version: 66.14
glider: 194
mission: 12
dive: 311
start: 2 14 118 12 39 19
data:
$ID,194
$MISSION,12
$DIVE,311
$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,35
$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,10
$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
$GPS1,140218,123333,4738.4878,-12253.6963,5,0.8,21,16.4,0.7,67.0,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,10.82
$_SM_ANGLEo,-71.3
$GPS2,140218,123842,4738.5396,-12253.5635,7,0.8,21,16.4,0.6,64.3,10,4.9
$SPEED_LIMITS,0.173,0.325
$TGT_NAME,NW2S
$TGT_LATLONG,4738.117,-12254.800
$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,232.3,1730,-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,-244.4,208,2072,363,381,0.0,0.0,0,17,0.00,0.00,-6.25,0.000,16386,0.000,0.000,208,2072,544,534,554,0,0,0,0,0,0,26.34,28.83,26.35,8.05,40.07
$GC,20,-0.81,-244.4,208,2072,534,554,10.9,0.0,1,128,10.88,0.00,-91.62,0.000,18950,0.239,0.000,2884,2073,3064,3141,2988,0,0,0,0,0,0,25.56,24.65,25.89,8.06,39.36
$GC,192,-0.69,-244.4,2883,2073,3142,2989,24.5,-13.8,28,202,0.10,2.15,0.00,0.000,2564,0.166,0.038,2919,689,3065,3142,2989,0,0,0,0,0,0,25.94,26.07,26.01,8.28,40.11
$GC,226,-0.62,-244.4,2918,689,3142,2989,29.1,-13.6,31,235,0.08,2.10,0.00,0.000,3078,0.149,0.027,2946,2096,3065,3142,2989,0,0,0,0,0,0,25.91,26.11,26.01,8.28,39.25
$GC,355,-0.62,-244.4,2946,2096,3141,2989,42.1,-9.4,44,365,0.00,2.15,0.00,0.000,260,0.000,0.044,2946,3474,3065,3141,2989,0,0,0,0,0,0,26.48,26.11,26.50,8.28,40.19
$GC,471,-0.69,-244.4,2946,3474,3141,2989,52.0,-8.7,55,480,0.00,2.05,0.00,0.000,1030,0.000,0.024,2946,2080,3065,3142,2989,0,0,0,0,0,0,26.27,26.27,26.29,8.28,40.66
$GC,599,-0.69,-244.4,2946,2080,3141,2988,63.6,-8.7,68,600,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2080,3065,3141,2989,0,0,0,0,0,0,26.58,26.58,26.58,8.29,40.86
$GC,719,-0.74,-244.4,2946,2080,3142,2989,74.2,-8.8,80,729,0.00,2.15,0.00,0.000,260,0.000,0.043,2946,3471,3065,3142,2989,0,0,0,0,0,0,26.60,26.21,26.61,8.30,40.90
$GC,754,-0.80,-244.4,2946,3471,3141,2989,77.1,-8.8,83,762,0.10,2.05,0.00,0.000,5126,0.086,0.024,2882,2073,3065,3141,2989,0,0,0,0,0,0,26.28,26.32,26.35,8.30,41.41
$GC,882,-0.80,-244.4,2881,2073,3142,2989,92.5,-12.2,96,892,0.00,2.15,0.00,0.000,516,0.000,0.039,2881,681,3065,3141,2989,0,0,0,0,0,0,26.64,26.27,26.65,8.30,41.25
$GC,908,-0.80,-244.4,2881,680,3142,2989,95.5,-12.4,98,915,0.00,2.08,0.00,0.000,1030,0.000,0.026,2882,2083,3065,3141,2989,0,0,0,0,0,0,26.39,26.32,26.41,8.31,40.78
$GC,1036,-0.80,-244.4,2880,2083,3141,2989,111.1,-11.4,111,1045,0.00,2.15,0.00,0.000,260,0.000,0.043,2882,3478,3065,3141,2989,0,0,0,0,0,0,26.65,26.28,26.65,8.31,40.78
$GC,1112,-0.80,-244.4,2881,3479,3142,2989,119.1,-10.5,118,1123,0.00,2.05,0.00,0.000,1030,0.000,0.024,2882,2077,3065,3141,2989,0,0,0,0,0,0,26.44,26.38,26.46,8.30,41.25
$GC,1303,-0.80,-244.4,2881,2077,3142,2989,139.6,-11.8,137,1312,0.00,2.10,0.00,0.000,516,0.000,0.040,2882,684,3065,3141,2989,0,0,0,0,0,0,26.70,26.34,26.71,8.32,40.90
$GC,1348,-0.80,-244.4,2881,685,3141,2989,144.9,-12.0,141,1355,0.00,2.08,0.00,0.000,1030,0.000,0.027,2882,2095,3065,3141,2989,0,0,0,0,0,0,26.46,26.38,26.48,8.32,41.14
$STATE,1523,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1523,begin apogee
$GC,1529,-0.22,0.0,2881,2095,3141,2989,165.0,-11.4,159,1735,0.55,0.00,197.77,0.750,10246,0.110,0.000,3076,2095,2063,2113,2014,0,0,0,0,0,0,26.18,24.65,24.25,8.32,41.02
