version: 66.14
glider: 194
mission: 12
dive: 643
start: 3 2 118 3 37 33
data:
$ID,194
$MISSION,12
$DIVE,643
$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,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
$GPS1,020318,033140,4737.8306,-12256.0703,8,0.9,15,16.4,0.0,0.0,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,16.95
$_SM_ANGLEo,-69.4
$GPS2,020318,033651,4737.8540,-12256.0264,5,1.0,16,16.4,0.0,113.7,9,4.9
$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,198.9,552,-18.4,-10.000,-21.88,2023
$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,-0.93,-133.2,207,2091,373,365,0.0,0.0,0,17,0.00,0.00,-6.32,0.000,16386,0.000,0.000,207,2091,536,534,539,0,0,0,0,0,0,26.45,28.83,26.46,8.07,41.37
$GC,20,-0.93,-133.2,207,2091,534,539,17.0,0.0,1,134,10.68,2.17,-95.22,0.000,18692,0.227,0.054,2851,3472,2610,2665,2555,0,0,0,0,0,0,25.41,25.42,25.73,8.08,41.53
$GC,385,-0.82,-133.2,2850,3472,2666,2555,66.2,-15.4,45,390,0.12,2.08,0.00,0.000,3078,0.167,0.024,2889,2080,2610,2666,2555,0,0,0,0,0,0,25.80,26.21,25.97,8.26,41.65
$GC,519,-0.76,-133.2,2888,2079,2666,2554,87.3,-15.6,58,520,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,2079,2610,2666,2554,0,0,0,0,0,0,26.63,26.64,26.63,8.27,41.96
$GC,639,-0.70,-133.2,2889,2079,2666,2553,107.3,-18.3,70,641,0.12,0.00,0.00,0.000,2054,0.168,0.000,2927,2079,2609,2666,2553,0,0,0,0,0,0,26.02,26.20,26.14,8.27,42.28
$GC,819,-0.70,-133.2,2926,2079,2666,2552,129.2,-12.7,88,824,0.00,2.15,0.00,0.000,516,0.000,0.040,2927,684,2609,2666,2552,0,0,0,0,0,0,26.69,26.17,26.70,8.29,42.75
$GC,882,-0.70,-133.2,2926,682,2666,2552,139.6,-17.4,94,886,0.00,2.08,0.00,0.000,1030,0.000,0.024,2927,2073,2609,2666,2552,0,0,0,0,0,0,26.36,26.29,26.39,8.29,42.55
$STATE,904,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,904,begin apogee
$GC,910,-0.22,0.0,2926,2073,2666,2552,142.7,-15.6,96,1027,0.43,0.00,113.90,0.748,10246,0.130,0.000,3074,2074,2064,2111,2017,0,0,0,0,0,0,25.77,24.92,24.16,8.29,42.40
$STATE,1028,end apogee,CONTROL_FINISHED_OK
$STATE,1029,begin climb
$GC,1031,0.93,133.2,3074,2074,2111,2017,151.6,0.0,108,1157,1.05,2.33,111.82,0.722,10756,0.091,0.041,3430,691,1518,1588,1448,0,0,0,0,0,0,25.07,24.69,23.94,8.25,41.37
$GC,1201,1.05,190.6,3430,691,1586,1448,144.9,7.1,125,1254,0.10,2.15,47.25,0.702,11270,0.082,0.024,3501,2090,1287,1357,1218,0,0,0,0,0,0,25.29,25.32,24.01,8.21,40.94
$GC,1443,1.05,190.6,3501,2091,1353,1214,117.4,11.7,149,1452,0.00,2.22,0.00,0.000,516,0.000,0.041,3509,688,1283,1353,1213,0,0,0,0,0,0,26.14,25.72,26.14,8.20,41.49
$GC,1518,1.05,190.6,3509,688,1353,1214,108.3,12.9,156,1526,0.00,2.10,0.00,0.000,1030,0.000,0.024,3510,2089,1283,1353,1214,0,0,0,0,0,0,25.99,25.92,26.01,8.19,41.33
