version: 66.14
glider: 194
mission: 12
dive: 651
start: 3 2 118 11 27 21
data:
$ID,194
$MISSION,12
$DIVE,651
$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,41
$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
$GPS1,020318,112108,4738.0806,-12254.5723,5,0.8,22,16.4,0.0,0.0,10,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,16.96
$_SM_ANGLEo,-69.6
$GPS2,020318,112644,4738.0928,-12254.5527,6,0.8,21,16.4,0.0,348.5,10,4.8
$SPEED_LIMITS,0.173,0.325
$TGT_NAME,NW1
$TGT_LATLONG,4738.657,-12253.412
$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,38.2,1766,-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,-244.4,208,2077,364,372,0.0,0.0,0,17,0.00,0.00,-5.65,0.000,16386,0.000,0.000,208,2077,516,509,523,0,0,0,0,0,0,26.42,28.83,26.44,8.06,41.25
$GC,20,-0.81,-244.4,208,2077,508,523,17.1,0.0,1,157,10.75,2.20,-117.32,0.000,18692,0.224,0.054,2888,3469,3061,3135,2988,0,0,0,0,0,0,25.41,25.41,25.72,8.07,40.94
$GC,321,-0.68,-244.4,2887,3470,3135,2989,48.2,-16.4,40,328,0.12,2.08,0.00,0.000,3078,0.154,0.024,2928,2072,3062,3135,2989,0,0,0,0,0,0,25.82,26.17,25.98,8.29,41.41
$GC,448,-0.60,-244.4,2927,2071,3135,2989,68.7,-15.3,53,453,0.10,2.15,0.00,0.000,2564,0.160,0.038,2964,686,3061,3134,2989,0,0,0,0,0,0,26.07,26.10,26.12,8.30,42.51
$GC,484,-0.55,-244.4,2963,686,3135,2989,73.6,-14.6,56,491,0.00,2.08,0.00,0.000,1030,0.000,0.025,2964,2074,3062,3135,2989,0,0,0,0,0,0,26.27,26.19,26.30,8.30,41.84
$GC,611,-0.55,-244.4,2964,2074,3135,2989,90.2,-13.2,69,615,0.00,2.20,0.00,0.000,260,0.000,0.042,2964,3482,3061,3135,2988,0,0,0,0,0,0,26.64,26.09,26.65,8.31,41.80
$GC,654,-0.55,-244.4,2964,3481,3135,2989,95.2,-11.6,73,658,0.00,2.08,0.00,0.000,1030,0.000,0.023,2964,2084,3062,3135,2989,0,0,0,0,0,0,26.34,26.27,26.36,8.30,42.24
$GC,786,-0.55,-244.4,2964,2083,3135,2989,109.9,-11.3,86,788,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2083,3062,3135,2989,0,0,0,0,0,0,26.67,26.68,26.68,8.31,43.03
$GC,966,-0.55,-244.4,2964,2083,3135,2989,130.1,-11.6,104,971,0.00,2.17,0.00,0.000,516,0.000,0.039,2964,679,3062,3135,2989,0,0,0,0,0,0,26.70,26.19,26.71,8.32,42.59
$GC,1011,-0.55,-244.4,2963,679,3135,2989,135.3,-12.3,108,1015,0.00,2.10,0.00,0.000,1030,0.000,0.025,2964,2087,3062,3135,2989,0,0,0,0,0,0,26.36,26.27,26.39,8.33,42.63
$GC,1203,-0.55,-244.4,2964,2087,3135,2989,158.8,-12.3,127,1208,0.00,2.15,0.00,0.000,260,0.000,0.041,2964,3472,3062,3135,2989,0,0,0,0,0,0,26.73,26.17,26.74,8.33,42.36
$GC,1266,-0.55,-244.4,2963,3472,3135,2989,165.7,-10.8,133,1271,0.00,2.08,0.00,0.000,1030,0.000,0.023,2964,2071,3062,3135,2989,0,0,0,0,0,0,26.42,26.35,26.45,8.33,41.88
$STATE,1336,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1336,begin apogee
$GC,1343,-0.22,0.0,2965,2071,3135,2989,173.6,-10.9,140,1549,0.30,0.00,200.12,0.754,10246,0.114,0.000,3076,2070,2064,2111,2017,0,0,0,0,0,0,25.98,24.68,23.95,8.33,42.71
$STATE,1550,end apogee,CONTROL_FINISHED_OK
$STATE,1550,begin climb
$GC,1553,0.81,244.4,3076,2071,2111,2017,178.3,0.0,161,1770,0.93,2.30,202.73,0.721,10756,0.090,0.038,3387,691,1066,1130,1002,0,0,0,0,0,0,24.84,24.15,23.68,8.26,40.74
