version: 66.14
glider: 194
mission: 12
dive: 641
start: 3 2 118 1 19 57
data:
$ID,194
$MISSION,12
$DIVE,641
$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,43
$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
$GPS1,020318,011344,4737.9570,-12255.5605,8,1.0,17,16.4,0.0,125.1,8,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,16.93
$_SM_ANGLEo,-71.0
$GPS2,020318,011919,4737.9868,-12255.4912,5,1.0,18,16.4,0.0,0.0,8,4.7
$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,214.6,1155,-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,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,9,-0.81,-244.4,212,2087,374,363,0.0,0.0,0,17,0.00,0.00,-5.55,0.000,16386,0.000,0.000,212,2087,514,512,517,0,0,0,0,0,0,26.42,28.83,26.43,8.07,41.02
$GC,20,-0.81,-244.4,212,2087,512,517,17.0,0.0,1,143,10.75,2.20,-104.72,0.000,18692,0.225,0.055,2885,3456,3064,3141,2987,0,0,0,0,0,0,25.41,23.96,25.71,8.08,40.94
$GC,164,-0.59,-244.4,2884,3456,3141,2988,24.8,-15.0,23,169,0.22,2.08,0.00,0.000,3078,0.148,0.023,2955,2072,3064,3141,2988,0,0,0,0,0,0,25.58,26.10,25.79,8.29,41.49
$GC,298,-0.52,-244.4,2954,2071,3142,2988,46.1,-14.8,36,306,0.00,2.15,0.00,0.000,516,0.000,0.039,2955,688,3065,3142,2988,0,0,0,0,0,0,26.54,26.05,26.54,8.29,40.90
$GC,340,-0.45,-244.4,2955,688,3142,2988,51.9,-13.5,40,349,0.12,2.05,0.00,0.000,3078,0.135,0.025,2999,2055,3065,3142,2988,0,0,0,0,0,0,25.80,26.12,25.88,8.30,41.37
$GC,470,-0.45,-244.4,2998,2055,3141,2988,65.8,-9.9,53,474,0.00,2.25,0.00,0.000,260,0.000,0.041,2999,3490,3065,3142,2988,0,0,0,0,0,0,26.59,26.04,26.60,8.30,42.04
$GC,555,-0.45,-244.4,2998,3490,3142,2988,73.2,-8.5,61,562,0.00,2.10,0.00,0.000,1030,0.000,0.022,2998,2071,3065,3142,2988,0,0,0,0,0,0,26.31,26.25,26.34,8.31,42.20
$GC,683,-0.45,-244.4,2998,2071,3142,2988,85.1,-9.4,74,691,0.00,2.15,0.00,0.000,516,0.000,0.039,2998,689,3065,3142,2988,0,0,0,0,0,0,26.65,26.14,26.65,8.31,42.59
$GC,737,-0.45,-244.4,2998,689,3142,2988,90.4,-10.2,79,744,0.00,2.10,0.00,0.000,1030,0.000,0.025,2998,2098,3065,3142,2988,0,0,0,0,0,0,26.32,26.24,26.34,8.31,42.00
$GC,865,-0.45,-244.4,2998,2098,3142,2988,103.0,-9.5,92,866,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2098,3064,3141,2988,0,0,0,0,0,0,26.68,26.69,26.69,8.31,42.12
$GC,1045,-0.45,-244.4,2998,2098,3142,2988,119.0,-8.9,110,1049,0.00,2.15,0.00,0.000,260,0.000,0.041,2998,3482,3065,3142,2988,0,0,0,0,0,0,26.71,26.14,26.71,8.32,42.51
$GC,1080,-0.45,-244.4,2998,3482,3142,2988,121.8,-8.5,113,1087,0.00,2.08,0.00,0.000,1030,0.000,0.023,2999,2074,3065,3142,2988,0,0,0,0,0,0,26.40,26.33,26.42,8.32,42.63
$GC,1267,-0.45,-244.4,2998,2073,3142,2988,138.8,-8.8,132,1276,0.00,2.15,0.00,0.000,516,0.000,0.039,2998,687,3064,3141,2987,0,0,0,0,0,0,26.73,26.21,26.74,8.33,42.12
$GC,1293,-0.45,-244.4,2998,687,3142,2988,140.8,-8.8,134,1299,0.00,2.08,0.00,0.000,1030,0.000,0.024,2999,2084,3065,3142,2988,0,0,0,0,0,0,26.39,26.32,26.41,8.33,42.67
$GC,1479,-0.45,-244.4,2998,2084,3142,2988,157.8,-9.2,153,1483,0.00,2.15,0.00,0.000,260,0.000,0.041,2998,3482,3065,3142,2988,0,0,0,0,0,0,26.75,26.17,26.76,8.33,41.84
$GC,1542,-0.51,-244.4,2998,3482,3142,2988,163.1,-8.4,159,1550,0.00,2.05,0.00,0.000,1030,0.000,0.023,2999,2081,3065,3142,2988,0,0,0,0,0,0,26.39,26.37,26.42,8.33,42.24
$STATE,1629,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1629,begin apogee
