version: 66.14
glider: 194
mission: 12
dive: 337
start: 2 15 118 21 14 2
data:
$ID,194
$MISSION,12
$DIVE,337
$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,39
$R_STBD_OVSHOOT,37
$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
$GPS1,150218,210742,4738.3540,-12254.6846,9,0.8,21,16.4,0.3,58.4,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,12.33
$_SM_ANGLEo,-73.4
$GPS2,150218,211323,4738.3813,-12254.6250,6,0.8,27,16.4,0.3,44.7,10,4.9
$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,190.8,536,-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,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,9,-1.25,-63.1,206,2065,355,380,0.0,0.0,0,17,0.00,0.00,-5.60,0.000,16386,0.000,0.000,205,2065,531,516,547,0,0,0,0,0,0,26.31,28.83,26.32,8.07,39.48
$GC,20,-1.25,-63.1,206,2065,516,548,12.4,0.0,1,100,10.62,2.28,-61.67,0.000,18692,0.248,0.054,2742,3490,2324,2357,2292,0,0,0,0,0,0,25.48,24.37,25.83,8.08,40.03
$GC,352,-1.14,-63.1,2742,3490,2357,2290,57.1,-13.6,41,361,0.12,2.08,0.00,0.000,3078,0.170,0.023,2779,2066,2323,2357,2289,0,0,0,0,0,0,25.83,26.17,25.95,8.24,40.47
$GC,480,-1.14,-63.1,2779,2066,2357,2286,76.4,-14.2,54,484,0.00,2.12,0.00,0.000,516,0.000,0.039,2780,689,2321,2357,2285,0,0,0,0,0,0,26.53,26.17,26.53,8.24,39.99
$GC,566,-1.14,-63.1,2779,689,2357,2284,88.7,-14.8,62,572,0.00,2.10,0.00,0.000,1030,0.000,0.025,2780,2110,2320,2357,2284,0,0,0,0,0,0,26.31,26.24,26.34,8.25,41.37
$GC,695,-1.14,-63.1,2779,2110,2357,2284,106.1,-13.9,75,701,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2110,2320,2357,2284,0,0,0,0,0,0,26.57,26.58,26.58,8.25,41.17
$GC,884,-1.14,-63.1,2779,2110,2357,2283,131.2,-12.6,94,893,0.00,2.08,0.00,0.000,260,0.000,0.041,2780,3468,2320,2357,2283,0,0,0,0,0,0,26.62,26.25,26.63,8.26,40.70
$GC,920,-1.14,-63.1,2779,3468,2358,2283,135.4,-12.8,97,928,0.00,2.03,0.00,0.000,1030,0.000,0.023,2779,2083,2319,2357,2282,0,0,0,0,0,0,26.40,26.34,26.42,8.26,40.62
$GC,1108,-1.14,-63.1,2779,2083,2357,2282,159.6,-12.8,116,1109,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2083,2319,2357,2282,0,0,0,0,0,0,26.67,26.68,26.68,8.27,40.86
$STATE,1156,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1156,begin apogee
$GC,1162,-0.22,0.0,2779,2083,2357,2282,166.0,-13.0,121,1221,0.93,0.00,55.22,0.759,10246,0.148,0.000,3074,2083,2064,2106,2023,0,0,0,0,0,0,25.96,25.46,24.84,8.26,40.90
$STATE,1222,end apogee,CONTROL_FINISHED_OK
$STATE,1222,begin climb
$GC,1225,1.25,63.1,3074,2083,2106,2023,169.0,0.0,127,1289,1.30,0.00,55.85,0.737,10246,0.076,0.000,3536,2083,1805,1851,1759,0,0,0,0,0,0,25.52,25.00,24.44,8.25,40.23
$GC,1468,1.19,63.1,3535,2083,1850,1758,144.7,13.0,152,1478,0.00,2.17,0.00,0.000,260,0.000,0.037,3536,3473,1804,1850,1758,0,0,0,0,0,0,26.05,25.72,26.06,8.23,40.15
$GC,1504,1.13,63.1,3535,3474,1850,1758,140.3,13.3,155,1511,0.10,2.08,0.00,0.000,5126,0.176,0.022,3520,2086,1804,1850,1758,0,0,0,0,0,0,25.57,25.83,25.74,8.23,40.23
