version: 66.14
glider: 194
mission: 12
dive: 652
start: 3 2 118 12 35 15
data:
$ID,194
$MISSION,12
$DIVE,652
$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,23
$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
$GPS1,020318,122908,4738.2285,-12253.9443,5,1.0,28,16.4,0.2,35.8,8,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,17.02
$_SM_ANGLEo,-67.6
$GPS2,020318,123430,4738.2461,-12253.8916,5,1.0,24,16.4,0.2,63.5,8,5.0
$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,24.9,968,-16.1,-10.000,-19.82,2571
$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,-0.87,-169.6,205,2103,358,375,0.0,0.0,0,17,0.00,0.00,-6.18,0.000,16386,0.000,0.000,205,2104,528,519,538,0,0,0,0,0,0,26.43,28.83,26.44,8.06,40.70
$GC,20,-0.87,-169.6,205,2104,519,538,17.1,0.0,1,150,10.65,2.15,-110.65,0.000,19204,0.223,0.056,2869,3472,2758,2816,2700,0,0,0,0,0,0,25.41,23.98,25.72,8.07,41.37
$GC,188,-0.65,-169.6,2869,3472,2816,2701,20.6,-13.5,29,196,0.22,2.12,0.00,0.000,3078,0.159,0.023,2937,2048,2758,2816,2701,0,0,0,0,0,0,25.58,26.13,25.80,8.26,40.54
$GC,315,-0.59,-169.6,2936,2048,2816,2701,41.5,-16.0,42,324,0.00,2.20,0.00,0.000,260,0.000,0.041,2937,3465,2758,2816,2701,0,0,0,0,0,0,26.55,26.02,26.55,8.26,41.33
$GC,529,-0.59,-169.6,2936,3465,2816,2700,70.2,-13.8,63,533,0.00,2.08,0.00,0.000,1030,0.000,0.023,2937,2075,2757,2815,2700,0,0,0,0,0,0,26.32,26.25,26.34,8.27,41.96
$GC,661,-0.59,-169.6,2936,2075,2816,2700,88.5,-14.0,76,670,0.00,2.15,0.00,0.000,516,0.000,0.040,2937,684,2757,2816,2699,0,0,0,0,0,0,26.65,26.14,26.66,8.28,42.40
$GC,703,-0.59,-169.6,2936,684,2816,2699,94.5,-14.5,80,712,0.00,2.08,0.00,0.000,1030,0.000,0.025,2937,2075,2757,2816,2699,0,0,0,0,0,0,26.32,26.23,26.34,8.28,42.51
$GC,833,-0.59,-169.6,2936,2075,2816,2699,110.6,-12.3,93,834,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2075,2757,2816,2699,0,0,0,0,0,0,26.68,26.69,26.69,8.29,42.40
$GC,1013,-0.59,-169.6,2936,2075,2816,2699,133.0,-12.2,111,1014,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2075,2757,2816,2699,0,0,0,0,0,0,26.71,26.72,26.71,8.29,42.32
$GC,1193,-0.59,-169.6,2936,2075,2815,2699,154.5,-11.9,129,1194,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2076,2757,2815,2699,0,0,0,0,0,0,26.73,26.74,26.74,8.30,42.75
$GC,1373,-0.59,-169.6,2936,2075,2816,2699,176.1,-12.2,147,1377,0.00,2.15,0.00,0.000,260,0.000,0.041,2937,3472,2757,2816,2698,0,0,0,0,0,0,26.75,26.18,26.76,8.31,42.67
$STATE,1412,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1413,begin apogee
$GC,1421,-0.22,0.0,2937,2078,2816,2699,181.0,-11.8,151,1568,0.40,0.00,142.82,0.766,10246,0.121,0.000,3078,2077,2064,2112,2017,0,0,0,0,0,0,25.87,24.82,24.06,8.30,42.63
$STATE,1569,end apogee,CONTROL_FINISHED_OK
$STATE,1569,begin climb
$GC,1572,0.87,169.6,3078,2077,2111,2017,184.2,0.0,166,1728,0.98,2.33,141.12,0.737,10500,0.084,0.037,3411,3468,1370,1439,1302,0,0,0,0,0,0,24.98,24.56,23.80,8.26,41.14