$GC,1635,-0.22,0.0,2998,2081,3141,2988,170.9,-8.8,168,1843,0.20,0.00,199.77,0.751,10246,0.118,0.000,3077,2081,2064,2113,2015,0,0,0,0,0,0,26.08,24.69,23.96,8.34,42.00
$STATE,1844,end apogee,CONTROL_FINISHED_OK
$STATE,1844,begin climb
$GC,1848,0.81,244.4,3077,2080,2113,2014,181.5,0.0,189,2063,0.93,2.33,201.48,0.725,10500,0.095,0.037,3387,3483,1066,1130,1002,0,0,0,0,0,0,24.86,24.41,23.69,8.26,40.58
$GC,2077,1.00,369.5,3386,3484,1130,1002,171.0,6.5,212,2190,0.15,2.20,104.88,0.703,11270,0.041,0.021,3482,2089,557,601,514,0,0,0,0,0,0,24.86,24.86,23.71,8.19,39.95
$GC,2381,1.00,369.5,3481,2089,601,514,132.9,13.3,242,2390,0.00,2.20,0.00,0.000,260,0.000,0.037,3482,3482,557,601,513,0,0,0,0,0,0,26.01,25.63,26.02,8.15,40.82
$GC,2464,1.00,369.5,3481,3482,601,514,122.0,13.1,250,2468,0.00,2.12,0.00,0.000,1030,0.000,0.024,3485,2067,557,601,514,0,0,0,0,0,0,25.91,25.84,25.94,8.14,40.90
$GC,2656,1.00,369.5,3485,2067,601,514,97.0,12.6,269,2660,0.00,2.17,0.00,0.000,516,0.000,0.042,3485,690,557,601,514,0,0,0,0,0,0,26.39,25.94,26.39,8.13,41.17
$GC,2821,1.00,369.5,3485,690,599,514,76.9,12.2,285,2828,0.00,2.08,0.00,0.000,1030,0.000,0.024,3486,2089,557,601,514,0,0,0,0,0,0,26.21,26.14,26.23,8.14,41.49
$GC,2949,1.00,369.5,3485,2089,601,514,61.3,11.8,298,2958,0.00,2.20,0.00,0.000,516,0.000,0.041,3485,692,557,600,514,0,0,0,0,0,0,26.53,26.08,26.55,8.13,41.69
$GC,3004,1.00,369.5,3485,691,601,513,55.2,11.5,303,3011,0.00,2.08,0.00,0.000,1030,0.000,0.024,3485,2093,557,601,514,0,0,0,0,0,0,26.28,26.20,26.30,8.12,41.61
$GC,3132,1.00,369.5,3485,2093,601,514,40.3,11.0,316,3141,0.00,2.20,0.00,0.000,516,0.000,0.041,3485,688,558,602,514,0,0,0,0,0,0,26.60,26.13,26.60,8.12,41.37
$GC,3157,1.00,369.5,3485,688,601,514,37.8,10.6,318,3165,0.00,2.05,0.00,0.000,1030,0.000,0.024,3485,2081,557,601,513,0,0,0,0,0,0,26.32,26.25,26.34,8.12,41.45
$GC,3285,1.00,369.5,3485,2081,601,514,24.9,9.8,331,3294,0.00,2.17,0.00,0.000,516,0.000,0.041,3485,690,557,601,514,0,0,0,0,0,0,26.63,26.16,26.64,8.11,41.02
$GC,3445,1.58,740.3,3485,689,601,514,16.1,-0.3,356,3477,0.40,2.05,23.92,0.519,11270,0.055,0.024,3650,2088,372,382,362,0,0,0,0,0,0,26.22,26.29,24.98,8.10,40.98
$STATE,3528,end climb,NO_VERTICAL_VELOCITY
$STATE,3528,begin surface
$SM_CCo,3857,0.00,0.000,0,0,370,415.54
$SM_GC,16.99,9.15,0.00,0.00,0.043,0.000,0.000,214,2090,370,-9.12,0.25,415.54,0,0,0,0,0,0,26.08,26.58,26.17
$IRIDIUM_FIX,4738.33,-12256.21,020318,000342
$TT8_MAMPS,0.026215,0.281624
$HUMID,42.32
$INTERNAL_PRESSURE,8.03967
$TCM_TEMP,9.80
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.4,999.0
$ALTIM_BOTTOM_PING,100.1,85.5
$24V_AH,23.69,55.099
$10V_AH,10.07,19.502
$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,21.925,55.575,530.050,0.000,0.000,0.000,0.000,229.625,1.000,0.000,19.753,885.836,1631.268,591.181,952.769,150.303,0.000,1319.677,0.000,717.575,0.000,10.494,0.000
$DEVICE_MAMPS,224.910,55.080,751.230,0.000,0.000,0.000,0.000,79.560,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,249.821,489.888,494.741,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,24607,371
$CAP_FILE_SIZE,61521,0
$CFSIZE,2097872896,2027683840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.085,50.36,1
$GPS,020318,022531,4737.951,-12255.775,8,0.9,36,16.4,0.3,60.5,8,4.9