version: 66.14
glider: 194
mission: 12
dive: 377
start: 2 17 118 21 18 32
data:
$ID,194
$MISSION,12
$DIVE,377
$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,65
$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
$GPS1,170218,211035,4739.3145,-12253.0977,4,0.9,28,16.4,0.9,49.2,9,5.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,12.14
$_SM_ANGLEo,-57.4
$GPS2,170218,211753,4739.3936,-12252.9512,6,0.9,16,16.4,0.0,49.6,9,4.6
$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,213.4,3303,-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,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,9,-0.81,-244.4,207,2104,361,373,0.0,0.0,0,17,0.00,0.00,-5.60,0.000,16386,0.000,0.000,207,2104,515,505,526,0,0,0,0,0,0,26.35,28.83,26.36,8.08,40.23
$GC,20,-0.81,-244.4,207,2104,506,526,12.2,0.0,1,149,9.95,0.00,-111.68,0.000,18950,0.203,0.000,2891,2105,3063,3138,2989,0,0,0,0,0,0,25.67,24.56,25.91,8.08,40.62
$GC,213,-0.69,-244.4,2890,2106,3140,2989,22.9,-12.9,32,223,0.10,2.10,0.00,0.000,2308,0.170,0.042,2926,3454,3064,3140,2989,0,0,0,0,0,0,25.95,26.02,26.02,8.30,39.99
$GC,247,-0.69,-244.4,2925,3454,3140,2988,27.1,-12.5,35,255,0.00,2.03,0.00,0.000,1030,0.000,0.024,2926,2083,3064,3140,2989,0,0,0,0,0,0,26.18,26.15,26.18,8.30,39.99
$GC,376,-0.69,-244.4,2925,2083,3140,2989,40.2,-10.3,48,386,0.00,2.17,0.00,0.000,516,0.000,0.040,2926,686,3064,3140,2989,0,0,0,0,0,0,26.51,26.12,26.51,8.30,40.23
$GC,421,-0.69,-244.4,2925,686,3140,2989,44.9,-10.8,52,429,0.00,2.08,0.00,0.000,1030,0.000,0.027,2926,2078,3065,3140,2990,0,0,0,0,0,0,26.26,26.17,26.29,8.31,40.74
$GC,549,-0.69,-244.4,2925,2078,3140,2989,58.4,-10.0,65,558,0.00,2.15,0.00,0.000,260,0.000,0.043,2926,3473,3064,3139,2989,0,0,0,0,0,0,26.56,26.17,26.58,8.31,40.70
$GC,612,-0.74,-244.4,2925,3473,3139,2989,64.0,-8.7,71,621,0.00,2.05,0.00,0.000,1030,0.000,0.024,2926,2075,3064,3140,2989,0,0,0,0,0,0,26.30,26.27,26.32,8.31,41.02
$GC,741,-0.74,-244.4,2925,2075,3140,2989,76.5,-10.1,84,742,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2075,3064,3140,2989,0,0,0,0,0,0,26.61,26.62,26.62,8.31,40.90
$GC,861,-0.74,-244.4,2925,2075,3139,2989,88.3,-9.3,96,862,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2075,3064,3140,2989,0,0,0,0,0,0,26.64,26.65,26.65,8.31,41.21
$GC,981,-0.74,-244.4,2925,2075,3139,2989,99.4,-9.0,108,982,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2075,3064,3140,2989,0,0,0,0,0,0,26.66,26.67,26.67,8.31,41.73
$GC,1101,-0.74,-244.4,2925,2075,3140,2989,109.7,-8.6,120,1102,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2075,3064,3140,2989,0,0,0,0,0,0,26.68,26.69,26.69,8.32,41.17
$GC,1282,-0.74,-244.4,2925,2075,3140,2989,125.8,-8.2,138,1283,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2075,3064,3140,2989,0,0,0,0,0,0,26.71,26.72,26.72,8.33,41.73
$GC,1461,-0.74,-244.4,2925,2075,3140,2989,141.0,-8.4,156,1465,0.00,2.17,0.00,0.000,260,0.000,0.042,2926,3477,3064,3140,2989,0,0,0,0,0,0,26.73,26.29,26.74,8.33,42.16
$STATE,1492,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1492,begin apogee
