version: 66.14
glider: 194
mission: 12
dive: 640
start: 3 2 118 0 8 28
data:
$ID,194
$MISSION,12
$DIVE,640
$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,61
$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
$GPS1,020318,000201,4738.0918,-12255.2217,9,0.9,34,16.4,0.0,55.7,9,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,16.90
$_SM_ANGLEo,-71.8
$GPS2,020318,000750,4738.1187,-12255.1699,5,0.9,17,16.4,0.0,3.8,9,3.9
$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,211.5,1619,-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,-244.4,212,2092,374,364,0.0,0.0,0,17,0.00,0.00,-6.30,0.000,16386,0.000,0.000,211,2093,535,532,538,0,0,0,0,0,0,26.41,28.83,26.41,8.07,40.94
$GC,20,-0.81,-244.4,212,2093,531,538,17.0,0.0,1,145,10.93,2.22,-107.32,0.000,18692,0.230,0.054,2889,3469,3063,3141,2986,0,0,0,0,0,0,25.39,23.95,25.70,8.08,41.29
$GC,176,-0.62,-244.4,2889,3469,3142,2987,26.0,-15.7,25,185,0.20,2.08,0.00,0.000,3078,0.145,0.023,2953,2069,3065,3142,2988,0,0,0,0,0,0,25.59,26.10,25.70,8.30,41.29
$GC,306,-0.55,-244.4,2952,2068,3142,2987,47.1,-15.1,38,311,0.00,2.15,0.00,0.000,516,0.000,0.039,2953,694,3064,3142,2987,0,0,0,0,0,0,26.53,26.03,26.54,8.29,41.37
$GC,379,-0.49,-244.4,2952,694,3142,2987,57.8,-14.0,45,389,0.10,2.05,0.00,0.000,3078,0.141,0.025,2988,2062,3064,3141,2987,0,0,0,0,0,0,25.84,26.14,25.91,8.30,41.53
$GC,509,-0.49,-244.4,2987,2061,3142,2987,72.9,-11.4,58,514,0.00,2.22,0.00,0.000,260,0.000,0.042,2988,3482,3064,3142,2987,0,0,0,0,0,0,26.60,26.05,26.61,8.30,41.92
$GC,575,-0.49,-244.4,2987,3482,3142,2987,79.1,-9.6,64,582,0.00,2.08,0.00,0.000,1030,0.000,0.022,2988,2081,3064,3142,2987,0,0,0,0,0,0,26.31,26.25,26.34,8.31,42.59
$GC,702,-0.49,-244.4,2987,2081,3142,2987,92.7,-10.2,77,711,0.00,2.15,0.00,0.000,516,0.000,0.039,2988,676,3064,3142,2987,0,0,0,0,0,0,26.65,26.13,26.65,8.31,41.88
$GC,777,-0.49,-244.4,2987,676,3142,2987,100.5,-10.9,84,782,0.00,2.15,0.00,0.000,1030,0.000,0.025,2988,2094,3064,3142,2987,0,0,0,0,0,0,26.32,26.24,26.36,8.31,42.08
$GC,970,-0.49,-244.4,2987,2094,3142,2987,121.0,-10.6,103,974,0.00,2.15,0.00,0.000,260,0.000,0.041,2989,3478,3064,3142,2987,0,0,0,0,0,0,26.70,26.13,26.70,8.32,42.16
$GC,1025,-0.49,-244.4,2987,3477,3141,2987,126.3,-9.9,108,1032,0.00,2.08,0.00,0.000,1030,0.000,0.023,2988,2073,3064,3142,2987,0,0,0,0,0,0,26.39,26.32,26.41,8.32,42.55
$GC,1213,-0.49,-244.4,2988,2072,3142,2987,144.8,-10.0,127,1217,0.00,2.12,0.00,0.000,516,0.000,0.038,2988,688,3064,3142,2987,0,0,0,0,0,0,26.72,26.20,26.73,8.33,42.04
$GC,1248,-0.49,-244.4,2987,688,3142,2987,148.0,-9.6,130,1255,0.00,2.08,0.00,0.000,1030,0.000,0.024,2988,2086,3064,3142,2987,0,0,0,0,0,0,26.38,26.29,26.40,8.33,42.08
$GC,1435,-0.49,-244.4,2988,2086,3141,2987,165.6,-9.6,149,1439,0.00,2.15,0.00,0.000,260,0.000,0.041,2988,3480,3064,3142,2987,0,0,0,0,0,0,26.74,26.16,26.76,8.33,42.12
$GC,1481,-0.49,-244.4,2987,3480,3141,2987,169.6,-9.4,153,1488,0.00,2.08,0.00,0.000,1030,0.000,0.022,2988,2070,3064,3142,2986,0,0,0,0,0,0,26.43,26.36,26.45,8.33,42.28
$STATE,1495,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1495,begin apogee
