version: 66.14
glider: 194
mission: 12
dive: 642
start: 3 2 118 2 31 13
data:
$ID,194
$MISSION,12
$DIVE,642
$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,54
$R_STBD_OVSHOOT,65
$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
$GPS1,020318,022531,4737.9512,-12255.7754,8,0.9,36,16.4,0.3,60.5,8,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,16.92
$_SM_ANGLEo,-69.0
$GPS2,020318,023035,4737.9692,-12255.7266,6,0.9,15,16.4,0.0,0.0,9,4.8
$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,205.2,927,-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,-244.4,213,2090,378,361,0.0,0.0,0,17,0.00,0.00,-6.35,0.000,16386,0.000,0.000,213,2090,535,536,535,0,0,0,0,0,0,26.45,28.83,26.46,8.06,40.98
$GC,20,-0.81,-244.4,213,2090,537,536,17.0,0.0,1,153,10.73,2.20,-114.18,0.000,18692,0.224,0.054,2889,3461,3064,3142,2987,0,0,0,0,0,0,25.46,23.99,25.75,8.08,41.29
$GC,241,-0.68,-244.4,2889,3461,3142,2988,35.4,-19.0,32,248,0.12,2.05,0.00,0.000,3078,0.149,0.024,2930,2081,3065,3142,2988,0,0,0,0,0,0,25.82,26.15,25.97,8.28,41.33
$GC,368,-0.59,-244.4,2930,2081,3142,2988,55.7,-15.2,45,373,0.10,2.17,0.00,0.000,2308,0.161,0.041,2966,3469,3065,3142,2988,0,0,0,0,0,0,26.06,26.03,26.10,8.29,41.96
$GC,395,-0.52,-244.4,2965,3469,3142,2988,59.0,-14.5,47,402,0.00,2.05,0.00,0.000,1030,0.000,0.023,2966,2088,3064,3142,2987,0,0,0,0,0,0,26.28,26.21,26.31,8.30,41.53
$GC,521,-0.52,-244.4,2965,2088,3142,2988,75.0,-12.0,60,530,0.00,2.20,0.00,0.000,516,0.000,0.039,2966,673,3065,3142,2988,0,0,0,0,0,0,26.62,26.12,26.63,8.30,42.04
$GC,566,-0.52,-244.4,2965,673,3142,2988,80.5,-12.9,64,573,0.00,2.08,0.00,0.000,1030,0.000,0.024,2966,2069,3065,3142,2988,0,0,0,0,0,0,26.29,26.20,26.32,8.30,41.96
$GC,693,-0.52,-244.4,2965,2069,3142,2988,95.7,-12.1,77,698,0.00,2.20,0.00,0.000,260,0.000,0.041,2966,3478,3065,3142,2988,0,0,0,0,0,0,26.65,26.10,26.67,8.31,42.08
$GC,753,-0.52,-244.4,2966,3477,3142,2987,102.2,-10.8,82,760,0.00,2.08,0.00,0.000,1030,0.000,0.023,2966,2074,3064,3141,2988,0,0,0,0,0,0,26.36,26.29,26.39,8.31,42.51
$GC,940,-0.52,-244.4,2965,2074,3142,2988,122.9,-11.8,101,949,0.00,2.15,0.00,0.000,516,0.000,0.039,2966,689,3065,3142,2988,0,0,0,0,0,0,26.70,26.19,26.71,8.32,42.12
$GC,972,-0.52,-244.4,2965,689,3141,2988,126.7,-11.8,104,977,0.00,2.10,0.00,0.000,1030,0.000,0.025,2966,2096,3065,3142,2988,0,0,0,0,0,0,26.35,26.26,26.38,8.32,42.59
$GC,1165,-0.52,-244.4,2965,2095,3142,2988,148.9,-11.4,123,1169,0.00,2.15,0.00,0.000,260,0.000,0.041,2966,3476,3064,3141,2988,0,0,0,0,0,0,26.73,26.16,26.73,8.33,42.63
$GC,1240,-0.52,-244.4,2965,3476,3142,2988,156.9,-10.8,130,1247,0.00,2.08,0.00,0.000,1030,0.000,0.023,2966,2072,3065,3142,2988,0,0,0,0,0,0,26.41,26.34,26.44,8.32,42.28
$STATE,1376,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1376,begin apogee
$GC,1382,-0.22,0.0,2966,2072,3142,2988,172.5,-10.9,144,1587,0.30,0.00,200.05,0.757,10246,0.116,0.000,3077,2071,2063,2114,2013,0,0,0,0,0,0,25.96,24.68,23.95,8.33,42.40
