version: 66.14
glider: 194
mission: 12
dive: 653
start: 3 2 118 13 41 41
data:
$ID,194
$MISSION,12
$DIVE,653
$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,47
$R_STBD_OVSHOOT,63
$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
$GPS1,020318,133520,4738.4077,-12253.3262,5,0.8,34,16.4,0.0,49.2,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,17.03
$_SM_ANGLEo,-66.9
$GPS2,020318,134101,4738.4150,-12253.2812,5,0.8,30,16.4,0.0,64.1,10,4.0
$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,310.1,477,-27.2,-10.000,-30.00,962
$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,-1.25,-63.1,204,2084,345,387,0.0,0.0,0,17,0.00,0.00,-6.38,0.000,16386,0.000,0.000,204,2084,534,517,551,0,0,0,0,0,0,26.40,28.83,26.41,8.06,41.29
$GC,20,-1.25,-63.1,204,2084,518,551,17.1,0.0,1,126,10.12,2.25,-86.70,0.000,18948,0.221,0.054,2748,684,2324,2368,2280,0,0,0,0,0,0,25.36,23.96,25.68,8.07,40.90
$GC,305,-1.11,-63.1,2747,684,2368,2275,41.5,-25.0,44,313,0.17,2.08,0.00,0.000,3078,0.202,0.025,2794,2071,2321,2367,2275,0,0,0,0,0,0,25.51,26.13,25.77,8.23,41.29
$GC,432,-1.05,-63.1,2794,2071,2368,2273,66.3,-18.3,57,441,0.00,2.15,0.00,0.000,260,0.000,0.041,2794,3472,2321,2368,2274,0,0,0,0,0,0,26.58,26.05,26.59,8.23,41.29
$GC,508,-1.00,-63.1,2794,3472,2368,2273,79.2,-17.5,64,515,0.12,2.08,0.00,0.000,3078,0.185,0.023,2830,2070,2320,2368,2273,0,0,0,0,0,0,25.76,26.24,25.94,8.24,41.84
$GC,634,-1.00,-63.1,2829,2070,2368,2271,99.2,-14.5,77,648,0.00,2.15,0.00,0.000,516,0.000,0.037,2830,686,2319,2368,2271,0,0,0,0,0,0,26.63,26.15,26.64,8.24,42.20
$GC,685,-1.00,-63.1,2829,686,2368,2270,106.3,-15.2,81,692,0.00,2.08,0.00,0.000,1030,0.000,0.024,2830,2088,2319,2368,2270,0,0,0,0,0,0,26.31,26.22,26.34,8.25,42.24
$GC,874,-1.00,-63.1,2829,2088,2368,2270,133.2,-13.1,100,880,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,2088,2319,2368,2270,0,0,0,0,0,0,26.67,26.69,26.69,8.26,42.87
$GC,1064,-1.00,-63.1,2829,2089,2368,2269,160.6,-14.2,119,1067,0.00,2.12,0.00,0.000,260,0.000,0.041,2830,3471,2318,2368,2269,0,0,0,0,0,0,26.71,26.16,26.72,8.26,42.36
$GC,1126,-1.00,-63.1,2829,3470,2368,2269,169.1,-13.5,125,1134,0.00,2.03,0.00,0.000,1030,0.000,0.022,2830,2086,2318,2368,2268,0,0,0,0,0,0,26.37,26.34,26.40,8.27,42.24
$STATE,1173,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1173,begin apogee
$GC,1180,-0.22,0.0,2830,2086,2367,2268,175.7,-13.2,130,1239,0.77,0.00,55.80,0.767,10246,0.151,0.000,3073,2086,2064,2107,2022,0,0,0,0,0,0,25.58,25.29,24.46,8.27,43.10
$STATE,1240,end apogee,CONTROL_FINISHED_OK
$STATE,1240,begin climb
$GC,1243,1.25,63.1,3072,2086,2106,2021,179.4,0.0,136,1308,1.30,2.33,56.25,0.749,11012,0.079,0.038,3541,683,1806,1854,1758,0,0,0,0,0,0,25.48,24.96,24.15,8.26,41.80
$GC,1373,1.25,63.1,3541,683,1851,1758,173.2,8.2,149,1381,0.00,2.12,0.00,0.000,1030,0.000,0.024,3541,2085,1804,1851,1758,0,0,0,0,0,0,25.61,25.59,25.63,8.23,41.96
$GC,1563,1.31,63.1,3541,2085,1851,1756,155.1,10.1,168,1572,0.00,2.15,0.00,0.000,260,0.000,0.037,3541,3475,1803,1851,1756,0,0,0,0,0,0,26.28,25.84,26.29,8.23,41.92
$GC,1615,1.31,63.1,3541,3474,1850,1756,149.3,11.1,173,1619,0.00,2.10,0.00,0.000,1030,0.000,0.022,3552,2076,1803,1851,1756,0,0,0,0,0,0,26.07,26.00,26.09,8.23,41.77
