version: 66.14
glider: 194
mission: 12
dive: 638
start: 3 1 118 21 43 27
data:
$ID,194
$MISSION,12
$DIVE,638
$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,33
$R_STBD_OVSHOOT,52
$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
$GPS1,010318,213720,4738.3301,-12254.6475,9,0.9,34,16.4,0.3,60.9,9,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,16.85
$_SM_ANGLEo,-69.8
$GPS2,010318,214247,4738.3560,-12254.5811,6,0.9,35,16.4,0.3,59.0,9,5.0
$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,191.6,520,-27.2,-10.000,-30.00,962
$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,-1.25,-63.1,206,2085,356,377,0.0,0.0,0,17,0.00,0.00,-6.07,0.000,16386,0.000,0.000,206,2086,526,516,537,0,0,0,0,0,0,26.41,28.83,26.42,8.06,41.29
$GC,20,-1.25,-63.1,207,2086,516,538,16.9,0.0,1,121,10.30,0.00,-86.35,0.000,18694,0.229,0.000,2744,2083,2323,2366,2281,0,0,0,0,0,0,25.37,24.32,25.69,8.08,41.33
$GC,190,-1.11,-63.1,2743,2083,2366,2281,25.7,-17.0,28,200,0.15,2.15,0.00,0.000,2308,0.197,0.039,2788,3474,2323,2366,2281,0,0,0,0,0,0,25.63,25.83,25.73,8.23,41.21
$GC,226,-1.00,-63.1,2788,3473,2366,2280,31.6,-17.4,31,233,0.15,2.10,0.00,0.000,3078,0.184,0.023,2830,2059,2323,2366,2280,0,0,0,0,0,0,25.60,26.13,25.82,8.23,41.10
$GC,353,-1.00,-63.1,2830,2059,2366,2278,55.7,-16.8,44,355,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2059,2322,2366,2278,0,0,0,0,0,0,26.55,26.56,26.56,8.23,41.73
$GC,473,-1.00,-63.1,2829,2058,2366,2277,74.5,-14.7,56,474,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2059,2321,2366,2277,0,0,0,0,0,0,26.60,26.60,26.60,8.23,41.88
$GC,593,-1.00,-63.1,2830,2059,2366,2276,93.6,-15.9,68,594,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,2058,2321,2366,2276,0,0,0,0,0,0,26.63,26.63,26.64,8.25,42.00
$GC,714,-1.00,-63.1,2830,2058,2366,2275,111.1,-14.3,80,723,0.00,2.10,0.00,0.000,516,0.000,0.039,2830,698,2320,2366,2274,0,0,0,0,0,0,26.63,26.17,26.64,8.25,42.71
$GC,789,-1.00,-63.1,2829,698,2366,2273,122.4,-15.4,87,798,0.00,2.05,0.00,0.000,1030,0.000,0.025,2830,2084,2319,2366,2273,0,0,0,0,0,0,26.29,26.25,26.31,8.25,42.36
$GC,978,-1.00,-63.1,2830,2084,2366,2272,148.6,-12.5,106,987,0.00,2.15,0.00,0.000,260,0.000,0.041,2830,3476,2319,2366,2272,0,0,0,0,0,0,26.70,26.15,26.70,8.26,42.51
$GC,1063,-1.00,-63.1,2830,3476,2366,2273,159.7,-12.8,114,1067,0.00,2.05,0.00,0.000,1030,0.000,0.023,2831,2078,2319,2366,2273,0,0,0,0,0,0,26.39,26.32,26.41,8.26,42.91
$STATE,1133,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1133,begin apogee
$GC,1140,-0.22,0.0,2830,2078,2366,2272,169.2,-13.3,121,1203,0.77,0.00,55.62,0.765,10246,0.152,0.000,3073,2078,2064,2106,2022,0,0,0,0,0,0,25.58,25.32,24.49,8.27,42.12
$STATE,1205,end apogee,CONTROL_FINISHED_OK
$STATE,1205,begin climb
$GC,1207,1.25,63.1,3074,2077,2106,2021,173.7,0.0,128,1275,1.33,2.25,56.00,0.747,10500,0.095,0.035,3526,3476,1806,1855,1757,0,0,0,0,0,0,25.43,24.69,24.18,8.24,41.69