$STATE,1588,end apogee,CONTROL_FINISHED_OK
$STATE,1589,begin climb
$GC,1593,0.81,244.4,3077,2071,2114,2013,181.0,0.0,165,1809,0.90,2.35,201.55,0.725,10756,0.078,0.040,3389,693,1066,1131,1002,0,0,0,0,0,0,24.87,24.41,23.68,8.26,41.02
$GC,1853,1.02,379.5,3388,693,1130,1003,168.6,6.3,191,1973,0.20,2.15,112.30,0.705,11270,0.050,0.023,3499,2089,516,554,478,0,0,0,0,0,0,25.13,25.11,23.78,8.18,40.03
$GC,2154,1.02,379.5,3498,2088,554,477,129.1,13.7,221,2162,0.00,2.25,0.00,0.000,516,0.000,0.041,3499,682,515,554,477,0,0,0,0,0,0,26.03,25.64,26.03,8.14,40.58
$GC,2246,1.02,379.5,3498,683,553,477,116.7,14.2,230,2250,0.00,2.12,0.00,0.000,1030,0.000,0.024,3499,2087,515,554,477,0,0,0,0,0,0,25.96,25.88,25.97,8.14,41.45
$GC,2438,1.02,379.5,3498,2087,553,476,90.9,12.0,249,2443,0.00,2.22,0.00,0.000,516,0.000,0.041,3499,687,515,553,477,0,0,0,0,0,0,26.39,25.96,26.40,8.13,41.29
$GC,2521,1.02,379.5,3499,687,554,477,80.2,13.4,257,2525,0.00,2.08,0.00,0.000,1030,0.000,0.024,3499,2085,515,554,476,0,0,0,0,0,0,26.18,26.10,26.20,8.13,41.17
$GC,2654,1.02,379.5,3498,2085,554,477,63.5,12.6,270,2657,0.00,2.20,0.00,0.000,516,0.000,0.041,3499,691,515,553,477,0,0,0,0,0,0,26.51,26.06,26.52,8.13,41.29
$GC,2706,1.02,379.5,3498,691,554,477,57.0,12.9,275,2710,0.00,2.08,0.00,0.000,1030,0.000,0.024,3499,2081,515,554,477,0,0,0,0,0,0,26.26,26.18,26.28,8.12,41.49
$GC,2838,1.02,379.5,3499,2081,554,477,40.4,12.4,288,2847,0.00,2.20,0.00,0.000,516,0.000,0.042,3499,690,515,554,476,0,0,0,0,0,0,26.58,26.11,26.59,8.12,41.33
$GC,2883,1.02,379.5,3499,689,554,477,35.6,11.5,292,2890,0.00,2.08,0.00,0.000,1030,0.000,0.024,3499,2093,515,554,476,0,0,0,0,0,0,26.31,26.24,26.33,8.11,41.37
$GC,3010,1.02,379.5,3499,2093,554,477,22.0,10.2,305,3015,0.00,2.22,0.00,0.000,516,0.000,0.041,3499,681,515,554,476,0,0,0,0,0,0,26.63,26.14,26.63,8.10,41.06
$STATE,3218,end climb,NO_VERTICAL_VELOCITY
$STATE,3218,begin surface
$SM_CCo,3222,18.65,0.518,0,0,373,414.56
$SM_GC,16.98,8.73,2.15,0.00,0.041,0.024,0.000,207,2088,370,-9.14,-1.78,415.78,0,0,0,0,0,0,26.10,26.23,26.18
$IRIDIUM_FIX,4736.01,-12258.89,020318,011529
$TT8_MAMPS,0.026215,0.281624
$HUMID,41.53
$INTERNAL_PRESSURE,8.03967
$TCM_TEMP,9.90
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.8,999.0
$ALTIM_BOTTOM_PING,100.5,85.9
$24V_AH,23.68,55.212
$10V_AH,10.07,19.531
$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,21.075,51.600,513.900,18.650,0.000,0.000,0.000,202.300,1.000,0.000,16.415,824.012,1477.753,607.551,845.144,140.968,0.000,1246.634,0.000,645.642,0.000,10.484,0.000
$DEVICE_MAMPS,224.145,53.550,756.585,517.905,0.000,0.000,0.000,79.560,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,231.848,454.275,458.776,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312168
$DATA_FILE_SIZE,24471,344
$CAP_FILE_SIZE,55868,0
$CFSIZE,2097872896,2027585536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.105,55.76,1
$GPS,020318,033140,4737.831,-12256.070,8,0.9,15,16.4,0.0,0.0,9,5.0