$GC,1500,-0.22,0.0,2925,2076,3140,2990,143.6,-8.2,159,1704,0.43,0.00,196.65,0.741,10246,0.101,0.000,3084,2075,2063,2112,2014,0,0,0,0,0,0,26.15,24.79,24.24,8.33,41.25
$STATE,1705,end apogee,CONTROL_FINISHED_OK
$STATE,1705,begin climb
$GC,1709,0.81,244.4,3083,2075,2112,2014,148.4,0.0,180,1917,0.88,2.33,199.18,0.705,10500,0.072,0.036,3392,3473,1066,1127,1006,0,0,0,0,0,0,24.94,24.38,24.00,8.26,39.36
$GC,1951,0.75,244.4,3391,3473,1126,1006,126.4,11.9,204,1960,0.00,2.15,0.00,0.000,1030,0.000,0.022,3399,2098,1065,1126,1005,0,0,0,0,0,0,25.02,24.99,25.02,8.19,39.05
$GC,2141,0.70,244.4,3399,2097,1127,1004,102.8,12.5,223,2150,0.00,2.25,0.00,0.000,516,0.000,0.041,3400,682,1065,1126,1004,0,0,0,0,0,0,25.92,25.58,25.93,8.18,39.95
$GC,2313,0.70,244.4,3400,682,1126,1004,81.9,12.2,240,2317,0.00,2.12,0.00,0.000,1030,0.000,0.025,3400,2092,1065,1126,1004,0,0,0,0,0,0,25.96,25.89,25.98,8.18,40.39
$GC,2445,0.70,244.4,3400,2092,1126,1003,66.2,11.6,253,2447,0.00,0.00,0.00,0.000,6,0.000,0.000,3401,2092,1065,1126,1004,0,0,0,0,0,0,26.31,26.32,26.32,8.17,40.27
$GC,2565,0.70,244.4,3400,2092,1126,1003,52.0,11.4,265,2574,0.00,2.25,0.00,0.000,516,0.000,0.041,3400,662,1065,1126,1004,0,0,0,0,0,0,26.39,26.01,26.39,8.16,40.62
$GC,2657,0.70,244.4,3399,662,1126,1004,41.2,11.4,274,2662,0.00,2.12,0.00,0.000,1030,0.000,0.025,3400,2084,1065,1126,1004,0,0,0,0,0,0,26.20,26.13,26.22,8.16,40.62
$GC,2790,0.70,244.4,3400,2083,1126,1004,26.8,11.2,287,2791,0.00,0.00,0.00,0.000,6,0.000,0.000,3400,2083,1065,1126,1004,0,0,0,0,0,0,26.49,26.50,26.50,8.16,41.25
$GC,2910,0.70,244.4,3400,2083,1126,1004,14.9,9.7,303,2916,0.00,2.20,0.00,0.000,516,0.000,0.042,3402,676,1065,1126,1005,0,0,0,0,0,0,26.53,26.15,26.54,8.16,40.66
$GC,3078,1.27,606.0,3401,675,1124,1006,11.4,-0.0,335,3113,0.35,2.08,29.40,0.519,11266,0.056,0.025,3551,2089,827,883,771,0,0,0,0,0,0,26.23,26.28,26.31,8.15,40.43
$STATE,3114,end climb,NO_VERTICAL_VELOCITY
$STATE,3114,begin surface
$SM_CCo,3118,56.17,0.518,0,0,373,414.56
$SM_GC,12.22,9.02,0.00,0.00,0.042,0.000,0.000,193,2092,367,-9.19,0.25,416.52,0,0,0,0,0,0,25.89,26.26,25.96
$IRIDIUM_FIX,4738.24,-12244.69,170218,200614
$TT8_MAMPS,0.026215,0.280875
$HUMID,40.47
$INTERNAL_PRESSURE,8.04943
$TCM_TEMP,10.20
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.0,7.2
$ALTIM_BOTTOM_PING,100.3,53.0
$24V_AH,24.00,29.750
$10V_AH,10.22,11.860
$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,20.725,34.375,425.225,56.175,0.000,0.000,0.000,202.017,1.500,0.000,17.330,823.084,1557.272,549.136,893.827,139.325,0.000,1248.165,0.000,616.066,0.000,10.350,0.000
$DEVICE_MAMPS,203.490,42.840,740.520,517.905,0.000,0.000,0.000,223.000,420.000,0.000,30.710,14.960,2.190,14.960,43.420,53.160,0.000,15.000,0.000,8.990,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,229.588,449.292,453.724,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.750,0.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312164
$DATA_FILE_SIZE,24562,340
$CAP_FILE_SIZE,55442,0
$CFSIZE,2097872896,2053636096
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,19.81,0x2367ba,0,24
$INTR,1,3100.54,0x2367b8,1,24
$CURRENT,0.109,56.04,1
$GPS,170218,221750,4739.266,-12253.247,4,0.9,15,16.4,0.8,48.7,9,4.8