$GC,1807,1.31,63.1,3551,2076,1850,1756,130.5,9.3,192,1811,0.00,2.17,0.00,0.000,516,0.000,0.038,3562,685,1802,1850,1755,0,0,0,0,0,0,26.48,26.02,26.48,8.23,42.43
$GC,1869,1.31,63.1,3561,685,1850,1756,124.0,10.6,198,1879,0.00,2.08,0.00,0.000,1030,0.000,0.024,3562,2082,1803,1850,1756,0,0,0,0,0,0,26.22,26.15,26.24,8.23,42.00
$GC,2059,1.31,63.1,3561,2082,1850,1755,106.4,8.2,217,2069,0.00,2.15,0.00,0.000,260,0.000,0.036,3562,3476,1802,1850,1755,0,0,0,0,0,0,26.58,26.10,26.59,8.23,41.92
$GC,2145,1.31,63.1,3561,3476,1850,1754,99.5,8.3,225,2152,0.00,2.08,0.00,0.000,1030,0.000,0.022,3572,2070,1802,1850,1755,0,0,0,0,0,0,26.31,26.24,26.33,8.23,42.00
$GC,2273,1.31,63.1,3572,2070,1850,1755,89.1,8.0,238,2282,0.00,2.12,0.00,0.000,516,0.000,0.038,3582,696,1802,1850,1755,0,0,0,0,0,0,26.64,26.15,26.65,8.23,42.16
$GC,2297,1.31,63.1,3582,696,1850,1755,87.1,8.4,240,2304,0.00,2.05,0.00,0.000,1030,0.000,0.024,3582,2088,1802,1850,1755,0,0,0,0,0,0,26.34,26.27,26.36,8.23,41.77
$GC,2425,1.31,63.1,3582,2088,1850,1755,75.5,8.5,253,2426,0.00,0.00,0.00,0.000,6,0.000,0.000,3582,2088,1802,1850,1755,0,0,0,0,0,0,26.66,26.67,26.67,8.23,42.32
$GC,2545,1.34,100.5,3582,2088,1850,1755,67.1,6.0,265,2585,0.00,2.20,32.00,0.682,8708,0.000,0.037,3592,693,1653,1706,1601,0,0,0,0,0,0,26.69,25.29,24.77,8.23,42.00
$GC,2750,1.34,100.5,3591,693,1705,1601,46.1,10.6,285,2760,0.00,2.08,0.00,0.000,1030,0.000,0.024,3592,2080,1652,1704,1601,0,0,0,0,0,0,26.14,26.07,26.16,8.22,42.04
$GC,2881,1.38,134.3,3591,2080,1704,1600,36.0,6.4,298,2910,0.00,2.15,18.98,0.601,8452,0.000,0.035,3591,3484,1514,1572,1457,0,0,0,0,0,0,26.51,25.30,24.82,8.21,41.53
$GC,2916,1.40,159.5,3591,3484,1571,1457,33.7,7.3,301,2935,0.00,2.10,13.95,0.562,9222,0.000,0.022,3602,2078,1412,1470,1354,0,0,0,0,0,0,26.03,25.97,24.71,8.20,41.65
$GC,3063,1.49,181.4,3601,2078,1469,1351,19.6,7.7,316,3081,0.00,2.17,10.90,0.494,8708,0.000,0.039,3612,687,1321,1380,1263,0,0,0,0,0,0,26.33,25.55,24.76,8.18,41.37
$STATE,3264,end climb,NO_VERTICAL_VELOCITY
$STATE,3264,begin surface
$SM_CCo,3267,118.90,0.522,0,0,372,414.56
$SM_GC,17.10,9.12,2.15,0.00,0.039,0.024,0.000,206,2105,368,-9.14,-1.98,416.27,0,0,0,0,0,0,25.86,26.00,25.94
$IRIDIUM_FIX,4740.06,-12250.84,020318,123056
$TT8_MAMPS,0.026215,0.277879
$HUMID,42.08
$INTERNAL_PRESSURE,8.0299
$TCM_TEMP,9.80
$XPDR_PINGS,10
$ALTIM_TOP_PING,19.8,999.0
$ALTIM_BOTTOM_PING,125.3,64.2
$24V_AH,23.96,56.130
$10V_AH,10.05,19.826
$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,21.625,51.125,187.875,118.900,0.000,0.000,0.000,224.750,4.750,0.000,31.994,942.108,1638.511,441.152,916.110,146.004,0.000,1084.666,0.000,668.530,0.000,21.351,0.000
$DEVICE_MAMPS,221.085,54.315,767.295,522.495,0.000,0.000,0.000,78.030,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,242.978,470.141,474.727,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312148
$DATA_FILE_SIZE,24622,355
$CAP_FILE_SIZE,60449,0
$CFSIZE,2097872896,2026504192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.121,63.14,1
$GPS,020318,144440,4738.770,-12253.149,6,1.2,19,16.4,0.0,73.1,9,4.9