$GC,1735,1.06,263.0,3411,3468,1438,1302,178.1,6.3,182,1822,0.15,2.17,76.88,0.718,11270,0.059,0.021,3513,2078,990,1048,933,0,0,0,0,0,0,24.96,24.96,23.80,8.21,40.11
$GC,2002,1.06,263.0,3512,2078,1049,931,143.6,13.3,209,2010,0.00,2.20,0.00,0.000,516,0.000,0.041,3513,694,989,1048,930,0,0,0,0,0,0,26.03,25.64,26.04,8.18,40.86
$GC,2186,1.06,263.0,3512,694,1047,931,117.7,13.7,227,2193,0.00,2.10,0.00,0.000,1030,0.000,0.024,3513,2098,989,1048,931,0,0,0,0,0,0,26.06,25.98,26.08,8.17,41.53
$GC,2374,1.06,263.0,3513,2097,1048,930,92.8,13.1,246,2383,0.00,2.22,0.00,0.000,516,0.000,0.041,3513,684,989,1048,930,0,0,0,0,0,0,26.46,26.01,26.46,8.17,41.61
$GC,2446,1.06,263.0,3512,684,1047,931,84.1,12.1,253,2456,0.00,2.10,0.00,0.000,1030,0.000,0.024,3513,2087,989,1048,931,0,0,0,0,0,0,26.22,26.14,26.24,8.17,41.73
$GC,2577,1.06,263.0,3512,2087,1047,931,69.2,11.3,266,2586,0.00,2.22,0.00,0.000,516,0.000,0.041,3522,680,989,1048,931,0,0,0,0,0,0,26.55,26.08,26.55,8.16,41.53
$GC,2629,1.06,263.0,3521,680,1048,931,63.5,10.7,271,2639,0.00,2.10,0.00,0.000,1030,0.000,0.024,3521,2088,989,1047,931,0,0,0,0,0,0,26.28,26.21,26.30,8.16,41.53
$GC,2760,1.06,263.0,3521,2088,1047,931,47.9,12.2,284,2761,0.00,0.00,0.00,0.000,6,0.000,0.000,3521,2088,989,1047,931,0,0,0,0,0,0,26.60,26.62,26.61,8.16,41.29
$GC,2880,1.06,263.0,3521,2088,1047,931,33.2,11.4,296,2888,0.00,2.17,0.00,0.000,516,0.000,0.041,3530,681,989,1047,931,0,0,0,0,0,0,26.63,26.15,26.64,8.15,41.65
$GC,2971,1.06,263.0,3530,681,1048,932,23.0,10.8,305,2982,0.12,2.08,0.00,0.000,5126,0.132,0.024,3490,2085,989,1048,931,0,0,0,0,0,0,26.01,26.29,26.17,8.15,41.41
$GC,3104,1.58,525.7,3489,2086,1047,931,16.2,-0.5,327,3192,0.38,2.22,78.20,0.525,10756,0.047,0.039,3652,685,370,349,392,0,0,0,0,0,0,26.31,25.38,24.69,8.14,41.69
$STATE,3197,end climb,NO_VERTICAL_VELOCITY
$STATE,3199,begin surface
$SM_CCo,3530,0.00,0.000,0,0,367,416.27
$SM_GC,17.17,9.20,2.15,0.00,0.040,0.024,0.000,205,2082,367,-9.15,-1.95,416.27,0,0,0,0,0,0,25.93,26.03,26.01
$IRIDIUM_FIX,4735.54,-12254.47,020318,112245
$TT8_MAMPS,0.026215,0.281624
$HUMID,41.41
$INTERNAL_PRESSURE,8.0299
$TCM_TEMP,9.60
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.2,999.0
$ALTIM_BOTTOM_PING,105.7,91.2
$24V_AH,23.80,56.070
$10V_AH,10.06,19.797
$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,22.100,43.125,439.025,0.000,0.000,0.000,0.000,211.400,2.250,0.000,25.759,821.812,1520.505,517.493,879.701,140.584,0.000,1174.235,0.000,658.137,0.000,15.047,0.000
$DEVICE_MAMPS,222.615,55.845,765.765,0.000,0.000,0.000,0.000,80.325,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,230.787,452.872,457.357,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,24553,343
$CAP_FILE_SIZE,54723,0
$CFSIZE,2097872896,2026602496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.040,73.50,1
$GPS,020318,133520,4738.408,-12253.326,5,0.8,34,16.4,0.0,49.2,10,5.0