version: 66.14
glider: 194
mission: 12
dive: 320
start: 2 15 118 0 9 39
data:
$ID,194
$MISSION,12
$DIVE,320
$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,51
$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,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
$GPS1,150218,000355,4738.2261,-12254.7510,4,0.8,30,16.4,0.3,66.5,11,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,11.77
$_SM_ANGLEo,-75.6
$GPS2,150218,000857,4738.2490,-12254.6953,7,0.9,38,16.4,0.3,31.3,10,4.9
$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,202.0,277,-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,-63.1,214,2074,361,376,0.0,0.0,0,16,0.00,0.00,-5.53,0.000,16386,0.000,0.000,214,2074,531,517,545,0,0,0,0,0,0,26.30,28.83,26.31,8.06,39.44
$GC,19,-1.25,-63.1,214,2074,517,546,11.7,0.0,1,98,10.75,2.22,-61.72,0.000,19204,0.253,0.054,2747,3464,2325,2361,2290,0,0,0,0,0,0,25.48,24.40,25.84,8.07,40.54
$GC,143,-1.08,-63.1,2746,3464,2360,2291,21.4,-15.4,22,149,0.20,2.08,0.00,0.000,3078,0.181,0.022,2804,2061,2326,2361,2291,0,0,0,0,0,0,25.68,26.07,25.91,8.23,39.72
$GC,277,-1.08,-63.1,2803,2060,2360,2287,43.6,-13.8,35,286,0.00,2.20,0.00,0.000,260,0.000,0.041,2804,3466,2323,2360,2287,0,0,0,0,0,0,26.43,26.06,26.44,8.23,40.35
$GC,452,-1.08,-63.1,2803,3466,2360,2286,64.7,-13.1,52,459,0.00,2.03,0.00,0.000,1030,0.000,0.023,2804,2086,2322,2360,2285,0,0,0,0,0,0,26.28,26.22,26.30,8.23,40.23
$GC,579,-1.08,-63.1,2803,2085,2360,2284,81.3,-12.1,65,580,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2085,2322,2360,2284,0,0,0,0,0,0,26.55,26.56,26.55,8.23,40.74
$GC,699,-1.08,-63.1,2803,2085,2360,2283,96.3,-12.9,77,700,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2085,2321,2360,2282,0,0,0,0,0,0,26.58,26.60,26.59,8.24,40.39
$GC,820,-1.08,-63.1,2803,2085,2360,2282,111.0,-11.9,89,824,0.00,2.15,0.00,0.000,516,0.000,0.039,2804,686,2320,2360,2281,0,0,0,0,0,0,26.59,26.25,26.60,8.23,40.43
$GC,852,-1.08,-63.1,2803,685,2360,2280,115.0,-11.9,92,856,0.00,2.08,0.00,0.000,1030,0.000,0.025,2804,2083,2320,2360,2281,0,0,0,0,0,0,26.37,26.30,26.40,8.23,40.51
$GC,1044,-1.08,-63.1,2803,2084,2360,2281,137.0,-11.2,111,1049,0.00,2.15,0.00,0.000,260,0.000,0.041,2804,3477,2320,2360,2280,0,0,0,0,0,0,26.65,26.27,26.66,8.24,41.33
$GC,1079,-1.08,-63.1,2803,3477,2360,2281,140.8,-11.3,114,1086,0.00,2.05,0.00,0.000,1030,0.000,0.023,2804,2079,2320,2360,2281,0,0,0,0,0,0,26.43,26.36,26.45,8.24,40.98
$GC,1267,-1.08,-63.1,2803,2079,2360,2280,163.1,-12.0,133,1276,0.00,2.12,0.00,0.000,516,0.000,0.038,2804,688,2320,2361,2279,0,0,0,0,0,0,26.70,26.33,26.70,8.25,41.06
$STATE,1297,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1297,begin apogee
$GC,1305,-0.22,0.0,2804,2083,2360,2279,167.2,-12.7,136,1362,0.85,0.00,53.15,0.755,10246,0.152,0.000,3073,2084,2065,2107,2023,0,0,0,0,0,0,25.98,25.51,24.91,8.25,41.21
$STATE,1363,end apogee,CONTROL_FINISHED_OK
$STATE,1363,begin climb
$GC,1366,1.25,63.1,3073,2084,2106,2023,170.8,0.0,142,1429,1.30,0.00,56.00,0.739,10502,0.084,0.000,3528,2084,1806,1854,1758,0,0,0,0,0,0,25.54,25.01,24.46,8.23,40.86
$GC,1610,1.25,63.1,3527,2084,1853,1760,147.7,11.9,167,1618,0.00,2.17,0.00,0.000,516,0.000,0.038,3539,697,1807,1854,1760,0,0,0,0,0,0,26.04,25.72,26.05,8.22,40.66