$STATE,1736,end apogee,CONTROL_FINISHED_OK
$STATE,1736,begin climb
$GC,1741,0.81,244.4,3076,2095,2113,2014,167.6,0.0,180,1949,0.88,2.35,200.05,0.719,10756,0.067,0.040,3391,694,1066,1127,1006,0,0,0,0,0,0,24.96,24.39,24.02,8.25,39.36
$GC,2053,0.75,244.4,3390,694,1126,1006,142.1,11.4,211,2058,0.00,2.15,0.00,0.000,1030,0.000,0.025,3391,2089,1066,1126,1006,0,0,0,0,0,0,25.37,25.31,25.39,8.18,38.81
$GC,2246,0.75,244.4,3390,2089,1126,1006,119.4,11.7,230,2250,0.00,2.22,0.00,0.000,516,0.000,0.041,3391,686,1066,1126,1006,0,0,0,0,0,0,26.02,25.70,26.03,8.18,39.64
$GC,2311,0.70,244.4,3390,686,1126,1006,111.8,12.2,236,2315,0.00,2.12,0.00,0.000,1030,0.000,0.025,3391,2091,1066,1126,1006,0,0,0,0,0,0,25.91,25.84,25.93,8.17,39.91
$GC,2503,0.70,244.4,3390,2092,1126,1006,88.0,12.3,255,2507,0.00,2.22,0.00,0.000,516,0.000,0.042,3391,686,1066,1126,1006,0,0,0,0,0,0,26.30,25.96,26.31,8.17,40.15
$GC,2566,0.70,244.4,3390,686,1126,1006,80.8,11.8,261,2570,0.00,2.10,0.00,0.000,1030,0.000,0.025,3391,2090,1066,1126,1006,0,0,0,0,0,0,26.13,26.06,26.15,8.17,39.76
$GC,2698,0.70,244.4,3390,2090,1126,1006,65.9,11.5,274,2707,0.00,2.20,0.00,0.000,516,0.000,0.042,3391,683,1066,1126,1006,0,0,0,0,0,0,26.42,26.07,26.43,8.16,40.11
$GC,2740,0.70,244.4,3390,683,1126,1006,61.1,11.6,278,2749,0.00,2.10,0.00,0.000,1030,0.000,0.025,3391,2091,1066,1126,1006,0,0,0,0,0,0,26.22,26.15,26.24,8.16,40.54
$GC,2870,0.70,244.4,3390,2091,1126,1006,46.9,10.6,291,2875,0.00,2.20,0.00,0.000,516,0.000,0.041,3391,689,1065,1125,1006,0,0,0,0,0,0,26.49,26.15,26.51,8.16,39.72
$GC,2923,0.70,244.4,3390,689,1126,1007,41.6,10.1,296,2932,0.00,2.08,0.00,0.000,1030,0.000,0.025,3391,2086,1066,1126,1007,0,0,0,0,0,0,26.29,26.22,26.31,8.15,39.88
$GC,3053,0.70,244.4,3390,2087,1126,1007,28.5,10.6,309,3058,0.00,2.12,0.00,0.000,260,0.000,0.039,3391,3470,1066,1126,1006,0,0,0,0,0,0,26.55,26.20,26.56,8.16,40.43
$GC,3089,0.70,244.4,3391,3470,1126,1007,25.2,9.8,312,3096,0.00,2.05,0.00,0.000,1030,0.000,0.023,3397,2078,1066,1126,1007,0,0,0,0,0,0,26.34,26.28,26.36,8.15,40.03
$GC,3223,0.93,471.6,3396,2078,1126,1007,14.1,3.7,332,3321,0.10,2.25,87.53,0.544,10756,0.083,0.041,3484,691,372,363,382,0,0,0,0,0,0,26.36,25.39,24.89,8.15,40.03
$STATE,3503,end climb,NO_VERTICAL_VELOCITY
$STATE,3503,begin surface
$SM_CCo,3834,0.00,0.000,0,0,368,416.27
$SM_GC,11.68,8.75,2.15,0.00,0.043,0.026,0.000,210,2090,368,-9.13,-1.58,416.27,0,0,0,0,0,0,26.02,26.10,26.10
$IRIDIUM_FIX,4736.68,-12233.17,140218,111348
$TT8_MAMPS,0.026215,0.313082
$HUMID,40.07
$INTERNAL_PRESSURE,8.02014
$TCM_TEMP,9.70
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.1,9.0
$ALTIM_BOTTOM_PING,130.5,44.1
$24V_AH,24.02,23.714
$10V_AH,10.24,9.763
$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,21.425,55.575,485.350,0.000,0.000,0.000,0.000,202.750,3.500,0.000,22.567,926.789,1591.503,564.923,932.859,145.585,0.000,1252.820,0.000,715.333,0.000,19.721,0.000
$DEVICE_MAMPS,239.445,43.605,749.700,0.000,0.000,0.000,0.000,79.560,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,259.482,507.302,512.313,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,27995,384
$CAP_FILE_SIZE,61741,0
$CFSIZE,2097872896,2060124160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.146,71.58,1
$GPS,140218,134433,4738.572,-12253.798,37,0.9,39,16.4,0.7,62.2,8,4.6