$GC,1502,-0.22,0.0,2988,2069,3142,2987,171.5,-9.3,155,1707,0.22,0.00,199.93,0.755,10246,0.117,0.000,3076,2069,2064,2114,2015,0,0,0,0,0,0,26.03,24.68,23.94,8.33,42.43
$STATE,1709,end apogee,CONTROL_FINISHED_OK
$STATE,1709,begin climb
$GC,1713,0.81,244.4,3075,2068,2114,2015,182.5,0.0,176,1921,0.95,0.00,201.30,0.726,10502,0.095,0.000,3391,2068,1068,1132,1004,0,0,0,0,0,0,24.84,24.34,23.66,8.25,40.39
$GC,2102,0.97,340.1,3391,2068,1131,1002,160.1,7.3,215,2189,0.12,2.25,79.18,0.709,10756,0.070,0.040,3477,694,677,729,626,0,0,0,0,0,0,25.73,24.59,24.09,8.18,40.62
$GC,2305,0.97,340.1,3477,694,728,626,136.1,12.6,235,2312,0.00,2.12,0.00,0.000,1030,0.000,0.024,3478,2097,677,728,627,0,0,0,0,0,0,25.76,25.69,25.78,8.15,41.33
$GC,2493,0.97,340.1,3477,2097,728,626,111.9,12.7,254,2502,0.00,2.22,0.00,0.000,516,0.000,0.041,3478,690,677,728,626,0,0,0,0,0,0,26.30,25.88,26.31,8.15,40.86
$GC,2585,0.97,340.1,3477,689,728,626,100.5,12.2,263,2595,0.00,2.10,0.00,0.000,1030,0.000,0.024,3478,2091,677,728,626,0,0,0,0,0,0,26.12,26.05,26.14,8.15,41.41
$GC,2775,0.97,340.1,3477,2091,728,626,78.4,11.8,282,2785,0.00,2.22,0.00,0.000,516,0.000,0.041,3478,683,677,728,626,0,0,0,0,0,0,26.50,26.04,26.51,8.14,41.21
$GC,2871,0.97,340.1,3478,683,727,626,67.8,11.1,291,2878,0.00,2.08,0.00,0.000,1030,0.000,0.024,3478,2079,677,728,626,0,0,0,0,0,0,26.26,26.18,26.28,8.14,41.25
$GC,2999,0.97,340.1,3477,2080,728,626,53.5,11.2,304,3000,0.00,0.00,0.00,0.000,6,0.000,0.000,3478,2080,677,728,626,0,0,0,0,0,0,26.58,26.58,26.59,8.13,40.86
$GC,3118,0.97,340.1,3477,2080,728,626,40.3,10.1,316,3128,0.00,2.20,0.00,0.000,516,0.000,0.041,3478,674,676,727,626,0,0,0,0,0,0,26.61,26.13,26.62,8.13,41.77
$GC,3224,0.97,340.1,3477,674,728,626,30.3,9.0,326,3232,0.00,2.10,0.00,0.000,1030,0.000,0.024,3478,2098,677,728,626,0,0,0,0,0,0,26.34,26.27,26.36,8.12,41.77
$GC,3353,1.10,415.4,3477,2098,727,626,18.5,7.9,340,3402,0.00,2.15,39.30,0.526,8452,0.000,0.035,3478,3463,371,377,366,0,0,0,0,0,0,26.66,25.64,24.91,8.11,41.77
$STATE,3529,end climb,NO_VERTICAL_VELOCITY
$STATE,3529,begin surface
$SM_CCo,3859,0.00,0.000,0,0,369,416.03
$SM_GC,16.98,8.73,2.12,0.00,0.044,0.023,0.000,213,2089,369,-9.13,1.55,416.03,0,0,0,0,0,0,26.04,26.19,26.13
$IRIDIUM_FIX,4738.33,-12256.21,010318,224900
$TT8_MAMPS,0.026215,0.280875
$HUMID,42.00
$INTERNAL_PRESSURE,8.03967
$TCM_TEMP,9.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,999.0
$ALTIM_BOTTOM_PING,100.5,85.8
$24V_AH,23.66,54.986
$10V_AH,10.07,19.471
$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,21.250,51.325,519.700,0.000,0.000,0.000,0.000,243.125,0.750,0.000,19.143,889.661,1642.517,580.147,968.250,146.941,0.000,1314.101,0.000,721.953,0.000,10.498,0.000
$DEVICE_MAMPS,230.265,53.550,755.055,0.000,0.000,0.000,0.000,80.325,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,251.459,492.604,497.479,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312200
$DATA_FILE_SIZE,27963,373
$CAP_FILE_SIZE,60016,0
$CFSIZE,2097872896,2027782144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.072,58.11,1
$GPS,020318,011344,4737.957,-12255.561,8,1.0,17,16.4,0.0,125.1,8,4.7