$GC,1705,1.05,190.6,3509,2089,1353,1213,85.6,11.8,175,1709,0.00,2.20,0.00,0.000,516,0.000,0.041,3519,690,1283,1353,1213,0,0,0,0,0,0,26.42,25.97,26.43,8.19,41.21
$GC,1777,1.05,190.6,3519,690,1352,1213,76.7,12.6,182,1786,0.00,2.05,0.00,0.000,1030,0.000,0.024,3519,2074,1283,1353,1213,0,0,0,0,0,0,26.15,26.12,26.17,8.19,41.73
$GC,1907,1.05,190.6,3519,2074,1353,1213,60.7,12.0,195,1917,0.00,2.17,0.00,0.000,516,0.000,0.041,3528,688,1283,1353,1213,0,0,0,0,0,0,26.53,26.06,26.53,8.18,42.08
$GC,1942,1.05,190.6,3528,688,1353,1214,56.7,12.3,198,1950,0.12,2.08,0.00,0.000,5126,0.138,0.024,3490,2091,1283,1353,1213,0,0,0,0,0,0,25.89,26.17,26.03,8.19,41.14
$GC,2070,1.05,190.6,3489,2091,1353,1213,43.2,9.7,211,2080,0.00,2.22,0.00,0.000,516,0.000,0.041,3497,673,1283,1353,1213,0,0,0,0,0,0,26.58,26.10,26.59,8.18,41.84
$GC,2085,1.05,190.6,3497,673,1353,1213,42.4,9.4,212,2092,0.00,2.10,0.00,0.000,1030,0.000,0.024,3497,2090,1283,1353,1213,0,0,0,0,0,0,26.29,26.22,26.32,8.18,41.65
$GC,2213,1.11,245.1,3497,2090,1353,1213,31.7,7.2,225,2252,0.00,2.25,29.60,0.591,8708,0.000,0.041,3498,693,1063,1125,1001,0,0,0,0,0,0,26.62,25.64,24.84,8.17,41.65
$GC,2318,1.19,245.1,3497,693,1123,1000,22.9,9.5,235,2328,0.00,2.08,0.00,0.000,3078,0.000,0.024,3498,2078,1061,1123,1000,0,0,0,0,0,0,26.03,26.01,26.06,8.15,41.06
$GC,2450,1.67,440.1,3497,2077,1123,999,15.9,0.1,257,2539,0.43,0.00,85.15,0.522,10242,0.042,0.000,3694,2078,387,382,393,0,0,0,0,0,0,26.13,28.83,26.15,8.14,41.49
$STATE,2540,end climb,NO_VERTICAL_VELOCITY
$STATE,2540,begin surface
$SM_CCo,2544,1.67,0.074,0,0,373,414.56
$SM_GC,17.06,9.35,0.00,0.00,0.042,0.000,0.000,209,2078,370,-9.14,-0.11,415.78,0,0,0,0,0,0,25.87,26.33,25.96
$IRIDIUM_FIX,4738.33,-12256.21,020318,022709
$TT8_MAMPS,0.026215,0.281624
$HUMID,42.16
$INTERNAL_PRESSURE,8.0299
$TCM_TEMP,9.80
$XPDR_PINGS,5
$ALTIM_TOP_PING,19.2,999.0
$ALTIM_BOTTOM_PING,105.4,51.9
$24V_AH,23.94,55.290
$10V_AH,10.07,19.556
$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,22.400,34.425,387.725,1.675,0.000,0.000,0.000,208.800,2.250,0.000,18.141,670.249,1217.324,445.263,749.793,127.744,0.000,1028.818,0.000,537.578,0.000,11.995,0.000
$DEVICE_MAMPS,227.205,53.550,748.170,74.205,0.000,0.000,0.000,80.325,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,182.458,358.864,362.434,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,17689,272
$CAP_FILE_SIZE,48771,0
$CFSIZE,2097872896,2027487232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.091,48.17,1
$GPS,020318,042640,4737.747,-12256.206,12,1.2,32,16.4,0.0,313.7,8,4.8