$GC,1691,1.13,63.1,3520,2085,1850,1757,118.2,11.7,174,1700,0.00,2.17,0.00,0.000,516,0.000,0.038,3529,681,1803,1850,1757,0,0,0,0,0,0,26.30,25.96,26.31,8.23,40.19
$GC,1803,1.13,63.1,3528,681,1850,1757,103.9,12.5,185,1813,0.00,2.10,0.00,0.000,1030,0.000,0.024,3529,2092,1803,1850,1757,0,0,0,0,0,0,26.15,26.09,26.17,8.23,40.78
$GC,1994,1.13,63.1,3528,2092,1850,1757,81.4,11.7,204,2003,0.00,2.17,0.00,0.000,516,0.000,0.038,3540,686,1803,1850,1757,0,0,0,0,0,0,26.48,26.15,26.48,8.23,40.39
$GC,2138,1.07,63.1,3539,686,1850,1756,65.3,10.7,218,2149,0.15,2.08,0.00,0.000,5126,0.165,0.024,3496,2092,1803,1850,1756,0,0,0,0,0,0,25.90,26.24,26.10,8.23,40.54
$GC,2268,1.07,63.1,3496,2092,1850,1756,53.3,8.9,231,2276,0.00,2.17,0.00,0.000,516,0.000,0.039,3505,687,1803,1850,1756,0,0,0,0,0,0,26.58,26.22,26.58,8.22,40.51
$GC,2372,1.07,63.1,3505,687,1850,1756,44.4,8.2,241,2379,0.00,2.05,0.00,0.000,1030,0.000,0.024,3505,2083,1803,1850,1756,0,0,0,0,0,0,26.36,26.29,26.39,8.22,40.27
$GC,2500,1.09,88.9,3505,2083,1850,1756,34.5,7.3,254,2520,0.00,2.17,14.48,0.610,8452,0.000,0.037,3505,3474,1700,1750,1650,0,0,0,0,0,0,26.63,26.03,25.39,8.22,40.35
$GC,2608,1.13,128.5,3505,3474,1749,1649,27.6,5.8,264,2636,0.00,2.05,21.35,0.596,9222,0.000,0.022,3516,2078,1538,1594,1483,0,0,0,0,0,0,26.27,26.20,25.24,8.21,40.62
$GC,2766,1.20,197.9,3515,2077,1594,1482,20.2,2.6,280,2808,0.00,2.25,35.42,0.561,8708,0.000,0.039,3526,683,1255,1311,1200,0,0,0,0,0,0,26.36,25.60,25.03,8.19,40.27
$GC,2822,1.30,237.0,3525,683,1311,1200,17.7,5.9,288,2849,0.08,2.10,19.60,0.525,11270,0.097,0.024,3608,2089,1097,1148,1046,0,0,0,0,0,0,25.71,25.75,24.95,8.16,40.35
$GC,2915,1.57,378.7,3609,2089,1147,1044,12.6,-5.1,304,2994,0.08,2.22,71.93,0.526,10500,0.096,0.035,3685,3462,518,527,510,0,0,0,0,0,0,25.82,25.19,24.70,8.15,39.99
$STATE,3218,end climb,NO_VERTICAL_VELOCITY
$STATE,3218,begin surface
$SM_CCo,3221,18.12,0.496,0,0,371,414.56
$SM_GC,12.76,9.38,2.12,0.00,0.046,0.023,0.000,212,2088,368,-9.13,1.58,416.27,0,0,0,0,0,0,25.93,26.03,26.01
$IRIDIUM_FIX,4736.40,-12251.79,150218,195147
$TT8_MAMPS,0.026215,0.280875
$HUMID,41.06
$INTERNAL_PRESSURE,8.02014
$TCM_TEMP,10.50
$XPDR_PINGS,6
$ALTIM_TOP_PING,19.8,9.0
$ALTIM_BOTTOM_PING,135.4,39.8
$24V_AH,24.37,26.113
$10V_AH,10.22,10.611
$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,22.750,42.600,273.850,18.125,0.000,0.000,0.000,228.550,4.500,0.000,29.029,924.542,1560.778,383.269,924.528,140.126,0.000,1024.438,0.000,675.552,0.000,24.244,0.000
$DEVICE_MAMPS,247.860,54.315,758.880,495.720,0.000,0.000,0.000,78.795,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,246.136,477.797,482.477,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312188
$DATA_FILE_SIZE,24407,361
$CAP_FILE_SIZE,57929,0
$CFSIZE,2097872896,2057568256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.024,32.87,1
$GPS,150218,221507,4738.213,-12254.805,12,0.9,53,16.4,0.4,60.0,9,8.6