version: 66.14
glider: 194
mission: 12
dive: 636
start: 3 1 118 19 20 47
data:
$ID,194
$MISSION,12
$DIVE,636
$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
$GPS1,010318,191502,4738.7124,-12253.6260,9,0.9,40,16.4,0.3,68.4,9,3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,16.83
$_SM_ANGLEo,-69.8
$GPS2,010318,192011,4738.7358,-12253.5586,8,0.8,15,16.4,0.0,0.0,10,4.8
$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,217.1,1926,-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,6,begin dive
$GC,9,-0.81,-244.4,210,2088,363,371,0.0,0.0,0,17,0.00,0.00,-5.70,0.000,16386,0.000,0.000,209,2088,518,513,523,0,0,0,0,0,0,26.42,28.83,26.43,8.06,40.78
$GC,20,-0.81,-244.4,210,2088,513,523,16.9,0.0,1,157,10.77,0.00,-122.35,0.000,18950,0.225,0.000,2888,2088,3062,3139,2986,0,0,0,0,0,0,25.41,24.32,25.71,8.08,41.21
$GC,226,-0.62,-244.4,2888,2088,3139,2987,28.6,-17.4,32,228,0.20,0.00,0.00,0.000,2054,0.156,0.000,2950,2088,3063,3140,2987,0,0,0,0,0,0,25.70,25.97,25.89,8.29,41.29
$GC,346,-0.55,-244.4,2949,2088,3140,2987,47.9,-14.8,44,356,0.00,2.15,0.00,0.000,260,0.000,0.043,2950,3469,3063,3140,2987,0,0,0,0,0,0,26.55,26.00,26.56,8.29,42.00
$GC,400,-0.55,-244.4,2949,3469,3140,2987,55.0,-13.4,49,408,0.00,2.05,0.00,0.000,1030,0.000,0.024,2950,2088,3063,3139,2987,0,0,0,0,0,0,26.22,26.20,26.25,8.29,41.29
$GC,530,-0.49,-244.4,2949,2088,3140,2987,72.8,-13.1,62,539,0.10,2.15,0.00,0.000,2564,0.159,0.037,2987,684,3063,3140,2987,0,0,0,0,0,0,26.08,26.10,26.13,8.30,42.20
$GC,573,-0.49,-244.4,2987,685,3140,2987,77.9,-11.6,66,583,0.00,2.10,0.00,0.000,1030,0.000,0.026,2987,2083,3063,3140,2987,0,0,0,0,0,0,26.27,26.18,26.30,8.30,41.77
$GC,703,-0.49,-244.4,2987,2084,3140,2987,91.8,-10.6,79,712,0.00,2.15,0.00,0.000,260,0.000,0.041,2987,3470,3063,3139,2987,0,0,0,0,0,0,26.65,26.09,26.66,8.31,42.12
$GC,755,-0.49,-244.4,2987,3471,3140,2987,97.0,-10.1,84,759,0.00,2.08,0.00,0.000,1030,0.000,0.023,2987,2064,3063,3140,2987,0,0,0,0,0,0,26.34,26.28,26.37,8.31,42.67
$GC,888,-0.49,-244.4,2987,2063,3140,2987,110.8,-10.3,97,896,0.00,2.12,0.00,0.000,516,0.000,0.039,2987,687,3063,3139,2987,0,0,0,0,0,0,26.68,26.17,26.70,8.31,42.47
$GC,940,-0.49,-244.4,2987,687,3140,2987,116.3,-10.5,102,943,0.00,2.08,0.00,0.000,1030,0.000,0.025,2987,2088,3063,3140,2987,0,0,0,0,0,0,26.34,26.25,26.36,8.31,42.47
$GC,1132,-0.49,-244.4,2987,2088,3140,2987,135.0,-10.1,121,1135,0.00,2.15,0.00,0.000,260,0.000,0.041,2987,3480,3063,3140,2987,0,0,0,0,0,0,26.72,26.14,26.72,8.32,42.59
$GC,1176,-0.49,-244.4,2987,3480,3140,2987,138.9,-9.3,125,1184,0.00,2.08,0.00,0.000,1030,0.000,0.023,2987,2073,3063,3140,2987,0,0,0,0,0,0,26.40,26.34,26.43,8.32,42.83
$GC,1364,-0.49,-244.4,2987,2073,3140,2987,157.2,-10.0,144,1373,0.00,2.15,0.00,0.000,516,0.000,0.039,2987,687,3063,3140,2987,0,0,0,0,0,0,26.74,26.22,26.74,8.33,42.47
$GC,1390,-0.49,-244.4,2986,687,3140,2987,159.4,-9.8,146,1398,0.00,2.08,0.00,0.000,1030,0.000,0.024,2987,2087,3063,3140,2987,0,0,0,0,0,0,26.39,26.31,26.42,8.33,42.87
$STATE,1504,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1504,begin apogee
$GC,1510,-0.22,0.0,2987,2087,3140,2987,171.1,-9.7,158,1717,0.25,0.00,199.50,0.754,10246,0.115,0.000,3082,2087,2064,2114,2015,0,0,0,0,0,0,26.01,24.68,23.96,8.33,42.12