$GC,1350,1.25,63.1,3526,3476,1854,1756,165.0,8.7,142,1359,0.00,2.10,0.00,0.000,1030,0.000,0.021,3537,2088,1805,1854,1756,0,0,0,0,0,0,25.66,25.63,25.68,8.23,41.29
$GC,1541,1.31,63.1,3537,2088,1853,1755,149.5,8.7,161,1550,0.00,2.17,0.00,0.000,2564,0.000,0.038,3548,688,1803,1852,1754,0,0,0,0,0,0,26.30,25.86,26.30,8.23,41.69
$GC,1688,1.31,63.1,3547,687,1851,1754,136.0,9.4,175,1695,0.00,2.10,0.00,0.000,1030,0.000,0.024,3548,2098,1802,1851,1754,0,0,0,0,0,0,26.14,26.07,26.16,8.23,41.77
$GC,1874,1.31,63.1,3547,2099,1851,1753,119.1,9.0,194,1878,0.00,2.12,0.00,0.000,260,0.000,0.037,3548,3475,1802,1851,1753,0,0,0,0,0,0,26.52,26.05,26.53,8.23,42.04
$GC,1946,1.31,63.1,3547,3475,1851,1753,112.5,9.7,201,1956,0.00,2.08,0.00,0.000,1030,0.000,0.022,3559,2079,1801,1851,1752,0,0,0,0,0,0,26.26,26.19,26.28,8.23,41.84
$GC,2136,1.31,63.1,3558,2079,1851,1753,96.3,8.1,220,2146,0.00,2.17,0.00,0.000,516,0.000,0.038,3569,684,1802,1851,1753,0,0,0,0,0,0,26.61,26.13,26.62,8.23,41.80
$GC,2332,1.33,84.3,3568,684,1850,1753,80.5,7.7,239,2360,0.00,2.05,18.73,0.676,9222,0.000,0.024,3569,2085,1720,1770,1670,0,0,0,0,0,0,26.32,26.28,24.84,8.23,41.65
$GC,2481,1.33,84.3,3568,2085,1770,1670,67.8,9.2,254,2490,0.00,2.12,0.00,0.000,260,0.000,0.037,3569,3470,1720,1770,1670,0,0,0,0,0,0,26.48,26.02,26.48,8.22,41.73
$GC,2585,1.33,84.3,3568,3470,1769,1669,57.2,10.5,264,2594,0.00,2.03,0.00,0.000,1030,0.000,0.022,3579,2082,1719,1769,1669,0,0,0,0,0,0,26.21,26.17,26.23,8.21,41.61
$GC,2714,1.33,84.3,3579,2082,1769,1669,44.5,8.6,277,2723,0.00,2.15,0.00,0.000,516,0.000,0.040,3582,697,1719,1770,1669,0,0,0,0,0,0,26.58,26.09,26.60,8.22,41.53
$GC,2947,1.39,151.1,3582,697,1769,1670,31.9,2.9,300,2989,0.00,2.05,36.95,0.603,9222,0.000,0.024,3582,2100,1448,1507,1389,0,0,0,0,0,0,26.31,26.27,24.85,8.21,41.96
$GC,3121,1.51,193.1,3582,2101,1502,1384,21.2,5.5,317,3151,0.10,2.15,21.00,0.533,10500,0.080,0.037,3674,3460,1274,1331,1217,0,0,0,0,0,0,26.15,25.56,24.82,8.18,41.02
$STATE,3329,end climb,NO_VERTICAL_VELOCITY
$STATE,3329,begin surface
$SM_CCo,3333,113.38,0.522,0,0,373,414.56
$SM_GC,16.92,9.32,2.15,0.00,0.042,0.024,0.000,204,2083,369,-9.15,1.47,416.03,0,0,0,0,0,0,25.85,25.95,25.94
$IRIDIUM_FIX,4739.67,-12257.95,010318,202517
$TT8_MAMPS,0.026964,0.292859
$HUMID,41.53
$INTERNAL_PRESSURE,8.03967
$TCM_TEMP,9.80
$XPDR_PINGS,8
$ALTIM_TOP_PING,19.8,999.0
$ALTIM_BOTTOM_PING,151.6,31.6
$24V_AH,24.18,54.765
$10V_AH,10.07,19.408
$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,22.125,42.300,188.300,113.375,0.000,0.000,0.000,204.875,5.750,0.000,36.315,956.466,1656.565,422.225,943.965,148.953,0.000,1058.971,0.000,709.684,0.000,33.931,0.000
$DEVICE_MAMPS,228.735,41.310,765.000,522.495,0.000,0.000,0.000,81.855,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,243.292,470.310,474.890,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312220
$DATA_FILE_SIZE,24483,355
$CAP_FILE_SIZE,60202,0
$CFSIZE,2097872896,2027978752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.016,357.69,1
$GPS,010318,224724,4738.162,-12254.793,9,0.9,17,16.4,0.4,54.7,9,4.6