$GC,1848,0.98,319.5,3387,691,1127,1002,162.1,7.9,190,1917,0.15,2.15,62.47,0.704,11270,0.060,0.023,3480,2098,761,813,709,0,0,0,0,0,0,25.33,25.34,23.98,8.18,40.47
$GC,2105,0.98,319.5,3479,2098,812,708,130.5,12.4,216,2114,0.00,2.25,0.00,0.000,516,0.000,0.041,3480,684,759,811,708,0,0,0,0,0,0,26.11,25.72,26.12,8.16,41.02
$GC,2210,0.98,319.5,3480,684,811,708,117.5,12.3,226,2217,0.00,2.10,0.00,0.000,1030,0.000,0.024,3480,2084,759,811,708,0,0,0,0,0,0,26.02,25.95,26.04,8.16,41.10
$GC,2397,0.98,319.5,3480,2084,811,708,93.5,12.5,245,2406,0.00,2.20,0.00,0.000,516,0.000,0.041,3484,690,759,811,708,0,0,0,0,0,0,26.44,25.99,26.44,8.15,41.45
$GC,2479,0.98,319.5,3484,690,810,708,83.6,11.4,253,2488,0.00,2.08,0.00,0.000,1030,0.000,0.024,3484,2091,759,810,708,0,0,0,0,0,0,26.20,26.13,26.22,8.15,40.86
$GC,2609,0.98,319.5,3483,2091,811,709,69.1,11.0,266,2614,0.00,2.22,0.00,0.000,516,0.000,0.042,3485,688,759,811,708,0,0,0,0,0,0,26.53,26.07,26.54,8.15,41.77
$GC,2675,0.98,319.5,3484,688,811,708,62.3,10.9,272,2682,0.00,2.08,0.00,0.000,1030,0.000,0.024,3485,2088,759,811,708,0,0,0,0,0,0,26.28,26.20,26.30,8.15,41.25
$GC,2802,0.98,319.5,3484,2088,811,708,48.0,11.0,285,2811,0.00,2.20,0.00,0.000,516,0.000,0.042,3485,684,759,810,708,0,0,0,0,0,0,26.60,26.13,26.60,8.14,41.80
$GC,2897,0.98,319.5,3484,684,811,708,38.1,10.7,294,2904,0.00,2.08,0.00,0.000,1030,0.000,0.024,3485,2088,759,811,708,0,0,0,0,0,0,26.34,26.27,26.36,8.14,41.77
$GC,3024,0.98,319.5,3484,2088,811,708,26.0,8.8,307,3033,0.00,2.20,0.00,0.000,516,0.000,0.042,3484,693,759,811,708,0,0,0,0,0,0,26.65,26.16,26.65,8.13,41.21
$GC,3046,0.98,319.5,3484,692,811,708,24.0,8.7,309,3055,0.00,2.08,0.00,0.000,1030,0.000,0.024,3485,2090,759,810,708,0,0,0,0,0,0,26.36,26.29,26.39,8.12,41.02
$GC,3180,1.47,631.8,3484,2091,811,708,16.1,1.3,329,3240,0.30,2.17,49.38,0.526,10500,0.061,0.037,3614,3458,372,363,381,0,0,0,0,0,0,26.27,25.56,24.84,8.12,40.90
$GC,3291,2.01,981.0,3613,3459,363,378,16.0,0.3,348,3298,0.45,2.08,0.00,0.000,3078,0.057,0.024,3789,2107,370,363,377,0,0,0,0,0,0,25.82,25.92,25.92,8.08,40.74
$STATE,3309,end climb,NO_VERTICAL_VELOCITY
$STATE,3309,begin surface
$SM_CCo,3638,0.00,0.000,0,0,368,416.27
$SM_GC,17.11,9.57,0.00,0.00,0.042,0.000,0.000,205,2106,368,-9.15,0.68,416.27,0,0,0,0,0,0,26.01,26.50,26.10
$IRIDIUM_FIX,4736.87,-12256.21,020318,101308
$TT8_MAMPS,0.026215,0.275632
$HUMID,41.73
$INTERNAL_PRESSURE,8.0299
$TCM_TEMP,9.80
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.5,999.0
$ALTIM_BOTTOM_PING,101.0,86.6
$24V_AH,23.68,55.978
$10V_AH,10.07,19.768
$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,22.675,51.450,514.700,0.000,0.000,0.000,0.000,227.750,1.750,0.000,22.910,836.639,1508.180,605.254,899.950,143.677,0.000,1284.401,0.000,668.773,0.000,10.490,0.000
$DEVICE_MAMPS,224.145,53.550,753.525,0.000,0.000,0.000,0.000,78.030,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,235.805,463.298,468.190,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312140
$DATA_FILE_SIZE,24588,351
$CAP_FILE_SIZE,58134,0
$CFSIZE,2097872896,2026700800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.017,278.50,1
$GPS,020318,122908,4738.229,-12253.944,5,1.0,28,16.4,0.2,35.8,8,4.9