$STATE,1718,end apogee,CONTROL_FINISHED_OK
$STATE,1718,begin climb
$GC,1722,0.81,244.4,3082,2087,2113,2014,172.2,0.0,179,1933,0.85,2.30,200.98,0.721,11012,0.060,0.037,3394,3476,1066,1130,1003,0,0,0,0,0,0,24.94,24.40,23.68,8.25,40.43
$GC,1976,0.98,320.8,3394,3476,1130,1003,159.8,7.9,204,2051,0.15,2.17,64.15,0.698,11270,0.058,0.021,3485,2076,756,806,706,0,0,0,0,0,0,25.05,25.06,23.84,8.19,39.91
$GC,2231,0.98,320.8,3485,2076,805,706,128.4,12.4,230,2240,0.00,2.22,0.00,0.000,516,0.000,0.041,3485,682,755,805,705,0,0,0,0,0,0,26.04,25.65,26.05,8.15,40.35
$GC,2416,0.98,320.8,3485,683,804,705,106.4,12.4,248,2423,0.00,2.12,0.00,0.000,1030,0.000,0.024,3486,2099,754,803,705,0,0,0,0,0,0,26.06,25.98,26.08,8.15,40.98
$GC,2603,0.98,320.8,3485,2099,804,705,83.1,11.3,267,2607,0.00,2.22,0.00,0.000,516,0.000,0.041,3486,689,754,804,705,0,0,0,0,0,0,26.45,26.00,26.46,8.15,41.65
$GC,2647,0.98,320.8,3485,688,804,706,78.3,11.2,271,2655,0.00,2.08,0.00,0.000,1030,0.000,0.024,3485,2083,754,804,705,0,0,0,0,0,0,26.16,26.13,26.19,8.14,41.69
$GC,2775,0.98,320.8,3485,2083,804,705,63.9,10.7,284,2780,0.00,2.20,0.00,0.000,516,0.000,0.041,3485,689,755,804,706,0,0,0,0,0,0,26.53,26.07,26.53,8.14,41.88
$GC,2848,0.98,320.8,3485,689,804,706,55.6,11.8,291,2857,0.00,2.08,0.00,0.000,1030,0.000,0.024,3485,2083,755,804,706,0,0,0,0,0,0,26.27,26.20,26.29,8.14,41.49
$GC,2978,0.98,320.8,3485,2083,803,706,39.4,12.5,304,2983,0.00,2.20,0.00,0.000,516,0.000,0.041,3485,687,754,804,705,0,0,0,0,0,0,26.60,26.11,26.60,8.13,41.02
$GC,3021,0.98,320.8,3485,687,804,705,34.9,10.5,308,3025,0.00,2.08,0.00,0.000,1030,0.000,0.024,3485,2087,754,803,705,0,0,0,0,0,0,26.32,26.25,26.34,8.13,41.88
$GC,3154,0.98,320.8,3485,2087,803,705,22.6,9.1,321,3163,0.00,2.17,0.00,0.000,516,0.000,0.042,3485,690,754,804,705,0,0,0,0,0,0,26.64,26.14,26.65,8.12,41.37
$GC,3322,1.53,666.8,3485,691,803,705,16.0,0.4,351,3377,0.35,2.05,48.40,0.529,11266,0.051,0.024,3636,2098,378,376,381,0,0,0,0,0,0,26.26,26.32,26.34,8.11,41.69
$STATE,3378,end climb,NO_VERTICAL_VELOCITY
$STATE,3378,begin surface
$SM_CCo,3382,0.47,0.089,0,0,373,414.56
$SM_GC,17.07,9.18,0.00,0.00,0.042,0.000,0.000,209,2098,371,-9.14,0.42,415.54,0,0,0,0,0,0,25.96,26.46,26.06
$IRIDIUM_FIX,4738.72,-12249.11,010318,175716
$TT8_MAMPS,0.026215,0.276381
$HUMID,41.53
$INTERNAL_PRESSURE,8.03967
$TCM_TEMP,9.80
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.5,999.0
$ALTIM_BOTTOM_PING,100.2,85.6
$24V_AH,23.68,54.603
$10V_AH,10.07,19.346
$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,21.850,51.225,513.025,0.475,0.000,0.000,0.000,206.375,1.750,0.000,16.905,852.909,1550.712,594.051,890.169,151.089,0.000,1277.988,0.000,684.407,0.000,10.481,0.000
$DEVICE_MAMPS,224.910,42.840,754.290,88.740,0.000,0.000,0.000,83.385,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,241.990,475.185,479.899,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312136
$DATA_FILE_SIZE,24530,360
$CAP_FILE_SIZE,59560,0
$CFSIZE,2097872896,2028175360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.026,76.58,1
$GPS,010318,202342,4738.587,-12254.063,5,0.9,21,16.4,0.2,62.5,9,5.0