,0.000,0.041,3497,692,1127,1187,1067,0,0,0,0,0,0,26.63,26.14,26.63,8.17,41.69
$GC,2819,1.06,229.6,3496,693,1187,1067,26.3,8.9,286,2826,0.00,2.05,0.00,0.000,1030,0.000,0.024,3497,2086,1127,1187,1067,0,0,0,0,0,0,26.35,26.28,26.37,8.16,41.06
$GC,2947,1.20,368.2,3496,2086,1187,1067,17.9,3.8,303,3027,0.05,2.17,71.20,0.529,10500,0.143,0.036,3567,3467,561,582,540,0,0,0,0,0,0,26.46,25.15,24.75,8.15,41.25
$STATE,3130,end climb,NO_VERTICAL_VELOCITY
$STATE,3130,begin surface
$SM_CCo,3133,24.10,0.507,0,0,373,414.56
$SM_GC,16.91,8.98,2.15,0.00,0.041,0.024,0.000,205,2071,369,-9.15,1.50,416.03,0,0,0,0,0,0,25.92,26.00,26.01
$IRIDIUM_FIX,4737.86,-12251.79,010318,132412
$TT8_MAMPS,0.026215,0.28462
$HUMID,41.69
$INTERNAL_PRESSURE,8.0299
$TCM_TEMP,9.90
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.5,999.0
$ALTIM_BOTTOM_PING,100.2,86.1
$24V_AH,23.87,54.217
$10V_AH,10.07,19.223
$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,21.625,55.575,389.200,24.100,0.000,0.000,0.000,211.575,1.750,0.000,19.312,838.952,1485.505,516.726,850.545,140.831,0.000,1150.346,0.000,640.065,0.000,10.495,0.000
$DEVICE_MAMPS,225.675,54.315,764.235,507.195,0.000,0.000,0.000,82.620,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,226.876,443.869,448.263,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312180
$DATA_FILE_SIZE,24610,336
$CAP_FILE_SIZE,57390,0
$CFSIZE,2097872896,2028568576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.164,47.51,1
$GPS,010318,153928,4738.104,-12254.645,4,1.0,17,16.4,0.0,0.0,11,4.8