$GC,1692,1.25,63.1,3538,697,1853,1760,137.1,12.8,175,1701,0.00,2.05,0.00,0.000,1030,0.000,0.024,3539,2075,1806,1853,1760,0,0,0,0,0,0,25.91,25.89,25.93,8.22,40.51
$GC,1882,1.25,63.1,3538,2075,1853,1760,113.5,12.3,194,1883,0.00,0.00,0.00,0.000,6,0.000,0.000,3539,2074,1806,1853,1759,0,0,0,0,0,0,26.33,26.34,26.34,8.21,40.54
$GC,2062,1.25,63.1,3538,2075,1853,1759,92.8,10.8,212,2071,0.00,2.17,0.00,0.000,516,0.000,0.038,3550,684,1805,1853,1758,0,0,0,0,0,0,26.44,26.09,26.45,8.22,40.90
$GC,2135,1.19,63.1,3549,684,1853,1759,84.8,11.5,219,2143,0.00,2.05,0.00,0.000,1030,0.000,0.024,3550,2076,1806,1853,1759,0,0,0,0,0,0,26.21,26.18,26.24,8.22,40.62
$GC,2264,1.19,63.1,3549,2077,1853,1759,71.3,10.2,232,2274,0.00,2.15,0.00,0.000,260,0.000,0.037,3550,3476,1806,1853,1759,0,0,0,0,0,0,26.52,26.17,26.53,8.22,41.37
$GC,2330,1.11,63.1,3549,3477,1853,1759,64.5,11.2,238,2339,0.17,2.05,0.00,0.000,5126,0.164,0.022,3510,2076,1806,1853,1759,0,0,0,0,0,0,25.91,26.25,26.11,8.22,40.35
$GC,2458,1.13,85.0,3509,2076,1853,1758,53.2,7.7,251,2487,0.00,2.15,19.25,0.657,8708,0.000,0.037,3518,694,1716,1765,1668,0,0,0,0,0,0,26.58,25.71,25.27,8.21,40.51
$GC,2572,1.13,85.0,3517,694,1765,1670,43.1,9.8,262,2576,0.00,2.08,0.00,0.000,1030,0.000,0.025,3518,2093,1717,1765,1670,0,0,0,0,0,0,26.16,26.10,26.18,8.21,40.62
$GC,2705,1.16,110.2,3518,2094,1765,1670,32.9,7.3,275,2727,0.00,2.25,14.80,0.605,8708,0.000,0.039,3529,688,1613,1666,1560,0,0,0,0,0,0,26.46,25.87,25.22,8.21,40.31
$GC,2831,1.19,143.3,3528,688,1666,1563,24.9,6.5,287,2855,0.00,2.08,18.20,0.572,9222,0.000,0.024,3529,2092,1477,1534,1421,0,0,0,0,0,0,26.14,26.08,25.15,8.20,40.31
$GC,2978,1.22,169.9,3528,2092,1536,1422,14.1,7.2,309,2997,0.00,2.17,13.43,0.514,8452,0.000,0.037,3529,3466,1369,1428,1311,0,0,0,0,0,0,26.29,25.75,25.15,8.18,40.03
$GC,3051,1.40,263.4,3528,3465,1428,1312,14.5,0.1,322,3107,0.10,2.05,47.53,0.540,11270,0.074,0.022,3633,2076,988,1037,940,0,0,0,0,0,0,25.94,25.96,24.87,8.17,40.27
$GC,3171,1.50,360.0,3632,2076,1037,940,12.2,-0.3,343,3228,0.00,2.22,49.10,0.522,8964,0.000,0.034,3633,3473,594,615,574,0,0,0,0,0,0,25.97,25.10,24.76,8.13,39.25
$STATE,3386,end climb,NO_VERTICAL_VELOCITY
$STATE,3386,begin surface
$SM_CCo,3389,28.17,0.513,0,0,374,414.56
$SM_GC,11.52,9.45,2.12,0.00,0.057,0.023,0.000,217,2095,370,-9.12,1.92,415.78,0,0,0,0,0,0,25.87,25.97,25.96
$IRIDIUM_FIX,4738.72,-12249.11,140218,224948
$TT8_MAMPS,0.026215,0.272636
$HUMID,40.90
$INTERNAL_PRESSURE,8.0299
$TCM_TEMP,10.20
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.6,9.2
$ALTIM_BOTTOM_PING,145.4,31.2
$24V_AH,24.40,24.531
$10V_AH,10.26,10.070
$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,22.825,50.975,271.450,28.175,0.000,0.000,0.000,183.750,4.000,0.000,39.894,995.696,1638.793,386.297,909.540,145.551,0.000,999.619,0.000,693.655,0.000,23.447,0.000
$DEVICE_MAMPS,253.215,54.315,755.055,512.550,0.000,0.000,0.000,80.325,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,261.963,507.093,512.046,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312220
$DATA_FILE_SIZE,28104,383
$CAP_FILE_SIZE,61537,0
$CFSIZE,2097872896,2059239424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.097,63.17,1
$GPS,150218,011301,4738.142,-12254.705,5,0.8,14,16.4,0.0,0.0,10,4.6